Surgical stapler having haptic feedback

• US 8,523,043 B2
• Filed: 12/07/2010
• Issued: 09/03/2013
• Est. Priority Date: 12/07/2010
• Status: Expired due to Fees

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Ullrich, Christopher, Modarres, Ali, Shimek, Cheryl, Gregorio, Pedro
• Primary Examiner(s): Nash, Brian D
• Application Number:
  US12/962,467
• Publication Number:
  US 20120138658A1
• Time in Patent Office: 1,001 Days
• Field of Search: 128/898, 227/19, 227/175.1, 227/180.1
• US Class Current: 227/180.1
• CPC Class Codes: A61B 17/072 for applying a row of staples in a single action , e.g. the staples being applied simultaneously
• CPC Class Codes: A61B 2017/00022 Sensing or detecting at the treatment site
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/07214 Stapler heads
• CPC Class Codes: A61B 2090/065 for measuring contact or contact pressure
• CPC Class Codes: A61B 2090/0807 Indication means
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback

Abstract

A surgical tool system includes a surgical tool for cutting and stapling tissue and a tactile feedback system integrated onto a handle of the tool that generates relevant feedback in at least the form of haptic effects to the user. The tactile feedback alerts the user of tissue properties, i.e., the type of tissue or other structures located within the jaws of the stapler, whether the quantity or thickness of tissue located within the jaws of the stapler is appropriate for the selected stapler cartridge, whether the proper length of staples has been fired based on the length of tissue located in the jaws, whether a blood vessel is located within the jaws of the stapler, whether the stapling process has successfully sealed the tissue located within the jaws of the stapler, the position of the cutting element, and/or when the stapling procedure or firing cycle is completed.

Claims

1. A surgical tool system comprising:

a surgical tool operable to staple tissue, the tool including a distal portion including a tissue stapling mechanism connected to a handle via a shaft;

a sensor coupled to the surgical tool, wherein the sensor is configured to monitor a tissue property;

a control system electrically connected to sensor, wherein the control system calculates sensor information from signals received from the sensor and processes the sensor information into signal commands;

a cutting element on the distal portion of the tool;

a displacement sensor coupled to two opposing jaw members at the distal portion of the tool;

a firing trigger coupled to the cutting element and the stapling mechanism; and

a feedback system including one or more haptic actuators coupled to the handle and electrically connected to the control system, wherein the control system communicates the signal commands to the feedback system and the feedback system uses the signal commands to generate haptic feedback relating to the sensor information to the handle,

wherein the feedback system is configured to generate haptic feedback informing a user of the thickness of tissue located within the two opposing jaw members based on information from the displacement sensor, and

wherein the one or more haptic actuators include a kinesthetic actuator coupled to the firing trigger to enable variable resistance to motion as the haptic feedback.

2. The surgical tool system of claim 1, wherein the sensor is selected from a group consisting of a current sensor coupled to a motor for driving the tissue stapling mechanism, an RPM sensor coupled to a motor for driving the tissue stapling mechanism, and a pressure distribution sensor coupled to the two opposing jaw members coupled to the distal portion of the tool and the haptic feedback generated by the feedback system informs a user of tissue anisotropy.

3. The surgical tool system of claim 1, wherein the sensor is coupled to the distal portion of the tool and is a pressure sensor and wherein the feedback system is adapted to generate the haptic feedback informing the user that a vessel is only partially located within two opposing jaw members coupled to the distal portion of the tool.

4. The surgical tool system of claim 1, wherein the sensor is coupled to the distal portion of the tool and is a pressure sensor and wherein the feedback system is adapted to generate the haptic feedback informing the user that a vessel is completely sealed by the tissue stapling mechanism.

5. The surgical tool system of claim 1, wherein the sensor is coupled to the distal portion of the tool and is selected from the group consisting of a pressure sensor and a displacement sensor and wherein the feedback system is adapted to generate the haptic feedback depending on the length of tissue located within two opposing jaw members coupled to the distal portion of the tool.

