Multiple sensors with one sensor affecting a second sensor's output or interpretation

• US 9,757,128 B2
• Filed: 09/05/2014
• Issued: 09/12/2017
• Est. Priority Date: 09/05/2014
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Baber, Daniel L., Swayze, Jeffrey S., Beckman, Andrew T., Miller, Christopher C., Scheib, Charles J., Shelton, IV, Frederick E., Stokes, Michael J., Stulen, Foster B.
• Primary Examiner(s): CHUKWURAH, NATHANIEL C
• Application Number:
  US14/478,895
• Publication Number:
  US 20160066909A1
• Time in Patent Office: 1,103 Days
• Field of Search: 227 19, 2271751, 2271761, 606219
• CPC Class Codes: A61B 17/00 Surgical instruments, devices or methods, e.g. tourniquets A61B18/00 takes precedence; contraceptive devices, pessaries, or applicators therefor A61F6/00; eye surgery A61F9/007; ear surgery A61F11/00
• CPC Class Codes: A61B 17/0644 penetrating the tissue, deformable to closed position
• 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 17/072 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 17/07292 Reinforcements for staple line, e.g. pledgets
• CPC Class Codes: A61B 17/105 Wound clamp magazines for packaging sharps A61B50/3001
• CPC Class Codes: A61B 17/1155 Circular staplers comprising a plurality of staples
• CPC Class Codes: A61B 17/32 Surgical cutting instruments A61B18/042 takes precedence; suture cutters A61B17/0467; instruments for ligaturing or cutting A61B17/128; instruments for rupturing the amniotic membrane A61B17/4208; specially adapted knives for eye surgery A61F9/0133
• 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 2017/00026 Conductivity or impedance, e.g. of tissue
• CPC Class Codes: A61B 2017/00039 Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect
• CPC Class Codes: A61B 2017/00061 spectrum
• CPC Class Codes: A61B 2017/00066 intensity
• CPC Class Codes: A61B 2017/00075 Motion
• CPC Class Codes: A61B 2017/00106 ultrasonic
• CPC Class Codes: A61B 2017/00115 with audible or visual output with imaging means A61B90/37, A61B34/20
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/00123 and automatic shutdown
• CPC Class Codes: A61B 2017/00199 : with a console, e.g. a control panel with a display
• CPC Class Codes: A61B 2017/00393 : with means for switching between functions
• CPC Class Codes: A61B 2017/00398 : using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/0046 : with a releasable handle; with handle and operating part separable for prosthetic joint-implanting tools A61F2/4603
• CPC Class Codes: A61B 2017/00477 : Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00725 : Calibration or performance testing
• CPC Class Codes: A61B 2017/00734 : battery operated
• CPC Class Codes: A61B 2017/00876 : magnetic
• CPC Class Codes: A61B 2017/07214 : Stapler heads
• CPC Class Codes: A61B 2017/07257 : characterised by its anvil
• CPC Class Codes: A61B 2017/07271 : characterised by its cartridge
• CPC Class Codes: A61B 2017/07285 : characterised by its cutter
• CPC Class Codes: A61B 2017/2927 : the angular position of the head being adjustable with respect to the shaft
• CPC Class Codes: A61B 2018/00648 : using more than one sensed parameter
• CPC Class Codes: A61B 2090/037 : with a frangible part, e.g. by reduced diameter
• CPC Class Codes: A61B 2090/061 : for measuring dimensions, e.g. length
• CPC Class Codes: A61B 2090/064 : for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/065 : for measuring contact or contact pressure
• CPC Class Codes: A61B 2090/0803 : Counting the number of times an instrument is used
• CPC Class Codes: A61B 2090/0806 : Instrument detectors with a removable part, e.g. working tip
• CPC Class Codes: A61B 2090/0807 : Indication means
• CPC Class Codes: A61B 2090/0808 : for indicating correct assembly of components, e.g. of the surgical apparatus
• CPC Class Codes: A61B 2090/081 : for contamination or dirt
• 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 2090/0814 : Preventing re-use
• CPC Class Codes: A61B 2090/0818 : Redundant systems, e.g. using two independent measuring systems and comparing the signals
• CPC Class Codes: A61B 2090/304 : using chemi-luminescent materials
• CPC Class Codes: A61B 2090/309 : using white LEDs
