Method and system for estimating temperature of an ultrasonic instrument
A method performed by a surgical system. The method determines that an ultrasonic instrument is in a low-power state The method determines a resonance frequency of an end effector of the ultrasonic instrument and determines a temperature of the end effector based on the resonance frequency. A notification is displayed on a display of the surgical system based on the temperature.
1. A method performed by a surgical system, the method comprising:
providing current to an ultrasonic instrument to put the ultrasonic instrument in a low-power state, wherein the current is below a current threshold at which an end effector of the ultrasonic instrument produces heat; and
while the ultrasonic instrument is in the low-power state:
determining a resonance frequency of the end effector of the ultrasonic instrument;
determining a temperature of the end effector based on the resonance frequency; and
displaying, on a display of the surgical system, a notification based on the temperature.
2. The method of claim 1 , wherein the end effector is a grasper that comprises 1) a blade that vibrates along a longitudinal axis of the blade and 2) a hinged jaw that is rotatably coupled to a joint of the grasper.
3. The method of claim 2 , wherein the blade vibrates over a first excursion while the ultrasonic instrument is in a high-power state, and, while the ultrasonic instrument is in the low-power state the ultrasonic instrument draws less power to cause the blade to vibrate over a second excursion that is less than the first excursion.
4. The method of claim 2 further comprising determining that the grasper is in an open position in which the hinged jaw is rotated away from the blade, wherein the resonance frequency is determined in response to determining that the grasper is in the open position.
5. The method of claim 1 further comprising determining a baseline resonance frequency of the end effector during an initial powering up of the ultrasonic instrument, wherein the temperature of the end effector is determined based on a difference between the baseline resonance frequency and the resonance frequency.
6. The method of claim 5 further comprising determining a heating duration in which the ultrasonic instrument was in a high-power state prior to being in the low-power state, wherein determining the temperature of the end effector comprises using a predefined temperature model to output the temperature responsive to input based on the heating duration and the difference between the baseline resonance frequency and the resonance frequency.
7. The method of claim 1 further comprising providing, to the ultrasonic instrument, subsequent current greater than or equal to the current threshold to put the ultrasonic instrument in a high-power state in which end effector produces enough of the heat to cut or cauterize tissue.
8. The method of claim 1 , wherein the resonance frequency is a first resonance frequency, wherein the method further comprises:
determining a second, subsequent, resonance frequency of the end effector while the ultrasonic instrument is in the low-power state; and
determining a time at which the temperature of the end effector will be below a threshold based on a rate of change between the first and second resonance frequencies,
wherein the notification includes the time.
9. The method of claim 1 further comprising:
determining whether the temperature is above a threshold; and
in response to determining that the temperature is above the threshold, at least one of 1) displaying the notification that includes text that indicates the temperature is high and 2) outputting output alert audio indicating that the temperature is high via one or more speakers of the surgical system.
10. A surgical system comprising:
an ultrasonic instrument with an end effector;
a display;
a processor; and
memory having instructions which when executed by the processor causes the surgical system to:
providing, to the ultrasonic instrument, current to put the ultrasonic instrument in a low-power state, wherein the current is below a current threshold at which the end effector produces heat; and
while the ultrasonic instrument is in the low-power state:
determine a resonance frequency of the end effector;
determine a temperature of the end effector based on the resonance frequency; and
display, on the display, a notification based on the temperature.
11. The surgical system of claim 10 , wherein the end effector is a grasper that comprises 1) a blade that vibrates along a longitudinal axis of the blade and 2) a hinged jaw that is rotatably coupled to a joint of the grasper.
12. The surgical system of claim 11 , wherein the blade vibrates over a first excursion while the ultrasonic instrument is in a high-power state, and, while the ultrasonic instrument is in the low-power state the ultrasonic instrument draws less power to cause the blade to vibrate over a second excursion that is less than the first excursion.
13. The surgical system of claim 11 , wherein the memory has further instruments to determine that the grasper is in an open position in which the hinged jaw is rotated away from the blade, wherein the resonance frequency is determined in response to determining that the grasper is in the open position.
14. The surgical system of claim 10 , wherein the memory has further instructions to determine a baseline resonance frequency of the end effector during an initial powering up of the ultrasonic instrument, wherein the temperature of the end effector is determined based on a difference between the baseline resonance frequency and the resonance frequency.
15. The surgical system of claim 14 , wherein the memory has further instructions to determine a heating duration in which the ultrasonic instrument was in a high-power state prior to being in the low-power state, wherein the instructions to determine the temperature of the end effector comprises instructions to use a predefined temperature model to output the temperature responsive to input based on the heating duration and the difference between the baseline resonance frequency and the resonance frequency.
16. The surgical system of claim 10 , wherein the notification includes the determined temperature of the end effector.
17. The surgical system of claim 10 , wherein the resonance frequency is a first resonance frequency, wherein the memory has further instructions to:
determine a second, subsequent, resonance frequency of the end effector while the ultrasonic instrument is in the low-power state; and
determine a time at which the temperature of the end effector will be below a threshold based on a rate of change between the first and second resonance frequencies, wherein the notification includes the time.
18. The surgical system of claim 10 , wherein the memory has further instructions to:
determine whether the temperature is above a threshold; and
in response to determining that the temperature is above the threshold, at least one of 1) display the notification that includes text that indicates the temperature is high and 2) output alert audio indicating that the temperature is high via one or more speakers of the surgical system.
19. A method performed by a surgical system, the method comprising:
providing current to an ultrasonic instrument that is below a current threshold at which the instrument causes a blade of the instrument to produce heat;
estimating, while the current is being provided to the ultrasonic instrument, a temperature of the blade based on a resonance frequency of the blade; and
displaying, on a display, a notification based on the estimated temperature of the blade.
20. The method of claim 19 , wherein the temperature of the blade is estimated without using a temperature sensor.
21. The method of claim 19 , wherein the blade is arranged to vibrate along a longitudinal axis of the blade to produce the heat, wherein the blade is a part of a grasper of the ultrasonic instrument, the grasper also having a hinged arm that is arranged to rotate about an axis that is traverse to the longitudinal axis.
22. The method of claim 21 further comprising determining that the grasper is in an open position in which the hinged arm is rotated away from the blade, wherein the temperature is estimated in response to determining that the grasper is in the open position.
23. The method of claim 21 further comprising displaying, on the display, endoscopic video of a surgical site within a patient to which a surgical procedure is being performed, wherein the notification is a graphical user interface (GUI) item that is overlaid on top of the endoscopic video.