6. The surgical tool system of claim 1, further comprising a cutting element displacement sensor coupled to the cutting element, and wherein the feedback system is adapted to generate the haptic feedback informing a user of the position of the cutting element.

7. The surgical tool system of claim 6, wherein the haptic feedback system is adapted to generate the haptic feedback informing the user upon completion of the stapling procedure.

8. The surgical tool system of claim 1, wherein the haptic feedback generated by the feedback system includes at least vibratory or kinesthetic feedback.

9. The surgical tool system of claim 1, wherein the control system is adapted to vary the signal commands depending on a selected mode based on a user'"'"'s level of experience such that the generated haptic feedback varies depending on the selected mode.

10. The surgical tool system of claim 1, further comprising:

a cartridge-confirmation processor adapted to continuously monitor displacement measurements received from the displacement sensor and to calculate the amount of tissue located within the two opposing jaw members from the displacement measurements to determine if stapling in the current clamped configuration will result in incomplete staple formation,

wherein the cartridge-confirmation processor is adapted to control the kinesthetic actuator to provide a kinesthetic barrier on the firing trigger to prevent the user from cutting and stapling the tissue if the amount of tissue within the two opposing jaw members is detected as being inappropriate for a selected stapler cartridge.

11. A method of providing feedback to a user during a tissue stapling surgical procedure, the method comprising the steps of:

monitoring a tissue property during the tissue stapling surgical procedure via at least one sensor mounted on a distal portion of a surgical tool, wherein the tissue property is thickness;

processing the sensor information; and

communicating haptic feedback to a handle of the surgical tool, wherein the haptic feedback relates to the sensor information and informs a user that an inappropriate amount of tissue is located within two opposing jaw members coupled to the distal portion of the tool,

wherein the haptic feedback includes a variable resistance to motion to a firing trigger disposed at the handle that causes a stapling mechanism of the tool to activate.

12. The method of claim 11, further comprising the step of monitoring a second tissue property during the tissue stapling procedure, wherein the second tissue property is tissue anisotropy and the haptic feedback informs the user of structures located within two opposing jaw members coupled to the distal portion of the tool.

13. The method of claim 11, wherein the haptic feedback is a kinesthetic lock-out that prevents the user from squeezing the trigger to activate the stapling mechanism if an inappropriate amount of tissue is located within the two opposing jaw members coupled to the distal portion of the tool.

14. The method of claim 11, further comprising the step of monitoring a second tissue property during the tissue stapling procedure, wherein the second tissue property is vessel sensing and the haptic feedback informs the user that a vessel is only partially within the two opposing jaw members coupled to the distal portion of the tool.

15. The method of claim 11, wherein the tissue property is length and the haptic feedback informs a user that an inappropriate length of tissue is located within two opposing jaw members coupled to the distal portion of the tool.

16. The method of claim 11, wherein the tissue property is pulsatility and the haptic feedback informs a user if the tissue is located within two opposing jaw members coupled to the distal portion of the tool is sealed.

17. The method of claim 11, wherein the haptic feedback includes at least one of vibratory feedback and kinesthetic feedback.

18. The method of claim 11, further comprising the steps of:

monitoring displacement of a cutting element on the distal portion of the surgical tool during the tissue stapling surgical procedure;

processing the displacement information; and

communicating haptic feedback to the handle of the surgical tool, wherein the haptic feedback relates to the displacement information and informs a user of the position of the cutting element.

19. The method of claim 18, wherein the haptic feedback informs the user upon completion of the stapling procedure.

20. The method of claim 11, further comprising the steps of:

monitoring a displacement sensor located at the two opposing jaw members;

calculating the amount of tissue located within the two opposing jaw members from displacement measurements received from the displacement sensor;

preventing the firing trigger from being activated if the amount of tissue within the two opposing jaw members is inappropriate.