Motor control and feedback in powered surgical devices

Abstract

Surgical devices and methods are described herein that provide improved motor control and feedback, thereby combining advantages of manually-operated and powered surgical devices. In one embodiment, a surgical device includes a proximal handle portion that includes a motor, a distal end effector coupled to the handle portion, and a cutting element configured to cut tissue engaged by the end effector, wherein the motor is configured to supply power that moves the cutting element. The device also includes a motor control mechanism configured to cause the amount of the power to dynamically change in response to a manual user input when the cutting element is moving.

What is claimed is: 
     
         1 . A surgical device, comprising:
 an end effector configured to engage tissue;   a motor configured to output power that causes at least one of a compression member and a cutting element to move along the end effector;   an actuator configured to be manually actuated by a user to cause the at least one of the compression member and a cutting element to move along the end effector; and   an electronic control circuit configured to cause the motor to dissipate current internally in response to a stop of the manual actuation of the actuator.   
     
     
         2 . The device of  claim 1 , wherein the power output by the motor is configured to cause the movement of the cutting element. 
     
     
         3 . The device of  claim 1 , wherein the power output by the motor is configured to cause the movement of the compression member. 
     
     
         4 . The device of  claim 1 , wherein the power output by the motor is configured to cause the movement of the cutting element and the compression member simultaneously. 
     
     
         5 . The device of  claim 1 , wherein the actuator includes a movable trigger. 
     
     
         6 . The device of  claim 1 , wherein the actuator includes a pressure bladder. 
     
     
         7 . The device of  claim 1 , further comprising a proximal handle, and an elongate shaft extending distally from the proximal handle, the end effector being at a distal end of the elongate shaft. 
     
     
         8 . The device of  claim 1 , wherein the electronic control circuit is configured to cause the motor to dissipate current internally by halting rotation of the motor. 
     
     
         9 . The device of  claim 1 , further comprising a battery;
 wherein the electronic control circuit is configured to cause the motor to dissipate current internally by disconnecting electrical leads of the motor from the battery and coupling the electrical leads of the motor together.   
     
     
         10 . The device of  claim 1 , further comprising a resistive load;
 wherein the electronic control circuit is configured to cause the motor to dissipate current internally by connecting the electrical leads to the resistive load, applying reverse power polarity, and monitoring motor speed.   
     
     
         11 . A surgical device, comprising:
 a proximal handle portion that includes a motor and a handle, the handle including a fluid-filled bladder configured to be manually held by a user;   an elongate shaft extending distally from the handle portion; and   an end effector at a distal end of the elongate shaft;   wherein the fluid-filled bladder is configured to actuate the motor in response to a user input of pressure thereto, the fluid-filled bladder being configured to actuate the motor to move a cutting element configured to cut a tissue engaged by the end effector, an amount of the pressure being proportional to an amount of power that is supplied by the motor.   
     
     
         12 . The device of  claim 11 , wherein when the user input of pressure ceases, the motor is configured to immediately stop supplying the power. 
     
     
         13 . The device of  claim 11 , wherein the amount of power supplied by the motor is prevented from exceeding a first predetermined threshold amount of power when the cutting element is moving proximally and is prevented from exceeding a second predetermined threshold amount of power when the cutting element is moving distally, the second predetermined threshold amount being greater than the first predetermined threshold amount. 
     
     
         14 . The device of  claim 11 , wherein when the cutting element is moving, the amount of power supplied by the motor is prevented from falling below a predetermined minimum amount of power. 
     
     
         15 . The device of  claim 11 , wherein the amount of power supplied by the motor causes the movement of the cutting element to gradually accelerate at a predetermined rate. 
     
     
         16 . The device of  claim 11 , wherein the amount of the pressure is directly proportional to the amount of power supplied by the motor. 
     
     
         17 . The device of  claim 11 , further comprising an adjustment mechanism configured to be manually manipulated by a user so as to adjust a responsiveness of the motor to the user input of pressure. 
     
     
         18 . The device of  claim 11 , wherein the control element is configured to provide a tactile feedback to the user when the pressure is being input, the tactile feedback being representative of the amount of the power supplied by the motor.