Systems and methods for estimating tissue parameters using surgical devices
A computer implemented method for estimating tissue parameters, includes collecting data, from a surgical system including an instrument and an energy source, the data including at least one electrical parameter associated with delivering energy from the instrument to tissue, communicating the data to at least one machine learning algorithm, determining, using the at least one machine learning algorithm, a tissue parameter based upon the data, communicating the determined tissue parameter to a computing device associated with the energy source for use in formulating an energy-delivery algorithm for delivering energy from the instrument to tissue, and delivering energy from the instrument of the surgical system to tissue in accordance with the energy-delivery algorithm.
1. A computer implemented method for estimating tissue parameters, the computer implemented method comprising:
collecting data, from a surgical system including an instrument and an energy source, the data including at least one observed electrical parameter associated with delivering energy from the instrument to tissue, wherein the at least one observed electrical parameter includes power over a period of time and an instantaneous impedance of the tissue;
communicating the data to at least one machine learning algorithm, wherein the at least one machine learning algorithm is trained using training data that includes at least one of an impedance versus time curve or a power versus time curve and corresponding tissue temperature or tissue pressure;
estimating, using the at least one machine learning algorithm, a tissue parameter based upon the at least one observed electrical parameter, wherein the estimated tissue parameter includes an estimated tissue temperature and an estimated tissue pressure;
communicating the estimated tissue parameter to a computing device associated with the energy source;
formulating an energy-delivery algorithm for delivering energy from the instrument to tissue based on the estimated tissue temperature and tissue pressure; and
delivering energy from the instrument of the surgical system to tissue in accordance with the energy-delivery algorithm.
2. The method of claim 1 , wherein collecting the data from the surgical system includes measuring at least one of a voltage, a current, or a frequency, and
wherein the estimating occurs at or within 250 ms of initiation of tissue treatment.
3. The method of claim 1 , wherein the at least one machine learning algorithm includes a neural network.
4. The method of claim 3 , wherein the neural network includes at least one of a temporal convolutional network or a feed forward network.
5. The method of claim 4 , wherein:
communicating the data to at least one machine learning algorithm includes shifting data into the machine learning algorithm one time step at a time; and
estimating the tissue parameter includes estimating, by the machine learning algorithm, the tissue parameter one time step at a time.
6. The method of claim 3 , wherein the method further includes training the neural network using one or more of observing sensor data or identifying patterns in data.
7. The method of claim 3 , wherein the method further includes training the neural network using training data including at least one of: impedance, power, time, tissue electrical properties, tissue thermal properties, electrical properties of the instrument, thermal properties of the instrument, size of the instrument, shape of the instrument, frequency, voltage, current, balun temperature, or transformer temperature.
8. The method of claim 1 , wherein the estimating the tissue parameter further includes determining at least one of tissue mass, tissue surface area, steam formation/release, collagen denaturing, collagen/gelatin flow, tissue size/mass changes, or tissue water content.
9. The method of claim 1 , wherein the energy source is adapted to generate energy for treating tissue, the energy source including one or more output terminals which supply energy to the tissue, the one or more output terminals operatively connected to one or more supply lines, the energy source including one or more return terminals configured to return energy from the tissue, the return terminals being operatively connected to one or more return lines,
wherein the surgical system further includes a cable housing a portion of the one or more supply lines and the one or more return lines; and
wherein the instrument is operatively connected to the cable.
10. The method of claim 1 , wherein the surgical system includes at least one of a microwave ablation system, an electrosurgical system, or an ultrasonic surgical instrument.
11. A system for estimating tissue parameters, the system comprising:
an electrosurgical system;
one or more processors; and
at least one memory coupled to the one or more processors, the at least one memory having instructions stored thereon which, when executed by the one or more processors, cause the system to:
collect data, from a surgical system including an instrument and an energy source, the data including at least one observed electrical parameter associated with delivering energy from the instrument to tissue, wherein the at least one observed electrical parameter includes power over a period of time and an instantaneous impedance of the tissue;
communicate the data to at least one machine learning algorithm, wherein the at least one machine learning algorithm is trained using training data that includes at least one of an impedance versus time curve or a power versus time curve and corresponding tissue temperature or tissue pressure;
estimating, using the at least one machine learning algorithm, a tissue parameter based on the at least one observed electrical parameter, wherein the estimated tissue parameter includes an estimated tissue temperature and an estimated tissue pressure;
communicate the estimated tissue parameter to a computing device associated with the energy source for use in formulating an energy-delivery algorithm for delivering energy from the instrument to tissue; and
delivering energy from the instrument of the surgical system to tissue in accordance with the energy-delivery algorithm.
12. The system of claim 11 , wherein collecting the data from the surgical system includes measuring at least one of a voltage, a current, or a frequency.
13. The system of claim 11 , wherein the at least one machine learning algorithm includes a neural network.
14. The system of claim 13 , wherein the neural network includes at least one of a temporal convolutional network or a feed forward network.
15. The system of claim 13 , wherein:
communicating the data to at least one machine learning algorithm includes:
shifting data into the machine learning algorithm one time step at a time; and
estimating the tissue parameter includes estimating, by the machine learning algorithm, the tissue parameter one time step at a time.
16. The system of claim 13 , wherein the instructions, when executed by the one or more processors, further cause the system to train the neural network using one or more of observing sensor data or identifying patterns in data.
17. The system of claim 13 , wherein the instructions, when executed by the one or more processors, further cause the system to train the neural network using training data including at least one of: impedance, power, time, tissue electrical properties, tissue thermal properties, electrical properties of the instrument, thermal properties of the instrument, size of the instrument, shape of the instrument, frequency, voltage, current, balun temperature, or transformer temperature.
18. The system of claim 13 , wherein the estimating includes estimating tissue temperature without a temperature sensor.
19. The system of claim 13 , wherein the energy source is adapted to generate energy for treating tissue, the energy source including one or more output terminals which supply energy to the tissue, the one or more output terminals operatively connected to one or more supply lines, the energy source including one or more return terminals configured to return energy from the tissue, the return terminals being operatively connected to one or more return lines,
wherein the surgical system further includes a cable housing a portion of the one or more supply lines and the one or more return lines; and
wherein the instrument is operatively connected to the cable.
20. The system of claim 13 , wherein the surgical system includes at least one of a microwave ablation system, an electrosurgical system, or an ultrasonic surgical instrument.