• CPC Class Codes: A61B 2090/702 : Devices for testing the cleaning process, e.g. test soils
• CPC Class Codes: A61B 2505/05 : Surgical care
• CPC Class Codes: A61B 2562/0223 : Magnetic field sensors
• CPC Class Codes: A61B 2562/0247 : Pressure sensors
• CPC Class Codes: A61B 2562/0257 : Proximity sensors
• CPC Class Codes: A61B 2562/0261 : Strain gauges
• CPC Class Codes: A61B 2562/029 : Humidity sensors
• CPC Class Codes: A61B 2562/043 : in a linear array
• CPC Class Codes: A61B 2562/06 : Arrangements of multiple sensors of different types
• CPC Class Codes: A61B 2562/223 : Optical cables therefor
• CPC Class Codes: A61B 5/067 : using accelerometers or gyroscopes
• CPC Class Codes: A61B 5/1076 : for measuring dimensions inside body cavities, e.g. using catheters A61B3/1005 takes precedence
• CPC Class Codes: A61B 5/6847 : mounted on an invasive device
• CPC Class Codes: A61B 5/6885 : Monitoring or controlling sensor contact pressure
• CPC Class Codes: A61B 8/12 : in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61B 8/4483 : characterised by features of the ultrasound transducer
• CPC Class Codes: A61B 90/06 : Measuring instruments not otherwise provided for
• CPC Class Codes: A61B 90/70 : Cleaning devices specially adapted for surgical instruments
• CPC Class Codes: A61B 90/90 : Identification means for patients or instruments, e.g. tags
• CPC Class Codes: A61B 90/92 : coded with colour
• CPC Class Codes: A61B 90/94 : coded with symbols, e.g. text
• CPC Class Codes: A61B 90/96 : using barcodes
• CPC Class Codes: A61B 90/98 : using electromagnetic means, e.g. transponders
• CPC Class Codes: G01R 33/072 : Constructional adaptation of the sensor to specific applications
• CPC Class Codes: G06F 1/266 : Arrangements to supply power to external peripherals either directly from the computer or under computer control, e.g. supply of power through the communication port, computer controlled power-strips
• CPC Class Codes: G06F 1/28 : Supervision thereof, e.g. detecting power-supply failure by out of limits supervision
• CPC Class Codes: G06F 1/30 : Means for acting in the event of power-supply failure or interruption, e.g. power-supply fluctuations for resetting only G06F1/24
• CPC Class Codes: G06F 1/305 : in the event of power-supply fluctuations
• CPC Class Codes: G06F 1/3215 : Monitoring of peripheral devices
• CPC Class Codes: G06F 1/3287 : by switching off individual functional units in the computer system
• CPC Class Codes: H02H 1/06 : Arrangements for supplying operative power power supply arrangements in general G05F, H02M
• CPC Class Codes: H02H 11/002 : in case of inverted polarity or connection; with switching for obtaining correct connection
• CPC Class Codes: H02H 3/02 : Details
• CPC Class Codes: H02H 3/04 : with warning or supervision in addition to disconnection, e.g. for indicating that protective apparatus has functioned watching of pilot wires H02H1/0084; protection of protective arrangements H02H7/008; indication of the state of electronic switches H03K17/18
• CPC Class Codes: H02H 3/06 : with automatic reconnection
• CPC Class Codes: H02H 3/087 : for dc applications
• CPC Class Codes: H02H 3/18 : responsive to reversal of direct current
• CPC Class Codes: H02H 3/202 : for dc systems
• CPC Class Codes: H02H 3/207 : also responsive to under-voltage window comparators for indication G01R19/165
• CPC Class Codes: H02H 3/243 : for DC systems
• CPC Class Codes: H02H 7/20 : for electronic equipment for converters H02H7/10; for electric measuring instruments G01R1/36; for dc voltage or current semiconductor regulators G05F1/569; for amplifiers H03F1/52; for electronic switching circuits H03K17/08
• CPC Class Codes: H02J 1/001 : Hot plugging or unplugging of load or power modules to or from power distribution networks
• CPC Class Codes: H02J 1/10 : Parallel operation of dc sources
• CPC Class Codes: H02J 2310/23 : The load being a medical device, a medical implant, or a life supporting device
• CPC Class Codes: H02J 7/0068 : Battery or charger load switching, e.g. concurrent charging and load supply H02J7/0013 takes precedence
• CPC Class Codes: Y02D 10/00 : Energy efficient computing, e.g. low power processors, power management or thermal management

