DEVICES, SYSTEMS, AND METHODS FOR GRASPING, TREATING, AND DIVIDING TISSUE

• US 20150088122A1
• Filed: 04/24/2014
• Published: 03/26/2015
• Est. Priority Date: 09/25/2013
• Status: Active Grant

• Current Assignee: Covidien LP (Medtronic Plc)
• Original Assignee: Covidien LP (Medtronic Plc)
• Inventors: JENSEN, JEFFREY L.
• Granted Patent: US 10,610,289 B2
• Time in Patent Office: Days
• US Class Current: 606/37
• CPC Class Codes: A61B 18/1445 at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
• CPC Class Codes: A61B 2018/00607 Coagulation and cutting with the same instrument
• CPC Class Codes: A61B 2018/0063 Sealing
• CPC Class Codes: A61B 2018/00875 Resistance or impedance
• CPC Class Codes: A61B 2018/1452 including means for cutting A61B2018/146 takes precedence
• CPC Class Codes: A61B 2018/1455 having a moving blade for cutting tissue grasped by the jaws
• CPC Class Codes: A61B 34/30 Surgical robots

Abstract

A surgical system includes an end effector assembly, a motor assembly, an energy source, and a controller. The controller activates the motor assembly, once it is determined that tissue is present between jaw members of the end effector assembly, to move the jaw members from a spaced-apart position to an approximated position to grasp tissue. The controller further activates the energy source, once tissue is grasped between the jaw members, to supply energy to the jaw members to seal tissue grasped between the jaw members. The controller further activates the motor assembly, once it is determined that tissue sealing is complete, to move the jaw members from the approximated position to the spaced-apart position to release sealed tissue. The system may further be configured to cut tissue once it is determined that tissue sealing is complete but before moving the jaw members to the spaced-apart position.

Claims

1. A surgical system, comprising:

an end effector assembly including first and second jaw members;

a motor assembly coupled to the end effector assembly and operable to move the jaw members between a spaced-apart position and an approximated position for grasping tissue therebetween;

an energy source coupled to the end effector assembly and operable to supply energy to the jaw members to seal tissue; and

a controller including a processor and a non-transitory computer-readable storage medium storing a control program that, when executed, causes the processor to;

activate the motor assembly, once it is determined that tissue is present between the jaw members, to move the jaw members from the spaced-apart position to the approximated position to grasp tissue;

activate the energy source, once tissue is grasped between the jaw members, to supply energy to the jaw members to seal tissue grasped between the jaw members; and

activate the motor assembly, once it is determined that tissue sealing is complete, to move the jaw members from the approximated position to the spaced-apart position to release sealed tissue.

2. The system according to claim 1, further comprising:

a forceps having the end effector assembly disposed at a distal end thereof; and

a generator containing the energy source and the controller, the generator operably coupled to the forceps.

3. The system according to claim 2, wherein the generator is incorporated into a housing of the forceps.

4. The system according to claim 1, further comprising at least one first sensor coupled to the end effector assembly and configured for sensing the presence of tissue between the jaw members, the at least one first sensor coupled to the controller for enabling the controller to determine whether tissue is present between the jaw members.

5. The system according to claim 1, further comprising at least one second sensor coupled between the end effector assembly and the energy source and configured for sensing at least one tissue property indicative of completion of tissue sealing, the at least one second sensor coupled to the controller for enabling the controller to determine whether tissue sealing is complete.

6. The system according to claim 5, wherein the at least one tissue property is tissue impedance.

7. The system according to claim 1,

wherein the end effector assembly further includes a cutting member,

wherein the energy source is coupled to the cutting member and operable to supply energy to the cutting member for conduction between the cutting member and at least one of the jaw members and through tissue grasped between the jaw members to cut tissue,

wherein the control program further causes the processor to activate the energy source, once it is determined that tissue sealing is complete, to supply energy to the cutting member to cut sealed tissue, and

wherein activating the motor assembly to move the jaw members from the approximated position to the spaced-apart position to release tissue is effected once it is determined that both tissue sealing and tissue cutting are complete.

8. The system according to claim 1,

wherein the end effector assembly further includes a knife movable between a retracted position, wherein the knife is disposed proximally of the jaw members, and an extended position, wherein the knife extends between the jaw members to cut tissue disposed therebetween,

wherein the motor assembly is coupled to the knife and operable to move the knife between the retracted position and the extended position,

wherein the control program further causes the processor to activate the motor assembly, once tissue sealing is complete, to move the knife from the retracted position to the extended position to cut sealed tissue, and

wherein activating the motor assembly to move the jaw members from the approximated position to the spaced-apart position to release tissue is effected once it is determined that tissue sealing is complete and once tissue cutting is complete.

