Electrically-powered surgical systems
View Patent ↗Surgical systems and methods are provided for controlling actuation and movement of various surgical devices.
1. A surgical system, comprising:
an electromechanical tool including an instrument shaft and an end effector with an energy-delivering electrode disposed thereon, the electrode being configured to deliver energy to tissue;
an electromechanical arm configured for movement with respect to multiple axes, wherein the electromechanical tool is configured to be mounted on the electromechanical arm; and
a control system operably coupled to the electromechanical arm and the electromechanical tool for controlling movement thereof, the control system being configured to determine a zone of avoidance surrounding the electromechanical tool when energy is delivered to tissue through the electrode and, when entry into the zone of avoidance by a secondary electromechanical tool is determined by the control system to be imminent, the control system is configured to do at least one of reduce a power level at which energy is delivered to the tissue by the electrode and prevent the secondary electromechanical tool from entering the zone of avoidance;
wherein the zone of avoidance is dependent at least on a power level at which the electrode is energized.
2. The surgical system of claim 1 , wherein the secondary electromechanical tool is configured to be mounted to the electromechanical arm or a secondary electromechanical arm and the control system is configured to be operably coupled to the secondary electromechanical tool.
3. The surgical system of claim 2 , wherein, when entry into the zone of avoidance by the secondary electromechanical tool is imminent, the control system is configured to maintain the power level and redirect the secondary electromechanical tool relative away from the zone of avoidance to prevent the secondary electromechanical tool from entering the zone of avoidance.
4. The surgical instrument of claim 1 , wherein the control system is configured to detect a distance of the secondary electromechanical tool relative to the zone of avoidance to determine when entry into the zone of avoidance is imminent.
5. The surgical system of claim 1 , wherein at least a portion of the secondary electromechanical tool is formed of a conductive material.
6. The surgical system of claim 1 , wherein, when the power level is reduced, a size of the zone of avoidance is reduced to prevent entry of the secondary electromechanical tool into the zone of avoidance and the reduced size of the zone is maintained.
7. The surgical system of claim 1 , wherein the control system is configured to detect a first energy level of the secondary electromechanical tool relative to a second energy level to determine when entry into the zone of avoidance is imminent.
8. A surgical system, comprising:
an electromechanical tool including an instrument shaft and an end effector with an energy-delivering electrode disposed thereon, the electrode being configured to deliver energy to tissue;
an electromechanical arm configured for movement with respect to multiple axes, wherein the electromechanical tool is configured to be mounted on the electromechanical arm; and
a control system operably coupled to the electromechanical arm and the electromechanical tool for controlling movement thereof, the control system being configured to determine a zone of avoidance surrounding the electromechanical tool when energy is delivered to tissue through the electrode and, when entry into the zone of avoidance by a secondary electromechanical tool is determined by the control system to be imminent, the control system is configured to do at least one of reduce a power level at which energy is delivered to the tissue by the electrode and prevent the secondary electromechanical tool from entering the zone of avoidance;
wherein, when the power level is reduced, a size of the zone of avoidance is reduced to prevent entry of the secondary electromechanical tool into the zone of avoidance and the reduced size of the zone is maintained.
9. The surgical system of claim 8 , wherein at least a portion of the secondary electromechanical tool is formed of a conductive material.
10. A surgical system, comprising:
an electromechanical tool including an instrument shaft and an end effector with an energy-delivering electrode disposed thereon, the electrode being configured to deliver energy to tissue;
an electromechanical arm configured for movement with respect to multiple axes, wherein the electromechanical tool is configured to be mounted on the electromechanical arm; and
a control system operably coupled to the electromechanical arm and the electromechanical tool for controlling movement thereof, the control system being configured to determine a zone of avoidance surrounding the electromechanical tool when energy is delivered to tissue through the electrode and, when entry into the zone of avoidance by a secondary electromechanical tool is determined by the control system to be imminent, the control system is configured to do at least one of reduce a power level at which energy is delivered to the tissue by the electrode and prevent the secondary electromechanical tool from entering the zone of avoidance;
wherein the control system is configured to detect a first energy level of the secondary electromechanical tool relative to a second energy level to determine when entry into the zone of avoidance is imminent.
