Motor control and feedback in powered surgical devices

• US 9,468,454 B2
• Filed: 01/28/2014
• Issued: 10/18/2016
• Est. Priority Date: 01/28/2014
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon Endo-Surgery, Inc. (Johnson & Johnson)
• Inventors: Johnson, Eric N., Houser, Kevin L., Yates, David C., Nobis, Rudolph H., Boudreaux, Chad P., Trees, Gregory A., Strobl, Geoffrey S., Monson, Gavin M.
• Primary Examiner(s): Eastwood, David C
• Application Number:
  US14/166,133
• Publication Number:
  US 20150209061A1
• Time in Patent Office: 994 Days
• US Class Current: 1/1
• CPC Class Codes: A61B 17/320016 Endoscopic cutting instruments, e.g. arthroscopes, resectoscopes A61B10/0233, A61B17/29, A61B17/3207 take precedence
• CPC Class Codes: A61B 17/32002 with continuously rotating, oscillating or reciprocating cutting instruments
• 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 2017/00017 Electrical control of surgical instruments
• CPC Class Codes: A61B 2017/00137 Details of operation mode
• CPC Class Codes: A61B 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/0042 with special provisions for gripping
• CPC Class Codes: A61B 2017/2918 flexible handles
• CPC Class Codes: A61B 2017/2925 Pistol grips
• CPC Class Codes: A61B 2018/00303 active, e.g. with a motor creating vibrations
• CPC Class Codes: A61B 2018/1455 having a moving blade for cutting tissue grasped by the jaws
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/0811 for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 90/03 Automatic limiting or abutting means, e.g. for safety

Abstract

Surgical devices and methods are described herein that provide improved motor control and feedback, thereby combining advantages of manually-operated and powered surgical devices. In one embodiment, a surgical device includes a proximal handle portion that includes a motor, a distal end effector coupled to the handle portion, and a cutting element configured to cut tissue engaged by the end effector, wherein the motor is configured to supply power that moves the cutting element. The device also includes a motor control mechanism configured to cause the amount of the power to dynamically change in response to a manual user input when the cutting element is moving.

Claims

1. A surgical device, comprising:

a proximal handle portion that includes a motor;

a distal end effector coupled to the handle portion;

a cutting element configured to cut a tissue engaged by the end effector, the motor being configured to supply power that moves the cutting element through the tissue; and

a motor control mechanism configured to cause the amount of the power to dynamically change in response to a change in applied pressure of a manual user input when the cutting element is moving, and the motor control mechanism being configured to cause the amount of the power to remain constant in response to an applied pressure of the manual user input being continually applied at a steady rate when the manual user input and the cutting element are moving.

2. The device of claim 1, wherein the motor control mechanism comprises a potentiometer, the amount of the power supplied by the motor changing if a voltage of the potentiometer does not match a predetermined reference voltage, and the amount of the power supplied by the motor not changing if the voltage of the potentiometer matches the predetermined reference voltage.

3. The device of claim 1, further comprising a trigger coupled to the handle portion, the trigger being configured to be actuated by the user, the actuation of the trigger being configured to automatically actuate the motor control mechanism.

4. The device of claim 3, wherein the motor control mechanism is further configured to dynamically change the amount of the power so as to maintain a relationship between a position of the cutting element and a position of the trigger.

5. The device of claim 1, wherein when the manual user input ceases, the motor control mechanism is configured to immediately stop the motor from supplying the power.

6. The device of claim 1, wherein the motor control mechanism is configured to increase the amount of the power supplied by the motor when the amount of the power supplied by the motor falls below a predetermined threshold amount until the amount of the power supplied by the motor is at least equal to the predetermined threshold amount.

7. The device of claim 1, wherein the motor control mechanism is configured to increase the amount of power supplied by the motor in response to the manual user input increasing in pressure.

8. The device of claim 1, further comprising a feedback mechanism configured to provide a tactile feedback to the user, the tactile feedback being representative of the amount of the power being supplied by the motor.

9. A surgical method, comprising:

engaging a tissue with a distal end effector of a surgical device, the surgical device comprising a cutting element configured to cut a tissue engaged by the end effector, a proximal handle portion that includes a motor configured to supply power that moves the cutting element through the tissue, the distal end effector coupled to the handle portion, and a motor control mechanism configured to cause the amount of the power to dynamically change in response to a change in applied pressure of a manual user input when the cutting element is moving, and the motor control mechanism being configured to cause the amount of the power to remain constant in response to an applied pressure of the manual user input being continually applied at a steady rate when the manual user input and the cutting element are moving;

causing the motor of the device to supply power to the cutting element of the device such that the cutting element moves through the tissue so as to cut the tissue; and

when the cutting element is moving, detecting a change in a magnitude of a manual user force being applied to the manual user input, and causing an amount of the power supplied by the motor to dynamically change in response to the detected change.

10. The method of claim 9, providing a tactile feedback to the user via the device, the tactile feedback indicating the amount of the power.