Powered surgical instrument with parameter-based firing rate
First Claim
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1. A surgical instrument, comprising:
- an end effector, comprising;
a first jaw member;
a second jaw member pivotable relative to the first jaw member; and
a sensor configured to measure a parameter associated with a tissue grasped between the first jaw member and the second jaw member;
a firing member axially movable between a first position and a second position to effect a motion at the end effector;
a motor configured to drive the firing member between the first position and the second position at a firing rate;
a processor; and
a memory coupled to the processor, the memory storing instructions that, when executed by the processor, cause the processor to;
measure the parameter via the sensor in a time period during which the tissue is grasped between the first jaw member and the second jaw member;
determine whether the measured parameter exceeds a threshold;
adjust the firing rate from a first value to a second value corresponding to the measured parameter; and
cause the motor to drive the firing member at the second value of the firing rate in the time period.
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Abstract
A surgical instrument comprising an end effector, which comprises a sensor configured to measure a parameter associated with a tissue grasped between the first jaw member and the second jaw member of the end effector. The surgical instrument further comprises a firing member to effect motion at the end effector, which is driven by a motor. Instructions stored in the memory of the surgical instrument cause the motor to driven the firing member at a firing rate that is a function of a measurement of the parameter. The parameter can, for example, include a thickness of the tissue grasped by the end effector.
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Citations
12 Claims
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1. A surgical instrument, comprising:
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an end effector, comprising; a first jaw member; a second jaw member pivotable relative to the first jaw member; and a sensor configured to measure a parameter associated with a tissue grasped between the first jaw member and the second jaw member; a firing member axially movable between a first position and a second position to effect a motion at the end effector; a motor configured to drive the firing member between the first position and the second position at a firing rate; a processor; and a memory coupled to the processor, the memory storing instructions that, when executed by the processor, cause the processor to; measure the parameter via the sensor in a time period during which the tissue is grasped between the first jaw member and the second jaw member; determine whether the measured parameter exceeds a threshold; adjust the firing rate from a first value to a second value corresponding to the measured parameter; and cause the motor to drive the firing member at the second value of the firing rate in the time period. - View Dependent Claims (2, 3, 4, 5)
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6. A surgical instrument comprising:
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an end effector, comprising; a first jaw member; a second jaw member pivotable relative to the first jaw member to transition the end effector from an open configuration to a closed configuration over a closing time period; and a sensor configured to measure a parameter associated with a tissue grasped between the first jaw member and the second jaw member; a firing member axially movable between a first position and a second position over the closing time period to actuate the end effector; a motor configured to drive the firing member between the first position and the second position at a firing rate; a processor; and a memory coupled to the processor, the memory storing instructions that, when executed by the processor, cause the processor to; measure the parameter via the sensor in the closing time period; determine whether a first measurement of the parameter exceeds a first threshold; adjust the firing rate from a first value to a second value corresponding to the first measurement of the parameter; cause the motor to drive the firing member at the second value of the firing rate in the closing time period; measure the parameter in a firing time period during which tissue is treated; determine whether a second measurement of the parameter exceeds a second threshold; adjust the firing rate from a third value to a fourth value corresponding to the second measurement; and cause the motor to drive the firing member at the fourth value of the firing rate in the firing time period. - View Dependent Claims (7, 8, 9, 10, 11, 12)
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Specification