Surgeon feedback sensing and display methods

Abstract

Various embodiments described herein are directed to surgical instruments with visual feedback. In one embodiment, a surgical instrument with visual feedback comprises an end effector. The end effector has a first jaw member and a second jaw member. At least one sensor is coupled to the end effector. The at least one sensor is configured convert at least one state of the end effector to a feedback signal. The feedback signal is corresponding to the at least one state of the end effector. The feedback signal may be transmitted to a display to render a visual representation of the at least one state of the end effector. The surgical instrument may further comprise an instrument mounting portion to mount to a robotic surgical system. The instrument mounting portion comprises an interface to mechanically and electrically interface to the surgical instrument.

1 - 26 . (canceled) 
     
     
         27 . A display system communicatively couplable to a sensor of a surgical instrument and an image capture device, the sensor configured to sense a parameter associated with an end effector of the surgical instrument, the display system comprising:
 a display screen; and   a control circuit coupled to the display screen, the control circuit configured to:
 receive video data from the image capture device; 
 receive sensor data associated with the parameter from the sensor; 
 cause the display screen to display a video feed according to the video data received from the image capture device; and 
 cause the display screen to display a graphical representation of the end effector rendered with and along a periphery of the video feed; 
 wherein the graphical representation of the end effector corresponds to the parameter. 
   
     
     
         28 . The display system of  claim 27 , further comprising a wearable heads-up display comprising the display screen. 
     
     
         29 . The display screen of  claim 28 , wherein:
 the sensor comprises a first sensor;   the parameter comprises a first parameter;   the display screen comprises a first display screen;   the graphical representation comprises a first graphical representation;   the surgical instrument comprises a second sensor configured to sense a second parameter corresponding to a second surgical function performed by the end effector of the surgical instrument;   the wearable heads-up display comprises a second display screen; and   the control circuit is configured to cause the second display screen to display a second graphical representation of the second parameter rendered with and along the periphery of the video feed.   
     
     
         30 . The display system of  claim 27 , wherein the parameter comprises at least one of a firing force of a knife configured to advance through the end effector, a firing speed of the knife configured to advance through the end effector, an impedance of a tissue clamped by the end effector, a desiccation level of the tissue clamped by the end effector, a temperature of the tissue clamped by the end effector, a distance between a first jaw and a second jaw of the end effector, a closure force exerted by the first jaw or the second jaw, or whether the knife of the surgical instrument is being fired without application of electrosurgical energy by the end effector. 
     
     
         31 . The display system of  claim 27 , further comprising:
 an adapter configured to couple the surgical instrument to a robotic system, the adapter comprising a rotatable body configured to engage with a mounting portion of the surgical instrument;   wherein movement of the rotatable body is configured to cause articulation of the end effector when the mounting portion of the surgical instrument is coupled to the adapter;   wherein the display system is coupled to the robotic system.   
     
     
         32 . The display system of  claim 27 , wherein the graphical representation of the parameter is superimposed on the video feed. 
     
     
         33 . A display system communicatively couplable to a sensor of a surgical instrument and an image capture device, the sensor configured to sense a parameter corresponding to a surgical function performed by an end effector of the surgical instrument, the display system comprising:
 a display screen; and   a control circuit coupled to the display screen, the control circuit configured to:
 receive video data from the image capture device; 
 receive sensor data associated with the parameter from the sensor; 
 cause the display screen to display a video feed according to the video data received from the image capture device; and 
 cause the display screen to display a graphical representation of the parameter rendered with and along a periphery of the video feed. 
   
     
     
         34 . The display system of  claim 33 , further comprising a wearable heads-up display comprising the display screen. 
     
     
         35 . The display screen of  claim 34 , wherein:
 the sensor comprises a first sensor;   the parameter comprises a first parameter;   the display screen comprises a first display screen;   the graphical representation comprises a first graphical representation;   the surgical instrument comprises a second sensor configured to sense a second parameter corresponding to a second surgical function performed by the end effector of the surgical instrument;   the wearable heads-up display comprises a second display screen; and   the control circuit is configured to cause the second display screen to display a second graphical representation of the second parameter rendered with and along the periphery of the video feed.   
     
     
         36 . The display system of  claim 33 , wherein the parameter comprises at least one of a firing force of a knife configured to advance through the end effector, a firing speed of the knife configured to advance through the end effector, an impedance of a tissue clamped by the end effector, a desiccation level of the tissue clamped by the end effector, a temperature of the tissue clamped by the end effector, a distance between a first jaw and a second jaw of the end effector, a closure force exerted by the first jaw or the second jaw, or whether the knife of the surgical instrument is being fired without application of electrosurgical energy by the end effector. 
     
     
         37 . The display system of  claim 33 , further comprising:
 an adapter configured to couple the surgical instrument to a robotic system, the adapter comprising a rotatable body configured to engage with a mounting portion of the surgical instrument;   wherein movement of the rotatable body is configured to cause articulation of the end effector when the mounting portion of the surgical instrument is coupled to the adapter;   wherein the display system is coupled to the robotic system.   
     
     
         38 . The display system of  claim 33 , wherein the graphical representation of the parameter is superimposed on the video feed. 
     
     
         39 . The display system of  claim 33 , wherein the graphical representation comprises at least one of a graph or an icon. 
     
     
         40 . A display system communicatively couplable to a sensor of a surgical instrument and an image capture device, the sensor configured to sense a distance between an end effector of the surgical instrument and a target site, the display system comprising:
 a display screen; and   a control circuit coupled to the display screen, the control circuit configured to:
 receive video data from the image capture device; 
 receive sensor data associated with the distance from the sensor; 
 cause the display screen to display a video feed according to the video data received from the image capture device; and 
 cause the display screen to display a graphical representation of the end effector rendered with and along a periphery of the video feed; 
 wherein the graphical representation of the end effector corresponds to the distance between the end effector and the target site. 
   
     
     
         41 . The display system of  claim 40 , further comprising a wearable heads-up display comprising the display screen. 
     
     
         42 . The display screen of  claim 41 , wherein:
 the sensor comprises a first sensor;   the display screen comprises a first display screen;   the graphical representation comprises a first graphical representation;   the surgical instrument comprises a second sensor configured to sense a second parameter corresponding to a surgical function performed by the end effector of the surgical instrument;   the wearable heads-up display comprises a second display screen; and   the control circuit is configured to cause the second display screen to display a second graphical representation of the second parameter rendered with and along the periphery of the video feed.   
     
     
         43 . The display system of  claim 40 , further comprising:
 an adapter configured to couple the surgical instrument to a robotic system, the adapter comprising a rotatable body configured to engage with a mounting portion of the surgical instrument;   wherein movement of the rotatable body is configured to cause articulation of the end effector when the mounting portion of the surgical instrument is coupled to the adapter;   wherein the display system is coupled to the robotic system.   
     
     
         44 . The display system of  claim 40 , wherein the graphical representation of the distance is superimposed on the video feed.