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| 국가/구분 | United States(US) Patent 등록 |
|---|---|
| 국제특허분류(IPC7판) |
|
| 출원번호 | US-0539117 (2012-06-29) |
| 등록번호 | US-9226767 (2016-01-05) |
| 발명자 / 주소 |
|
| 출원인 / 주소 |
|
| 인용정보 | 피인용 횟수 : 128 인용 특허 : 838 |
Various example embodiments are directed towards a system and method for closed feedback control of a robotically controlled electrosurgical instrument. In one embodiment, the method comprises applying at least one electrosurgical signal to an electrosurgical end effector a robotically controlled su
Various example embodiments are directed towards a system and method for closed feedback control of a robotically controlled electrosurgical instrument. In one embodiment, the method comprises applying at least one electrosurgical signal to an electrosurgical end effector a robotically controlled surgical instrument. A feedback signal may be generated by the electrosurgical end effector and provided to a control logic. The control logic may be configured to determine a rate of change of the impedance of a target tissue based on the feedback signal received from the electrosurgical end effector. The control logic may be configured to control or modify the at least one electrosurgical signal such that the rate of change of impedance determined from the feedback signal is maintained at a predetermined rate or within a predetermined range.
1. A method of controlling an end effector in a robotic surgical system, the method comprising: applying, by the robotic surgical system, a drive control signal and an electrosurgical energy signal to an end effector of a surgical device;maintaining, by the robotic surgical system, a first speed of
1. A method of controlling an end effector in a robotic surgical system, the method comprising: applying, by the robotic surgical system, a drive control signal and an electrosurgical energy signal to an end effector of a surgical device;maintaining, by the robotic surgical system, a first speed of a blade coupled to the end effector using the drive control signal, the blade configured to move along a longitudinal axis of the end effector at the first speed;receiving, by the robotic surgical system, a feedback signal indicative of tissue impedance of tissue in contact with the end effector;determining, by the robotic surgical system, a decrease of the tissue impedance based on the feedback signal;in response to the decrease of the tissue impedance, modifying the drive control signal to cause the robotic surgical system to maintain a second speed of the blade, the second speed being faster than the first speed; andcontrolling, by the robotic surgical system, the electrosurgical energy signal based on the feedback signal to maintain a predetermined rate of change of tissue impedance by modulating a pulse width of the electrosurgical energy signal in response to changes in the tissue impedance as measured by the feedback signal. 2. The method of claim 1, further comprising maintaining, by the robotic surgical system, the predetermined rate of change of tissue impedance at least equal to a predetermined value. 3. The method of claim 1, further comprising controlling a distal movement rate of the blade of the end effector with the drive control signal. 4. The method of claim 1, further comprising delivering an ultrasonic energy signal to the blade. 5. The method of claim 1, further comprising delivering a radio frequency energy signal to at least one electrode of the end effector. 6. The method of claim 1, wherein the rate of change of tissue impedance is proportional to a sealing state of the tissue. 7. A robotic surgical system, comprising: a surgical tool comprising: an end effector comprising a first jaw member, a second jaw member, the first and second jaw members comprising corresponding first and second electrodes, and a blade, the end effector configured to receive a drive control signal and an energy signal;an actuator for reciprocating the blade along a longitudinal axis of the end effector; anda control circuit for controlling the actuator, wherein the control circuit is configured to: provide the drive control signal and the energy signal to the end effector;maintain a first speed of the blade moving along the longitudinal axis using the drive control signal;receive a feedback signal indicative of a tissue impedance of tissue in contact with the end effector;determine a decrease of the tissue impedance based on the feedback signal;modify the drive control signal to cause the robotic surgical system to maintain a second speed of the blade, the second speed being faster than the first speed, in response to determining the decrease of tissue impedance; andcontrol the energy signal to maintain a predetermined rate of change of the tissue impedance by modulating a pulse width of the energy signal in response to changes in the tissue impedance as measured by the feedback signal. 8. The robotic surgical system of claim 7, further comprising: a motor coupled to the actuator;a motor control logic coupled to the motor, the motor control logic configured to control a distal movement speed of the blade proportional to the energy signal. 9. The robotic surgical system of claim 7, wherein the energy signal comprises a radio frequency energy signal delivered to the first and second jaw electrodes. 10. The robotic surgical system of claim 7, wherein the control circuit is further configured to deliver an ultrasonic energy signal to the blade to impart ultrasonic motion thereto. 11. The robotic surgical system of claim 7, the control circuit comprising a processor, wherein the processor is configured to run one or more software threads for controlling the drive control signal or the energy signal. 12. The robotic surgical system of claim 7, wherein the rate of change of the tissue impedance is proportional to a sealing state of the tissue. 13. A surgical instrument comprising: an end effector comprising a first jaw member, a second jaw member, the first and second jaw members comprising corresponding first and second electrodes, and a blade, the end effector configured to receive a drive control signal and an energy signal;an actuator for reciprocating the blade along a longitudinal axis of the end effector; anda control circuit for controlling the actuator, wherein the control circuit is configured to: provide the drive control signal and the energy signal to the end effector;maintain a first speed of the blade moving along the longitudinal axis using the drive control signal;receive a feedback signal indicative of a tissue impedance of tissue in contact with the end effector;determine a decrease of the tissue impedance based on the feedback signal;modify the drive control signal to cause the robotic surgical s stem to maintain a second speed of the blade, the second speed being faster than the first speed, in response to determining the decrease of tissue impedance; and control the energy signal to maintain a predetermined rate of change of the tissue impedance by modulating a pulse width of the energy signal in response to changes in the tissue impedance as measured by the feedback signal. 14. The surgical instrument of claim 13, further comprising: a motor coupled to the actuator;a motor control logic coupled to the motor, the motor control logic configured to control a distal movement speed of the blade proportional to the energy signal. 15. The surgical instrument claim 13, wherein the energy signal comprises a radio frequency energy signal delivered to the first and second jaw electrodes. 16. The surgical instrument of claim 13, wherein the control circuit is further configured to deliver an ultrasonic energy signal to the blade to impart ultrasonic motion thereto. 17. The surgical instrument of claim 13, the control circuit comprising a processor, wherein the processor is configured to run one or more software threads for controlling the drive control signal or energy signal. 18. The surgical instrument of claim 13, wherein the rate of change of the tissue impedance is proportional to a sealing state of the tissue.
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