Abstract

An end effector is disclosed. The end effector comprises a first jaw member defining an anvil; a second jaw member configured to receive a cartridge therein, wherein the first jaw member is moveable with respect to the second jaw member; a first sensor coupled to the anvil; and a second sensor configured to measure a second parameter. The first sensor is configured to measure a first parameter. The first parameter and the second parameter are related. The first sensor and the second sensor are in signal communication with a processor.

Claims

1. An end effector comprising:

a first jaw member defining an anvil;

a second jaw member configured to receive a cartridge therein, wherein the first jaw member is moveable with respect to the second jaw member;

a first sensor coupled to the anvil, wherein the first sensor is configured to measure a first parameter;

a second sensor configured to measure a second parameter, wherein the first parameter and the second parameter are related, wherein the first sensor and the second sensor are in signal communication with a processor, and wherein the first sensor and the second sensor comprise redundant sensors and wherein the second parameter comprises the first parameter; and

a plurality of strain gauges coupled to the anvil.

2. An end effector comprising:

a first jaw member defining an anvil;

a second jaw member configured to receive a cartridge therein, wherein the first jaw member is moveable with respect to the second jaw member;

a first sensor coupled to the anvil, wherein the first sensor is configured to measure a first parameter; and

a second sensor configured to measure a second parameter, wherein the first parameter and the second parameter are related, wherein the first sensor and the second sensor are in signal communication with a processor, wherein the first sensor and the second sensor comprise redundant sensors, wherein the second parameter comprises the first parameter, wherein the processor is configured to compare an output of the first sensor to an output of the second sensor, and wherein the processor selects a most reliable output.

3. An end effector comprising:

a first jaw member defining an anvil, wherein at least one strain gauge is coupled to the anvil;

a second jaw member configured to receive a cartridge therein, wherein the first jaw member is moveable with respect to the second jaw member;

a first sensor coupled to the anvil, wherein the first sensor is configured to measure a first parameter and comprises a Hall effect sensor;

a second sensor configured to measure a second parameter, wherein the second sensor comprises a first strain gauge, wherein the first parameter and the second parameter are related, wherein the first sensor and the second sensor are in signal communication with a processor, and wherein the processor is configured to modify a measurement of the first parameter in response to a measurement of the second parameter;

a magnet coupled to the second jaw member; and

one or more additional strain gauges coupled to the anvil.

4. The end effector of claim 3, wherein the magnet comprises a variable electromagnetic source, and wherein the variable electromagnetic source is varied in response to a value of the second parameter.

5. The end effector of claim 3, wherein the at least one strain gauge is configured to measure the amplitude of strain on the anvil.

6. The end effector of claim 3, wherein the first sensor and the second sensor comprise redundant sensors and wherein the second parameter comprises the first parameter.

7. The end effector of claim 3, comprising:

a staple cartridge coupled to the second jaw member, the staple cartridge comprising;

a staple cartridge body comprising a plurality of cavities for receiving staples therein; and

a plurality of staples located within the plurality of cavities;

wherein the second sensor is coupled to the staple cartridge.

8. The end effector of claim 7, wherein the second sensor is formed integrally with an outer row of staples of the staple cartridge.

9. An end effector comprising:

a first jaw member defining an anvil;

a second jaw member configured to receive a cartridge therein, wherein the first jaw member is moveable with respect to the second jaw member;

a first sensor coupled to the anvil, wherein the first sensor is configured to measure a first parameter; and

a second sensor configured to measure a second parameter, wherein the first parameter and the second parameter are related, wherein the first sensor and the second sensor are in signal communication with a processor, wherein the first sensor is calibrated based on an output of the second sensor, and wherein the second sensor is configured to measure one or more instrument conditions.

10. The end effector of claim 9, wherein the one or more instrument conditions comprise at least one of a color of a staple cartridge, a length of the staple cartridge, a clamping condition, a number of uses remaining, and any combinations thereof.

11. The end effector of claim 9, wherein the first sensor comprises at least one of a magnetic sensor, a strain gauge, a pressure sensor, a force sensor, an inductive sensor, a resistive sensor, a capacitive sensor, an optical sensor, and any combination thereof.

12. The end effector of claim 11, wherein the second sensor comprises at least one of a capacitive touch sensor, a resistive touch sensor, an optical sensor, and any combination thereof.

13. The end effector of claim 9, wherein the second sensor comprises at least one of a magnetic sensor, a strain gauge, a pressure sensor, a force sensor, an inductive sensor, a resistive sensor, a capacitive sensor, an optical sensor, and any combination thereof.