11. The surgical system of claim 10 , wherein at least a portion of the secondary electromechanical tool is formed of a conductive material.
12. A method for operating a surgical system, comprising:
actuating an electromechanical arm to position an electromechanical tool mounted thereon for insertion into tissue, the electromechanical tool having an instrument shaft and an end effector that includes an energy-delivering electrode disposed thereon and configured to deliver energy to the tissue;
inserting at least the end effector into the tissue; and
determining, through a control system operably coupled to the electromechanical arm and the electromechanical tool, a zone of avoidance surrounding the electromechanical tool when energy is delivered to tissue through the electrode,
wherein when the control system determines that entry into the zone of avoidance by a secondary electromechanical tool is imminent, the control system reduces a power level at which energy is delivered to the tissue by the electrode or prevents the secondary electromechanical tool from entering the zone of avoidance;
wherein the zone of avoidance is dependent at least on a power level at which the electrode is energized.
13. The method of claim 12 , further comprising, when entry of the secondary electromechanical tool into the zone of avoidance is imminent, redirecting, through the control system being operably coupled to the secondary electromechanical tool, the secondary electromechanical tool away from the zone of avoidance.
14. The method of claim 12 , further comprising detecting, through the control system, a distance of the secondary electromechanical tool relative to the zone of avoidance to determine when entry into the zone of avoidance is imminent.
15. The method of claim 12 , wherein at least a portion of the secondary electromechanical tool is formed of a conductive material.
16. A method for operating a surgical system, comprising:
actuating an electromechanical arm to position an electromechanical tool mounted thereon for insertion into tissue, the electromechanical tool having an instrument shaft and an end effector that includes an energy-delivering electrode disposed thereon and configured to deliver energy to the tissue;
inserting at least the end effector into the tissue;
determining, through a control system operably coupled to the electromechanical arm and the electromechanical tool, a zone of avoidance surrounding the electromechanical tool when energy is delivered to tissue through the electrode;
determining, through the control system, when entry into the zone of avoidance by a secondary electromechanical tool is imminent; and
reducing, through the control system, a power level at which energy is delivered to the tissue by the electrode to thereby reduce a size of the zone of avoidance to prevent entry of the secondary electromechanical tool into the zone of avoidance.
17. The method of claim 16 , further comprising detecting, through the control system, a first energy of the secondary electromechanical tool relative to a second energy to determine when entry into the zone of avoidance is imminent.
18. The method of claim 16 , further comprising detecting, through the control system, a distance of the secondary electromechanical tool relative to the zone of avoidance to determine when entry into the zone of avoidance is imminent.
19. A method for operating a surgical system, comprising:
actuating an electromechanical arm to position an electromechanical tool mounted thereon for insertion into tissue, the electromechanical tool having an instrument shaft and an end effector that includes an energy-delivering electrode disposed thereon and configured to deliver energy to the tissue;
inserting at least the end effector into the tissue;
determining, through a control system operably coupled to the electromechanical arm and the electromechanical tool, a zone of avoidance surrounding the electromechanical tool when energy is delivered to tissue through the electrode; and
detecting, through the control system, a first energy of the secondary electromechanical tool relative to a second energy to determine when entry into the zone of avoidance is imminent;
wherein when the control system determines that entry into the zone of avoidance by a secondary electromechanical tool is imminent, the control system reduces a power level at which energy is delivered to the tissue by the electrode or prevents the secondary electromechanical tool from entering the zone of avoidance.
20. The method of claim 19 , further comprising, when entry of the secondary electromechanical tool into the zone of avoidance is imminent, redirecting, through the control system being operably coupled to the secondary electromechanical tool, the secondary electromechanical tool away from the zone of avoidance.