Surgical tool positioning based on sensed parameters

• US 10,398,517 B2
• Filed: 08/16/2016
• Issued: 09/03/2019
• Est. Priority Date: 08/16/2016
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Eckert, Chad E., Harris, Jason L., Shelton, IV, Frederick E.
• Primary Examiner(s): Stoklosa, Joseph A
• Assistant Examiner(s): Maziarski, Katherine E
• Application Number:
  US15/238,001
• Publication Number:
  US 20180049792A1
• Time in Patent Office: 1,113 Days
• CPC Class Codes: A61B 18/082 Probes or electrodes therefor
• CPC Class Codes: A61B 18/085 Forceps, scissors
• CPC Class Codes: A61B 2017/00084 Temperature
• CPC Class Codes: A61B 2018/00791 Temperature
• CPC Class Codes: A61B 2090/0427 Prevention of contact
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 2219/40415 Semi active robot, cobot, guides surgeon, operator to planned trajectory, constraint
• CPC Class Codes: G16H 20/40 relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 40/63 for local operation

Abstract

Devices, systems, and methods are provided in which movement of a tool is controlled based on sensed parameters. In one embodiment, an electromechanical tool is provided having an instrument shaft and an end effector formed thereon. The electromechanical tool is configured to be mounted on an electromechanical arm, and the electromechanical tool is configured to move with or relative to the electromechanical arm and perform surgical functions. A controller is operatively coupled to the electromechanical arm and the electromechanical tool and is configured to retard advancement of the electromechanical tool toward a tissue surface based on a sensed amount of displacement of a tissue surface, a strain on the tissue of the patient, the temperature of the electromechanical tool, or the like.

Claims

1. A surgical system, comprising:

an electromechanical arm configured for movement in multiple axes;

an electromechanical tool having an instrument shaft and an end effector formed thereon, the electromechanical tool being configured to be mounted on the electromechanical arm, and the electromechanical tool being configured to move with or relative to the electromechanical arm and apply energy to tissue engaged by the end effector; and

a controller operatively coupled to the electromechanical arm and the electromechanical tool, the controller configured to retard advancement of the electromechanical tool toward a tissue surface based on a sensed temperature of the end effector, wherein the controller is configured to retard advancement of the electromechanical tool when the end effector is within a predetermined threshold distance from a tissue surface, and wherein the predetermined threshold distance varies based on the temperature of the end effector.

2. The surgical system of claim 1, further comprising a sensor configured to sense the temperature of the end effector.

3. The surgical system of claim 2, wherein the sensor comprises an IR sensor.

4. The surgical system of claim 2, wherein the sensor comprises a thermocouple disposed on the end effector.

5. The surgical system of claim 1, further comprising a sensor configured to sense a position of the end effector relative to a tissue surface.

6. The surgical system of claim 1, wherein the controller is configured to retard advancement of the electromechanical tool when the temperature is within a predetermined threshold temperature.

7. The surgical system of claim 1, further comprising a sensor configured to sense a distance of the end effector from a tissue surface.

8. A method of operating a surgical system, comprising:

applying energy to a tissue using an end effector formed on an instrument shaft of an electromechanical tool, the electromechanical tool being mounted on an electromechanical arm;

receiving, during an application of the energy to the tissue, a sensed temperature of the end effector; and

reducing, based on the sensed temperature, a velocity of the electromechanical tool toward a tissue surface when the electromechanical tool is within a predetermined threshold distance from a tissue surface, and wherein the predetermined threshold distance varies based on the sensed temperature of the end effector.

9. The method of claim 8, wherein the sensed temperature comprises one of a sensed temperature of the end effector and a sensed temperature of the tissue surface.

10. The method of claim 8, wherein the velocity is reduced to a first threshold velocity when the temperature is within a first predetermined temperature range.

11. The method of claim 10, wherein the velocity is reduced to a second threshold velocity when the temperature is within a second predetermined temperature range.

12. The method of claim 10, wherein the first threshold velocity is adjusted by a first amount in response to determining that the electromechanical tool is a first threshold distance from the tissue surface.

13. The method of claim 12, wherein the first threshold velocity is adjusted by a second amount in response to determining that the electromechanical tool is a second threshold distance from the tissue surface.

14. The method of claim 8, wherein the velocity is reduced based on a sensed position of the end effector relative to the tissue surface.

15. The method of claim 8, wherein the temperature is sensed by a sensor on the end effector.

16. The method of claim 8, wherein the temperature is sensed by a sensor on a camera.