Integrated sensors for surgical staplers
A surgical stapler for a surgical robotic system, the surgical stapler including a jaw coupled to a base, the jaw having a first anvil that moves relative to a second anvil between an open position and a closed position; and a force sensor operable to detect a force applied to the jaw.
1. A surgical stapler for a surgical robotic system, the surgical stapler comprising:
a jaw coupled to a base, the jaw having an anvil that moves relative to a jaw portion between an open position and a closed position;
an array of sensors comprising a first force sensor and a second force sensor operable to detect a force applied to the jaw over time to determine a rate of change in force concentration position, the first force sensor comprising a first capacitive plate and a second capacitive plate coupled to interfacing surfaces of a first channel within the anvil, and the second force sensor comprising a first capacitive plate and a second capacitive plate coupled to interfacing surfaces of the first channel within the first anvil; and
a third force sensor coupled to an actuation ring of the base and operable to measure a compressive axial stress on the actuation ring that is correlated to the force applied to the jaw.
2. The surgical stapler of claim 1 wherein the first force sensor is a capacitive sensor and the first capacitive plate is aligned across a gap within the first channel with the second capacitive plate.
3. The surgical stapler of claim 1 wherein the second force sensor is a capacitive sensor and the first capacitive plate is aligned across a gap within the first channel with the second capacitive plate.
4. The surgical stapler of claim 3 further comprising a second channel within the jaw portion that is operable to receive a staple cartridge and comprising a fourth force sensor between the staple cartridge and a bottom surface of the second channel.
5. The surgical stapler of claim 1 wherein the actuation ring of the base is movable relative to the jaw.
6. The surgical stapler of claim 5 wherein the surgical stapler further comprises at least one magnet coupled to the anvil and at least one Hall effect sensor coupled to the jaw portion.
7. The surgical stapler of claim 1 wherein the first force sensor is coupled to a distal end of the anvil and the second force sensor is coupled to a proximal end of the anvil.
8. The surgical stapler of claim 1 wherein the array of sensors further detect a rate of change of force magnitude.
9. The surgical stapler of claim 1 wherein the force detected by the first force sensor and the second force sensor is analyzed by one or more processors coupled to the surgical stapler to determine whether a total clamping force or a force application center location is suitable for proceeding with a stapling operation.
10. The surgical stapler of claim 1 further comprising a strain gauge array operable to detect a deformation of the jaw, the strain gauge array extending from a proximal end to a distal end of the anvil.
11. A surgical robotic stapler system, the system comprising:
a robotic surgical stapler having a jaw coupled to a base, the jaw having an anvil that moves relative to a jaw portion between an open position and a closed position during a stapling operation;
an array of force sensors configured to detect a force applied to the jaw and provide a force value, at least one force sensor of the array of force sensors comprises a first electrode and a second electrode coupled to the anvil or the jaw portion, the first electrode is coupled to a bottom surface of a channel within the anvil or the jaw portion and the second electrode is aligned with the first electrode;
a capacitive force sensor coupled to an actuation ring of the base and operable to measure a compressive axial stress on the actuation ring that is correlated to the force applied to the jaw; and
one or more processors configured to analyze the force value and the compressive axial stress to a rate of change in force concentration position over time and a characteristic relating to the stapling operation.
12. The surgical robotic stapler system of claim 11 wherein the array of force sensors comprises at least two force sensors that each detect a force and provide a force value, and wherein the characteristic determined by analyzing the force value comprises (1) a total clamping force on a tissue or (2) a center of application of the force on the tissue.
13. The surgical robotic stapler system of claim 12 wherein based on the determined total clamping force on the tissue, the one or more processors further determine whether the clamping force is suitable for the stapling operation to proceed.
14. The surgical robotic stapler system of claim 12 wherein based on the determined center of application of the force on the tissue, the one or more processors further determine whether the tissue is at an acceptable position within the jaw to proceed with the stapling operation.
15. The surgical robotic stapler system of claim 11 wherein the characteristic determined by analyzing the force value comprises a force distribution profile along the jaw used to determine whether a local stiffness is present in a tissue.
16. The surgical robotic stapler system of claim 11 wherein the one or more processors are further operable to determine a rate of change of force magnitude and an increase in the rate of change of force concentration position and indicate an impurity in a tissue grasped by the jaw.
17. The surgical robotic stapler system of claim 15 wherein based on the force distribution profile, the one or more processors further determine whether a foreign object is positioned within the jaw.
18. The surgical robotic stapler system of claim 11 wherein the characteristic determined by analyzing the force value comprises a deformation of the anvil or the jaw portion.
19. The surgical robotic stapler system of claim 18 wherein based on the deformation of the anvil or the jaw portion, the one or more processors further determine a type of tissue in the jaw.
20. The surgical robotic stapler system of claim 11 further comprising an alerting mechanism for alerting a user when the determined characteristic indicates the stapling operation should not proceed.