Powered stapling device configured to adjust force, advancement speed, and overall stroke of cutting member based on sensed parameter of firing or clamping
A powered stapling device includes a circular stapling head assembly, an anvil, a trocar coupled to the anvil, and a motor also coupled to the trocar. The motor is configured to advance and retract the trocar. The device further includes a control circuit coupled to the motor, in which the control circuit is configured to determine a position of the trocar in one of a plurality of zones, and set an anvil closure rate based on the determined position of the trocar.
1. A powered stapling device, comprising:
a circular stapling head assembly;
an anvil;
a trocar coupled to the anvil and coupled to a motor, wherein the motor is configured to advance and retract the trocar; and
a control circuit coupled to the motor, wherein the control circuit is configured to:
determine a position of the trocar in one of a plurality of zones;
set an anvil closure rate based on the determined position of the trocar;
determine a trocar closure rate;
determine the anvil closure rate;
compare the trocar closure rate to the anvil closure rate to determine a difference between the trocar closure rate and the anvil closure rate; and
for the difference being greater than a predetermined value, extend and retract the trocar to reset the anvil.
2. The powered stapling device of claim 1 , wherein the plurality of zones comprises:
a first zone corresponding to an attachment of the trocar to the anvil;
a second zone corresponding to a retraction of the trocar and a closure of the anvil;
a third zone corresponding to a verification of the attachment of the trocar to the anvil; and
a fourth zone corresponding to an application of a high closure load.
3. The powered stapling device of claim 2 , wherein the control circuit is further configured to:
set the anvil closure rate to a first velocity when the trocar is in the first zone;
set the anvil closure rate to a second velocity, which is greater than the first velocity, when the trocar is in the second zone during the retraction of the trocar and the closure of the anvil;
set the anvil closure rate to a third velocity, which is less than the second velocity, to enable a verification of the attachment of the trocar to the anvil; and
set the anvil closure rate to a fourth velocity, which is less than the third velocity, when the trocar is the fourth zone during the application of the high closure load.
4. The powered stapling device of claim 1 , wherein the control circuit is further configured to verify an attachment of the trocar to the anvil and to slow a trocar closure rate under a tissue load.
5. The powered stapling device of claim 1 , further comprising:
a knife coupled to the motor;
a sensor located on the anvil, wherein the sensor is configured to detect a tissue contact with the anvil and a force applied to the anvil, wherein the sensor is coupled to the anvil, and wherein the control circuit is further configured to:
monitor an anvil displacement;
monitor the tissue contact with the anvil;
monitor a force to close the anvil;
compare the force to close the anvil to a predetermined threshold; and
set a first initial knife velocity and to advance the knife at a first velocity profile configured to cut a normal tissue toughness when the force to close the anvil is less than the predetermined threshold, or
set a second initial knife velocity and to advance the knife at a second velocity profile configured to cut a heavy tissue toughness when the force to close the anvil is greater than or equal to the predetermined threshold.
6. The powered stapling device of claim 5 , wherein to advance the knife at the second velocity profile, the control circuit is further configured to:
set the second initial knife velocity to a velocity that is less than the first initial knife velocity;
monitor a knife contact with tissue;
increase a motor velocity to increase a knife velocity when the knife contact with the tissue is detected;
monitor a completion of a cut; and
stop the motor when the completion of the cut is detected.