Powered stapling device configured to adjust force, advancement speed, and overall stroke of cutting member based on sensed parameter of firing or clamping

Abstract

A surgical stapling instrument is disclosed. The surgical stapling instrument includes an end effector configured to clamp a tissue, a cutting member, a motor coupled to the cutting member, the motor configured to move the cutting member between a first position and a second position, and a control circuit coupled to the motor. The control circuit is configured to sense a parameter associated with clamping of the end effector or firing of the cutting member, or a combination of clamping of the end effector and firing of the cutting member, and control the motor to adjust a torque applied to the cutting member by the motor, a speed at which the motor drive the cutting member, or a distance to which the motor drives the cutting member according to the parameter, or any combination of adjusting the torque, the speed, and the distance.

1 . A surgical stapling instrument comprising:
 an end effector configured to clamp a tissue;   a cutting member;   a motor coupled to the cutting member, the motor configured to move the cutting member between a first position and a second position; and   a control circuit coupled to the motor, the control circuit configured to:
 sense a parameter associated with clamping of the end effector; and 
 control the motor to adjust a torque applied to the cutting member by the motor. 
   
     
     
         2 . The surgical stapling instrument of  claim 1 , wherein the cutting member is independently actuatable from the end effector. 
     
     
         3 . The surgical stapling instrument of  claim 1 , wherein the parameter comprises a tissue gap, force during closure of the end effector, tissue creep stabilization, or force during firing, or any combination thereof. 
     
     
         4 . The surgical stapling instrument of  claim 1 , wherein the control circuit is configured to control the motor to drive the cutting member in either a load control mode or a stroke control mode according to an adjustable control parameter. 
     
     
         5 . The surgical stapling instrument of  claim 1 , wherein the control circuit is configured to control an advancement rate at which the motor drives the cutting member according to initial conditions as the motor begins driving the cutting member from the first position. 
     
     
         6 . The surgical instrument of  claim 1 , wherein the control circuit is configured to control the motor to adjust a speed at which the motor drives the cutting member. 
     
     
         7 . The surgical instrument of  claim 1 , wherein the control circuit is configured to control the motor to adjust a distance to which the motor drives the cutting member according to the parameter. 
     
     
         8 . The surgical instrument of  claim 1 , wherein the control circuit is configured to control the motor to adjust any combination of the torque, the speed, or the distance. 
     
     
         9 . A surgical stapling instrument comprising:
 an end effector configured to clamp a tissue;   a cutting member;   a motor coupled to the cutting member, the motor configured to move the cutting member between a first position and a second position; and   a control circuit coupled to the motor, the control circuit configured to:
 sense a parameter associated with firing of the cutting member; and 
 control the motor to adjust a torque applied to the cutting member by the motor. 
   
     
     
         10 . The surgical stapling instrument of  claim 9 , wherein the cutting member is independently actuatable from the end effector. 
     
     
         11 . The surgical stapling instrument of  claim 9 , wherein the parameter comprises a tissue gap, force during closure of the end effector, tissue creep stabilization, or force during firing, or any combination thereof. 
     
     
         12 . The surgical stapling instrument of  claim 9 , wherein the control circuit is configured to control the motor to drive the cutting member in either a load control mode or a stroke control mode according to an adjustable control parameter. 
     
     
         13 . The surgical stapling instrument of  claim 9 , wherein the control circuit is configured to control an advancement rate at which the motor drives the cutting member according to initial conditions as the motor begins driving the cutting member from the first position. 
     
     
         14 . The surgical instrument of  claim 9 , wherein the control circuit is configured to control the motor to adjust a speed at which the motor drives the cutting member. 
     
     
         15 . The surgical instrument of  claim 9 , wherein the control circuit is configured to control the motor to adjust a distance to which the motor drives the cutting member according to the parameter. 
     
     
         16 . The surgical instrument of  claim 9 , wherein the control circuit is configured to control the motor to adjust any combination of the torque, the speed, or the distance. 
     
     
         17 . A powered stapling device, comprising:
 a circular stapling head assembly;   an anvil;   a trocar coupled to the anvil and coupled to a motor, wherein the motor in configured to advance and retract the trocar; and   a control circuit coupled to the motor, wherein the control circuit is configured to:
 determine a position of the trocar in one of a plurality of zones; and 
 set an anvil closure rate based on the determined position of the trocar. 
   
     
     
         18 . The powered stapling device of  claim 17 , wherein the plurality of zones comprises:
 a first zone during attachment of the trocar to the anvil;   a second zone during retraction of the trocar and closure of the anvil;   a third zone during verification of attachment of the trocar to the anvil; and   a fourth zone during application of a high closure load.   
     
     
         19 . The powered stapling device of  claim 18 , wherein the control circuit is configured to:
 set the closure rate of the anvil to a first velocity when the trocar is in the first zone to ensure proper attachment of the trocar to the anvil;   set the closure rate of the anvil to a second velocity, which is greater than the first velocity, when the trocar is in the second position during the retraction of the trocar and the closure of the anvil;   set the closure rate of the anvil to a third velocity, which is less than the second velocity, to verify attachment of the trocar to the anvil;   set the closure rate of the anvil to a fourth velocity, which is less than the third velocity, when the trocar is the fourth zone during application of a high closure load.   
     
     
         20 . The powered stapling device of  claim 17 , wherein the control circuit is configured to:
 determine the closure rate of the trocar;   determine the closure rate of the anvil;   compare the closure rate of the trocar to the closure rate of the anvil to determine a difference between the closure rate of the trocar to the closure rate of the anvil; and   at a difference greater than a predetermined value, extend and retract the trocar to reset the anvil.   
     
     
         21 . The powered stapling device of  claim 17 , wherein the control circuit is configured to verify attachment of the trocar to the anvil and to slow the closure rate of the trocar under tissue load. 
     
     
         22 . The powered stapling device of  claim 17 , further comprising:
 a knife coupled to the motor;   a sensor located on the anvil, wherein the sensor is configured to detect tissue contact and force applied to the anvil, wherein the sensor is coupled to the anvil, wherein the control circuit is configured to:   monitor anvil displacement;   monitor tissue contact with the anvil;   monitor a force to close of the anvil;   compare the force to close to a predetermined threshold; and   set a first initial knife velocity and advance the knife at a first velocity profile suitable for cutting normal tissue toughness when the force to close is less than the predetermined threshold; or   set a second initial knife velocity and advance the knife at a second velocity profile suitable for cutting heavy tissue toughness when the force to close is greater than or equal to the predetermined threshold.   
     
     
         23 . The powered stapling device of  claim 22 , wherein to advance the knife at the second velocity profile, the control circuit is further configured to:
 set the second initial knife velocity to a velocity that is less than the first initial knife velocity;   monitor knife contact with tissue;   increase motor velocity to increase knife velocity when tissue contact is detected;   monitor completion of cut; and   stop the motor when completion of cut is detected.