IP Library › Granted Patent US 12,290,320
Granted Patent B2
US 12,290,320 · App. 17/451,961 · Granted May 6, 2025

Methods and systems for controlling cooperative surgical instruments

Inventors: Frederick E. Shelton, IV (Hillsboro, OH); Charles J. Scheib (Loveland, OH); Jason L. Harris (Lebanon, OH)
Assignee: Cilag GmbH International
A61B34/20A61B1/000095A61B1/005A61B1/044A61B1/3132A61B18/1445A61B18/1482G16H20/40G16H30/20G16H40/63A61B17/115A61B2018/00654A61B2018/00702A61B2018/00708A61B2018/00779A61B2018/00898A61B2018/00982A61B2034/2055A61B2034/2057A61B2034/2065A61B2034/302
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Quick Facts
Patent No.
US 12,290,320
App. No.
17/451,961
Granted
May 6, 2025
Kind
B2
Abstract

Systems, devices, and methods for controlling cooperative surgical instruments are provided. Various aspects of the present disclosure provide for coordinated operation of surgical instruments accessing various surgical sites from different or shared surgical approaches to achieve a common or cooperative surgical purpose. For example, various methods, devices, and systems disclosed herein can enable the coordinated treatment of tissue by disparate minimally invasive surgical systems that approach the tissue from varying anatomical spaces and must operate differently, but in concert with, one another to effect a desired surgical treatment.

Claims (39)

1. A system, comprising:

a first surgical instrument configured to operate on a tissue located within a patient;

a second surgical instrument configured to operate on the tissue; and

a controller configured to analyze at least one of rate of change of velocity and rate of change of acceleration of the first surgical instrument, and to automatically change movement of the second surgical instrument based on the analyzing such that at least one of rate of change of velocity and rate of change of acceleration of the first surgical instrument maintains a predefined relationship with at least one of rate of change of velocity and rate of change of acceleration of the second surgical instrument.

2. The system of claim 1 , wherein the changed movement of the second surgical instrument comprises at least one of mimicked movement of the first surgical instrument and mirrored movement of the first surgical instrument.

3. The system of claim 1 , wherein the controller is configured to monitor a force applied to the tissue by the first and second surgical instruments, and the controller is configured to automatically change the movement of the second surgical instrument based on the monitored force.

4. The system of claim 3 , wherein the controller is configured to automatically change the movement of the second surgical instrument to maintain the monitored force at a consistent value.

5. The system of claim 3 , further comprising a first force sensor configured to monitor the force applied to the tissue by the first surgical instrument and to communicate the monitored force applied to the tissue by the first surgical instrument to the controller; and

a second force sensor configured to monitor the force applied to the tissue by the second surgical instrument and to communicate the monitored force applied to the tissue by the second surgical instrument to the controller.

6. The system of claim 1 , wherein the first and second surgical instruments are configured to be disposed within a shared body cavity.

7. The system of claim 1 , wherein the first and second surgical instruments are configured to be disposed in separate body cavities within the patient.

8. The system of claim 1 , wherein the first and second surgical instruments comprise surgical staplers, electrosurgical instruments, or graspers.

9. The system of claim 1 , further comprising a flexible endoscope having an image sensor configured to capture image data characterizing an image of at least one of the first or second surgical instruments.

10. The system of claim 1 , wherein the first surgical instrument is a laparoscopic grasping instrument;

the movement of the first surgical instrument is while the laparoscopic grasping instrument is grasping the tissue;

the second surgical instrument is an endoscopic grasping instrument; and

the movement of the second surgical instrument is while the endoscopic grasping instrument is grasping the tissue.

11. The system of claim 10 , wherein the movement of the first surgical instrument is relative to a tumor within the patient; and

the movement of the second surgical instrument is relative to the tumor.

12. The system of claim 1 , wherein the movement of the first surgical instrument is while the first surgical instrument is driving entry of a needle into the tissue; and

the movement of the second surgical instrument is while the second surgical instrument is grasping a tip of the needle.

13. A system, comprising:

a first surgical instrument configured to operate on a first surgical treatment site located within a patient;

a second surgical instrument configured to operate on the first surgical treatment site; and

a controller configured to analyze movement of the first surgical instrument, and to automatically change movement of the second surgical instrument based on the analyzed movement of the first surgical instrument;

wherein the analyzed movement of the first surgical instrument includes a monitored parameter of the first surgical instrument;

the controller is configured to automatically change movement of the second surgical instrument based on the monitored parameter; and

the monitored parameter includes at least a rate of change of movement of the first surgical instrument;

the rate of change of movement of the first surgical instrument includes at least one of rate of change of velocity and rate of change of acceleration; and

the controller is configured to automatically change the movement of the second surgical instrument such that the at least one of rate of change of velocity and rate of change of acceleration of the first surgical instrument maintains a predefined relationship with at least one of rate of change of velocity and rate of change of acceleration of the second surgical instrument.

14. The system of claim 13 , wherein the monitored parameter also includes displacement of the first surgical instrument relative to the second surgical instrument; and

the automatic changing of the movement of the second surgical instrument is also such that the displacement of the first surgical instrument maintains a predefined relationship with a displacement of the second surgical instrument.

15. The system of claim 13 , wherein the monitored parameter also includes orientation of the first surgical instrument relative to the second surgical instrument; and

the automatic changing of the movement of the second surgical instrument is also such that the orientation of the first surgical instrument maintains a predefined relationship with an orientation of the second surgical instrument.

16. The system of claim 13 , wherein the changed movement of the second surgical instrument comprises at least one of mimicked movement of the first surgical instrument and mirrored movement of the first surgical instrument.

17. The system of claim 13 , wherein the first and second surgical instruments are configured to be disposed within a shared body cavity.

18. The system of claim 13 , wherein the first and second surgical instruments are configured to be disposed in separate body cavities within the patient.

19. The system of claim 13 , wherein the first and second surgical instruments comprise surgical staplers, electrosurgical instruments, or graspers.

20. The system of claim 13 , further comprising a flexible endoscope having an image sensor configured to capture image data characterizing an image of at least one of the first or second surgical instruments.

Assignments (1)
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Nov 12, 2021
From: SHELTON, FREDERICK E., IV; SCHEIB, CHARLES J.; HARRIS, JASON L.
To: CILAG GMBH INTERNATIONAL
Reel/Frame 058104/0560 →
Continuity (2)
Provisional Application 63249877 · Sep 29, 2021
Related Publication 20230095221A1 · Mar 30, 2023
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