14. A process for determining the clamp geometry of an end effector, the process comprising:

receiving, by a processor, a first signal from a first sensor indicative of a first parameter of an end effector measured by the first sensor, wherein the end effector comprises a first jaw member and a second jaw member, wherein the first jaw member is moveable with respect to the second jaw member;

receiving, by the processor, a second signal from a second sensor indicative of a second parameter of the end effector measured by the second sensor;

determining, by the processor, the clamp geometry of the first jaw member and the second jaw member based on the first signal and the second signal; and

calibrating, by the processor, the first sensor in response to the second signal, wherein the second signal identifies a calibration table for the first sensor.

15. The process of claim 14, comprising modifying, by the processor, the first signal indicative of the first parameter in response to the second signal indicative of the second parameter, wherein the first parameter is adjusted to reflect the clamp geometry of the first jaw member and second jaw member based on the second parameter.

16. The process of claim 14, wherein the first sensor comprises a Hall effect sensor.

17. The process of claim 16, wherein the second sensor is selected from the group consisting of:

a strain gauge, a pressure sensor, an inductive sensor, a resistive sensor, a capacitive sensor, and an optical sensor.

18. A surgical instrument, comprising:

a handle comprising a processor;

a shaft having a proximal end and a distal end, wherein the shaft is removably coupled to the handle at the proximal end; and

an end effector coupled to the distal end of the shaft, the end effector comprising;

a first jaw member defining an anvil;

a second jaw member configured to receive a cartridge therein, wherein the first jaw member is moveable with respect to the second jaw member; and

a first sensor coupled to the anvil, wherein the first sensor is configured to measure a first parameter, and wherein the first sensor comprises a Hall effect sensor; and

a second sensor configured to measure a second parameter, wherein the first parameter and the second parameter are related, and wherein the first sensor and the second sensor are in signal communication with the processor, wherein the processor is configured to modify a measurement of the first parameter in response to a measurement of the second parameter, and wherein the second sensor comprises a first strain gauge;

a magnet coupled to the second jaw member; and

one or more additional strain gauges coupled to the anvil.

19. A surgical instrument, comprising:

a handle comprising a processor;

a shaft having a proximal end and a distal end, wherein the shaft is removably coupled to the handle at the proximal end;

an end effector coupled to the distal end of the shaft, the end effector comprising;

a first jaw member defining an anvil;

a second jaw member configured to receive a cartridge therein, wherein the first jaw member is moveable with respect to the second jaw member; and

a first sensor coupled to the anvil, wherein the first sensor is configured to measure a first parameter; and

a second sensor configured to measure a second parameter, wherein the first parameter and the second parameter are related, wherein the first sensor and the second sensor are in signal communication with the processor, wherein the first sensor and the second sensor comprise redundant sensors and wherein the second parameter comprises the first parameter; and

a plurality of strain gauges coupled to the anvil.

20. A surgical instrument, comprising:

a handle comprising a processor;

a shaft having a proximal end and a distal end, wherein the shaft is removably coupled to the handle at the proximal end;

an end effector coupled to the distal end of the shaft, the end effector comprising;

a first jaw member defining an anvil;

a second jaw member configured to receive a cartridge therein, wherein the first jaw member is moveable with respect to the second jaw member; and

a first sensor coupled to the anvil, wherein the first sensor is configured to measure a first parameter; and

a second sensor configured to measure a second parameter, wherein the first parameter and the second parameter are related, wherein the first sensor and the second sensor are in signal communication with the processor, wherein the first sensor and the second sensor comprise redundant sensors and wherein the second parameter comprises the first parameter, wherein the processor is configured to compare an output of the first sensor to an output of the second sensor, and wherein the processor selects a most reliable output.

21. A surgical instrument, comprising:

a handle comprising a processor;

a shaft having a proximal end and a distal end, wherein the shaft is removably coupled to the handle at the proximal end; and

an end effector coupled to the distal end of the shaft, the end effector comprising;

a first jaw member defining an anvil;

a second jaw member configured to receive a cartridge therein, wherein the first jaw member is moveable with respect to the second jaw member; and

a first sensor coupled to the anvil, wherein the first sensor is configured to measure a first parameter; and

a second sensor configured to measure a second parameter, wherein the first parameter and the second parameter are related, wherein the first sensor and the second sensor are in signal communication with the processor, wherein the first sensor is calibrated based on an output of the second sensor, and wherein the second sensor is configured to measure one or more instrument conditions.

22. The surgical instrument of claim 21, wherein the one or more instrument conditions comprise at least one of a color of a staple cartridge, a length of the staple cartridge, a clamping condition, a number of uses remaining, and any combinations thereof.