Systems and methods of displaying a knife position for a surgical instrument
Various systems and methods of controlling a surgical instrument are disclosed. In one aspect, the surgical instrument includes a displacement member movable between a first position and a second position, a sensor configured to detect the position of the displacement member, and a display. The surgical instrument is configured to determine whether the surgical instrument is in a firing state and cause the display to display the position of the displacement member upon the surgical instrument being in the firing state.
1. A surgical instrument comprising:
a displacement member movable between a first position and a second position;
a sensor configured to detect a position of the displacement member and provide a signal indicative thereof;
an electronic display screen configured to display a graphical user interface;
a memory configured to store a home position and a terminal position of the displacement member; and
a control circuit coupled to the electronic display screen and the sensor, wherein the control circuit is configured to communicate with the memory, and wherein the control circuit is further configured to:
determine whether the surgical instrument is in a firing state or a non-firing state; in the non-firing state, cause the graphical user interface to display a first image; in the firing state:
receive the signal from the sensor;
retrieve the home position and the terminal position from the memory;
cause the graphical user interface to display a second image, the second image comprising a graphical component indicating an absolute position of the displacement member;
repeatedly determine, based on a comparison of the signal received from the sensor to the home position retrieved from the memory, an absolute position of the displacement member as the displacement member moves from the first position to the second position;
repeatedly update the graphical component according to the determined absolute position of the displacement member as the displacement member moves from the first position to the second position;
cause the graphical user interface to display a cut line of the displacement member;
repeatedly determine, based on a comparison of the signal received from the sensor to the terminal position retrieved from the memory, an absolute position of the displacement member as the displacement member moves from the second position to the first position;
repeatedly update the graphical component according to the determined absolute position of the displacement member as the displacement member moves from the second position to the first position; and
cause the graphical user interface to display instructions associated with unclamping the surgical instrument as the displacement member reaches the first position.
2. The surgical instrument of claim 1 , wherein the graphical component comprises a numerical value.
3. The surgical instrument of claim 2 , wherein the numerical value corresponds to a distance between the absolute position of the displacement member and the home position.
4. The surgical instrument of claim 2 , wherein the numerical value corresponds to a distance of the cut line of the displacement member.
5. The surgical instrument of claim 2 , wherein the control circuit is configured to verify the numerical value via a second sensor.
6. The surgical instrument of claim 2 , wherein the numerical value is displayed in increments of one millimeter.
7. The surgical instrument of claim 1 , wherein the graphical component comprises an animated graphic.
8. The surgical instrument of claim 1 , further comprising:
an end effector movable between a clamped position and an unclamped position; and
a firing trigger coupled to the displacement member, the firing trigger movable between an unactuated position and an actuated position to drive the displacement member between the first position and the second position;
wherein the control circuit is configured to determine whether the surgical instrument is in the firing state according to whether the end effector is in the clamped position and the firing trigger is in the actuated position.
9. The surgical instrument of claim 1 , wherein the control circuit is further configured to update the graphical component as the displacement member moves from the first position to the second position.
10. A surgical instrument comprising:
a knife bar;
a displacement member coupled to the knife bar, the displacement member movable between a first position and a second position;
a sensor configured to detect a position of the displacement member and provide a signal indicative thereof;
an electronic display screen configured to display a graphical user interface;
a memory configured to store a home position and a terminal position of the displacement member; and
a control circuit coupled to the electronic display screen and the sensor, wherein the control circuit is configured to communicate with the memory, and wherein the control circuit is further configured to:
determine whether the knife bar is firing or not firing;
in response to the knife bar not firing, cause the graphical user interface to display a first image;
in response to the knife bar firing:
receive the signal from the sensor;
retrieve the home position and the terminal position from the memory;
cause the graphical user interface to display a second image, the second image comprising a graphical component indicating an absolute position of the displacement member;
repeatedly determine, based on a comparison of the signal received from the sensor to the home position retrieved from the memory, an absolute position of the displacement member as the displacement member moves from the first position to the second position;
repeatedly update the graphical component according to the determined absolute position of the displacement member as the displacement member moves from the first position to the second position;
cause the graphical user interface to display a cut line of the displacement member;
repeatedly determine, based on a comparison of the signal received from the sensor to the terminal position retrieved from the memory, an absolute position of the displacement member as the displacement member moves from the second position to the first position;
repeatedly update the graphical component according to the determined absolute position of the displacement member as the displacement member moves from the second position to the first position; and
cause the graphical user interface to display instructions associated with unclamping the surgical instrument as the displacement member reaches the first position.
11. The surgical instrument of claim 10 , wherein the graphical component comprises a numerical value.
12. The surgical instrument of claim 11 , wherein the numerical value corresponds to a distance between the absolute position of the displacement member and the home position.
13. The surgical instrument of claim 11 , wherein the numerical value corresponds to a distance of the cut line of the displacement member.
14. The surgical instrument of claim 11 , wherein the control circuit is configured to verify the numerical value via a second sensor.
15. The surgical instrument of claim 11 , wherein the numerical value is displayed in increments of one millimeter.
16. The surgical instrument of claim 10 , wherein the graphical component comprises an animated graphic.
17. The surgical instrument of claim 10 , further comprising:
an end effector movable between a clamped position and an unclamped position; and
a firing trigger coupled to the displacement member, the firing trigger movable between an unactuated position and an actuated position to drive the displacement member between the first position and the second position;
wherein the control circuit is configured to determine whether the knife bar is firing according to whether the end effector is in the clamped position and the firing trigger is in the actuated position.
18. The surgical instrument of claim 10 , wherein the control circuit is further configured to update the graphical component as the displacement member moves from the first position to the second position.
19. A method of controlling a surgical instrument comprising a displacement member movable between a first position and a second position, a sensor configured to detect a position of the displacement member and provide a signal indicative thereof, a memory configured to store a home position and a terminal position of the displacement member, and an electronic display screen configured to display a graphical user interface, the method comprising:
determining whether the surgical instrument is in a firing state or a non-firing state;
in the non-firing state, displaying a first image on the graphical user interface;
in the firing state:
receiving the signal from the sensor;
retrieving the home position and the terminal position from the memory;
displaying a second image on the graphical user interface, the second image comprising a graphical component indicating an absolute position of the displacement member;
repeatedly determining, based on a comparison of the signal received from the sensor to the home position retrieved from the memory, an absolute position of the displacement member as the displacement member moves from the first position to the second position;
repeatedly updating the graphical component according to the determined absolute position of the displacement member as the displacement member moves from the first position to the second position;
displaying cut line of the displacement member on the graphical user interface;
repeatedly determining, based on a comparison of the signal received from the sensor to the terminal position retrieved from the memory, an absolute position of the displacement member via the sensor as the displacement member moves from the second position to the first position;
repeatedly updating the graphical component according to the determined absolute position of the displacement member as the displacement member moves from the second position to the first position; and
displaying instructions associated with unclamping the surgical instrument on the graphical user interface as the displacement member reaches the first position.
20. The method of claim 19 , wherein the graphical component comprises a numerical value.
21. The method of claim 19 , wherein the graphical component comprises an animated graphic.
22. The method of claim 19 , the surgical instrument further comprising an end effector including a clamped position and a firing trigger coupled to the displacement member, the firing trigger including an actuated position, wherein whether the surgical instrument is in a firing state is determined according to whether the end effector is in the clamped position and the firing trigger is in the actuated position.
23. The method of claim 19 , further comprising updating the graphical component as the displacement member moves from the first position to the second position.