DEVICE AND METHOD FOR CONTROLLING COMPRESSION OF TISSUE

• US 20120239067A1
• Filed: 06/01/2012
• Published: 09/20/2012
• Est. Priority Date: 04/27/2009
• Status: Active Grant

• Current Assignee: Covidien LP (Medtronic Plc)
• Original Assignee: Tyco Healthcare Group LP (Medtronic Plc)
• Inventors: Whitman, Michael P., Malinouskas, Donald, Zeichner, David A.
• Granted Patent: US 8,499,992 B2
• Time in Patent Office: Days
• US Class Current: 606/167
• CPC Class Codes: A61B 17/068 Surgical staplers , e.g. containing multiple staples or clampsstaplers containing only one staple A61B17/10; magazines or containers for staples A61B17/105; for performing anastomosis A61B17/115; staplers in general B25C5/00
• CPC Class Codes: A61B 17/0686 having a forming anvil staying below the tissue during stapling
• 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 17/07207 the staples being applied sequentially
• CPC Class Codes: A61B 17/08 Wound clamps or clips, i.e. not or only partly penetrating the tissue suture bridges A61B17/0466; Devices for bringing together the edges of a wound
• CPC Class Codes: A61B 17/1114 of the digestive tract, e.g. bowels or oesophagus
• CPC Class Codes: A61B 17/115 Staplers for performing anastomosis in a single operation
• CPC Class Codes: A61B 2017/00017 Electrical control of surgical instruments
• 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 2017/00123 and automatic shutdown
• 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 2017/2927 the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2017/2943 Toothed members, e.g. rack and pinion
• CPC Class Codes: A61B 2090/032 pressure limiting, e.g. hydrostatic
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/0803 Counting the number of times an instrument is used
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback

Abstract

A method and device for controlling the compression of tissue include clamping tissue between a first clamping member and a second clamping member by driving at least one of the clamping members with an electric motor toward a predetermined tissue gap between the clamping members and, during the clamping, monitoring a parameter of the electric motor indicative of a clamping force exerted to the tissue by the clamping members. The method and device include, during the clamping, controlling the electric motor, based on the monitored parameter, to limit the clamping force to a predetermined maximum limit.

Claims

1. A surgical device, comprising:

a first clamping member;

a second clamping member;

an electric motor configured to drive at least one of the first and second clamping members toward a predetermined tissue gap between the clamping members; and

a control unit configured to monitor the electric motor and to control the motor to limit a clamping force exerted on the tissue by the clamping members in response to monitoring of the electric motor.

2. The surgical device of claim 1, wherein the control unit is configured to prevent operation of the motor beyond a predetermined maximum limit based on predetermined properties of the tissue to be clamped.

3. The surgical device of claim 2, wherein the predetermined maximum limit is selected to limit trauma to the clamped tissue to a predetermined acceptable level.

4. The surgical device of claim 2, wherein the predetermined maximum limit is below a predetermined deflection limit of the at least one of the clamping members.

5. The surgical device of claim 1, wherein the surgical device is at least one of:

(a) a linear surgical stapler,

(b) a circular surgical stapler, or

(c) a right-angle linear cutter.

6. The surgical device of claim 1, wherein the control unit comprises:

a current sensor configured to determine a current driving the electric motor;

a velocity sensor configured to determine a rotational velocity of the electric motor; and

a position sensor configured to determine at least one of a position of an output of the electric motor and a relative position of the first and second clamping members.

7. The surgical device of claim 1, wherein the control unit is adapted to control the electric motor by adjustment of a driving speed of the electric motor to limit the clamping force.

8. A surgical device, comprising:

a clamping mechanism configured to clamp tissue;

an electric motor configured to drive the clamping mechanism; and

a control unit configured to monitor a parameter of the electric motor indicative of a clamping force exerted to the tissue by the clamping mechanism and to control the electric motor, based on the monitored parameter, to limit the clamping force.

9. The surgical device of claim 8, wherein the control unit is configured to prevent operation of the electric motor beyond a predetermined maximum limit based on predetermined properties of the tissue to be clamped.

10. The surgical device of claim 9, wherein the predetermined maximum limit is selected to limit trauma to the clamped tissue to a predetermined acceptable level.

11. The surgical device of claim 9, wherein the predetermined maximum limit is below a predetermined deflection limit of the clamping mechanism.

12. The surgical device of claim 8, wherein the surgical device is at least one of:

(a) a linear surgical stapler,

(b) a circular surgical stapler, or

(c) a right-angle linear cutter.

13. The surgical device of claim 8, wherein the control unit comprises:

a current sensor configured to determine a current driving the electric motor;

a velocity sensor configured to determine a rotational velocity of the electric motor; and

a position sensor configured to determine at least one of a position of an output of the electric motor and a relative position of the clamping mechanism.

14. The surgical device of claim 8, wherein the control unit is adapted to control the electric motor by adjustment of a driving speed of the electric motor to limit the clamping force.

15. A method for controlling a surgical device, the method comprising the steps of:

energizing an electric motor coupled to a clamping mechanism to drive the clamping mechanism to clamp tissue;

monitoring a parameter of the electric motor indicative of a clamping force exerted to the tissue by the clamping mechanism; and

controlling the electric motor, based on the monitored parameter, to limit the clamping force.

16. The method of claim 15, wherein the electric motor is controlled to prevent operation of the electric motor beyond a predetermined maximum limit based on predetermined properties of the tissue to be clamped.

17. The method of claim 16, wherein the predetermined maximum limit is selected to limit trauma to the clamped tissue to a predetermined acceptable level.

18. The method of claim 16, wherein the predetermined maximum limit is below a predetermined deflection limit of the clamping mechanism.

19. The method of claim 15, further comprising adjusting a driving speed of the electric motor to limit the clamping force.