9. A surgical system, comprising:

an end effector assembly including first and second jaw members;

a knife assembly including a knife movable relative to the end effector assembly;

a motor assembly coupled to the end effector assembly and the knife assembly, the motor assembly operable to move the jaw members between a spaced-apart position and an approximated position for grasping tissue therebetween, and operable to move the knife relative to the end effector assembly between a retracted position, wherein the knife is disposed proximally of the jaw members, and an extended position, wherein the knife extends between the jaw members to cut tissue disposed therebetween;

an energy source coupled to the end effector assembly and operable to supply energy to the jaw members to seal tissue; and

a controller configured to;

determine whether tissue is present between the jaw members and activate the motor assembly, if it is determined that tissue is present between the jaw members, to move the jaw members from the spaced-apart position to the approximated position to grasp tissue between the jaw members;

activate the energy source to supply energy to the jaw members to seal tissue grasped between the jaw members;

determine whether tissue sealing is complete and activate the motor assembly, if it is determined that tissue sealing is complete, to move the knife from the retracted position to the extended position to cut tissue sealed tissue grasped between the jaw members; and

activate the motor assembly to move the jaw members from the approximated position to the spaced-apart position to release sealed and cut tissue.

10. The system according to claim 9, further comprising:

a forceps having the end effector assembly disposed at a distal end thereof; and

a generator containing the energy source and the controller, the generator operably coupled to the forceps.

11. The system according to claim 10, wherein the generator is incorporated into a housing of the forceps.

12. The system according to claim 9, further comprising at least one first sensor coupled to the end effector assembly and configured for sensing the presence of tissue between the jaw members, the at least one first sensor coupled to the controller for enabling the controller to determine whether tissue is present between the jaw members.

13. The system according to claim 9, further comprising at least one second sensor coupled between the end effector assembly and the energy source and configured for sensing at least one tissue property indicative of completion of tissue sealing, the at least one second sensor coupled to the controller for enabling the controller to determine whether tissue sealing is complete.

14. The system according to claim 13, wherein the at least one tissue property is tissue impedance.

15. A surgical system, comprising:

an end effector assembly including first and second jaw members and a cutting member disposed on one of the jaw members;

a motor assembly coupled to the end effector assembly and operable to move the jaw members between a spaced-apart position and an approximated position for grasping tissue therebetween;

an energy source coupled to the end effector assembly, the energy source operable to supply energy to the jaw members to seal tissue and to supply energy to the cutting member to cut tissue; and

a controller configured to;

determine whether tissue is present between the jaw members and activate the motor assembly, if it is determined that tissue is present between the jaw members, to move the jaw members from the spaced-apart position to the approximated position to grasp tissue between the jaw members;

activate the energy source to supply energy to the jaw members to seal tissue grasped between the jaw members;

determine whether tissue sealing is complete and activate the energy source, if it is determined that tissue sealing is complete, to supply energy to the cutting member to cut sealed tissue grasped between the jaw members; and

determine whether tissue cutting is complete and activate the motor assembly, if it is determined that tissue cutting is complete, to move the jaw members from the approximated position to the spaced-apart position to release sealed and cut tissue.

16. The system according to claim 15, further comprising:

a forceps having the end effector assembly disposed at a distal end thereof; and

a generator containing the energy source and the controller, the generator operably coupled to the forceps.

17. The system according to claim 16, wherein the generator is incorporated into a housing of the forceps.

18. The system according to claim 15, further comprising at least one first sensor coupled to the end effector assembly and configured for sensing the presence of tissue between the jaw members, the at least one first sensor coupled to the controller for enabling the controller to determine whether tissue is present between the jaw members.

19. The system according to claim 15, further comprising at least one second sensor coupled between the end effector assembly and the energy source and configured for sensing at least one tissue property indicative of completion of tissue sealing, the at least one second sensor coupled to the controller for enabling the controller to determine whether tissue sealing is complete.

20. The system according to claim 15, further comprising at least one third sensor coupled between the end effector assembly and the energy source and configured for sensing at least one tissue property indicative of completion of tissue cutting, the at least one second sensor coupled to the controller for enabling the controller to determine whether tissue cutting is complete.