Surgical instrument with sensor and powered control

Abstract

A surgical instrument includes a temperature sensor and a control unit that is operable to deactivate an end effector of the surgical instrument. In some versions the temperature sensor detects the temperature of a transducer, while in others the temperature sensor detects the temperature of the end effector. The surgical instrument may also include a trigger and a trigger position sensor. A force sensor or a position sensor may be included to determine the force and/or position of the transmission assembly. The end effector may also include a force sensor or a micro coil. A surgical instrument having a sensor may be included in a surgical system that includes a control unit and a remote controller. In some instances the remote controller may have one or more force-feedback components. In addition, a device interface and a surgeon interface may be included to remotely adjust the settings of the control unit.

1 - 20 . (canceled) 
     
     
         21 . A surgical instrument, comprising:
 an end effector, comprising:
 a first jaw; 
 a second jaw movable relative to the first jaw; and 
 a sensor configured to measure a parameter associated with tissue grasped between the first jaw and the second jaw; 
   an elongate member movable between a first position and a second position to actuate the end effector;   a motor configured to drive the elongate member between the first position and the second position;   a processor; and   a memory coupled to the processor, the memory storing instructions that, when executed by the processor, cause the motor to drive the elongate member at a speed based on a measurement of the parameter.   
     
     
         22 . The surgical instrument of  claim 21 , wherein the sensor comprises a first sensor, and wherein the surgical instrument further comprises a second sensor configured to sense the speed of the elongate member. 
     
     
         23 . The surgical instrument of  claim 22 , further comprising a visual feedback device in communication with the processor, wherein the visual feedback device is configured to display the speed of the elongate member sensed by the second sensor. 
     
     
         24 . The surgical instrument of  claim 21 , wherein the parameter comprises a thickness of the tissue. 
     
     
         25 . The surgical instrument of  claim 21 , wherein the memory further stores instructions that, when executed by the processor, cause the motor to:
 drive the elongate member during a first time period;   pause the elongate member after the first time period; and   drive the elongate member during a second time period.   
     
     
         26 . The surgical instrument of  claim 21 , wherein the memory further stores instructions that, when executed by the processor, cause the motor to change a direction in which the elongate member is driven based on the measurement of the parameter. 
     
     
         27 . A surgical system, comprising:
 an end effector, comprising:
 a first jaw; 
 a second jaw rotatable relative to the first jaw; and 
 a sensor configured to measure a parameter associated with tissue grasped between the first jaw and the second jaw; 
   an elongate member movable between a first position and a second position to rotate the second jaw relative to the first jaw;   a motor configured to drive the elongate member between the first position and the second position at a motor speed; and   a control module configured to adjust the motor speed based on a measurement of the parameter.   
     
     
         28 . The surgical system of  claim 27 , wherein the sensor comprises a first sensor, and wherein the surgical system further comprises a second sensor configured to sense a speed of the elongate member. 
     
     
         29 . The surgical system of  claim 28 , further comprising a visual feedback device in communication with the control module, wherein the visual feedback device is configured to display the speed of the elongate member sensed by the second sensor. 
     
     
         30 . The surgical system of  claim 27 , wherein the parameter comprises a thickness of the tissue. 
     
     
         31 . The surgical system of  claim 27 , wherein the control module is further configured to:
 cause the motor to drive the elongate member during a first time period;   pause the elongate member after the first time period; and   drive the elongate member during a second time period.   
     
     
         32 . The surgical system of  claim 27 , wherein the control module is further configured to cause the motor to change a direction in which the elongate member is driven based on the measurement of the parameter. 
     
     
         33 . A surgical instrument, comprising:
 an end effector, comprising:
 a first jaw; 
 a second jaw pivotable relative to the first jaw to transition the end effector from an open configuration to a closed configuration; and 
 a sensor configured to measure a parameter associated with tissue grasped between the first jaw and the second jaw; 
   an elongate member movable between a first position and a second position to actuate the end effector;   a motor configured to drive the elongate member between the first position and the second position; and   a control system, configured to:
 cause the motor to drive the elongate member at a speed during a time period during which the end effector is transitioned to the closed configuration; 
 receive a measurement of the parameter measured by the sensor during the time period; 
 adjust the speed according to the measurement of the parameter; and 
 cause the motor to drive the elongate member at the adjusted speed. 
   
     
     
         34 . The surgical instrument of  claim 33 , wherein the sensor comprises a first sensor, and wherein the surgical instrument further comprises a second sensor configured to sense the speed of the elongate member. 
     
     
         35 . The surgical instrument of  claim 34 , further comprising a visual feedback device in communication with the control system, wherein the visual feedback device is configured to display the speed of the elongate member sensed by the second sensor. 
     
     
         36 . The surgical instrument of  claim 33 , wherein the parameter comprises a thickness of the tissue. 
     
     
         37 . The surgical instrument of  claim 33 , wherein the control system is further configured to cause the motor to pause the elongate member after the time period. 
     
     
         38 . The surgical instrument of  claim 33 , wherein the control system is further configured to cause the motor to change a direction in which the elongate member is driven based on the measurement of the parameter.