[미국특허]
Methods and devices for controlling motorized surgical devices
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
A61B-017/285
A61B-018/14
A61B-017/00
A61B-018/00
출원번호
US-0247916
(2014-04-08)
등록번호
US-9675405
(2017-06-13)
발명자
/ 주소
Trees, Gregory A.
Boudreaux, Chad P.
Miller, Matthew C.
Davison, Mark A.
Yates, David C.
Hibner, John A.
Inkrott-Smith, Jill A.
출원인 / 주소
Ethicon LLC
대리인 / 주소
Mintz Levin Cohn Ferris Glovsky and Popeo, P.C.
인용정보
피인용 횟수 :
37인용 특허 :
8
초록▼
Methods and devices for controlling motorized surgical devices are provided. In general, the methods and devices can allow a surgical device to grasp and cut tissue. In some embodiments, the device can include at least one sensor and a motor, and an output of the motor can be configured to be adjust
Methods and devices for controlling motorized surgical devices are provided. In general, the methods and devices can allow a surgical device to grasp and cut tissue. In some embodiments, the device can include at least one sensor and a motor, and an output of the motor can be configured to be adjusted based at least in part on an output from the at least one sensor. The output of the motor can be configured to provide power for translation of a cutting element along an end effector of the device. Adjusting the motor's output can cause the cutting element to translate through the end effector at different speeds, thereby allowing the cutting element to cut through tissue being grasped by the end effector at different speeds.
대표청구항▼
1. A surgical device, comprising: an end effector including first and second jaws configured to engage tissue between facing engagement surfaces thereof;a sensor configured to sense an impedance of the tissue engaged between the facing engagement surfaces;a cutting element configured to cut the tiss
1. A surgical device, comprising: an end effector including first and second jaws configured to engage tissue between facing engagement surfaces thereof;a sensor configured to sense an impedance of the tissue engaged between the facing engagement surfaces;a cutting element configured to cut the tissue engaged between the facing engagement surfaces;a motor configured to provide an output that causes the cutting element to translate through the end effector at a speed; anda controller configured to change an output of the motor based at least in part on the sensed tissue impedance, thereby controlling the speed of the cutting element translating through the end effector,wherein when the cutting element is cutting the tissue, the controller is configured to control the output of the motor such that the output of the motor cannot exceed 80% of a total output capability of the motor; and after the cutting element has cut the tissue, the controller is configured to control the output of the motor such that the output of the motor is allowed to exceed 80% of the total output capability of the motor. 2. The device of claim 1, wherein the controller is configured to change the output of the motor in real time with the cutting element translating through the end effector. 3. The device of claim 1, wherein the controller is configured to prevent a velocity of the motor from exceeding a predetermined maximum threshold velocity during the translation of the cutting element through the end effector based at least in part on at least one of a current of the motor, a voltage of the motor and on revolutions per minute (RPM) of the motor, the current, the voltage, and the RPM being proportional to a load of the cutting element. 4. The device of claim 1, wherein the controller is configured to repeatedly and sequentially increase and decrease a velocity of the motor in response to the velocity of the motor reaching a predetermined threshold velocity, the repeated sequential increasing and the decreasing of the velocity continuing until the velocity of the motor falls below the predetermined threshold velocity. 5. The device of claim 1, wherein the controller is configured to cause a feedback signal to be provided to a user, the feedback signal being indicative of the speed of the cutting element, and the feedback signal including at least one of a light, a sound, a vibration, and a visual textual display. 6. The device of claim 1, wherein the sensor is configured to sense a reference tissue impedance of the tissue engaged between the facing engagement surfaces, and when the cutting element is translating through the end effector and the sensed tissue impedance becomes greater than the reference tissue impedance, the controller is configured to change the output of the motor so as to speed up the translation of the cutting element through the end effector, andwhen the cutting element is translating through the end effector and the sensed tissue impedance becomes less than the reference tissue impedance, the controller is configured to change the output of the motor so as to slow down the translation of the cutting element through the end effector. 7. The device of claim 1, wherein the sensor is disposed within a housing of the surgical device that is configured to be handheld by a user. 8. The device of claim 1, wherein the sensor is remotely located from a housing of the surgical device that is configured to be handheld by a user, the sensor being configured to be in electronic communication with the controller from the remote location. 9. The device of claim 1, further comprising a handle configured to be actuated by a user so as to move the first and second jaws from an open position to a closed position, the controller being configured to prevent the translation of the cutting element through the end effector until the first and second jaws are in the closed position. 10. The device of claim 1, wherein the controller is also configured to change the output of the motor based at least in part on a linear force of the cutting element moving through the tissue. 11. The device of claim 10, wherein the controller is configured to calculate the linear force in real time with the cutting element moving through the tissue based on one or more of the current of the motor, the voltage of the motor, the RPM of the motor, and the drivetrain of the motor. 12. The device of claim 1, further comprising a second sensor configured to sense a longitudinal position of the cutting element relative to the end effector; and wherein the controller is configured to change the output of the motor based at least in part on the sensed longitudinal position of the cutting element relative to the end effector. 13. The device of claim 12, wherein the cutting element is configured to translate through the end effector from a start position to an end position, and the controller is configured to change the output of the motor in response to the second sensor sensing that the cutting element translates through an intermediate position that is between the start and end positions along a longitudinal axis of the end effector. 14. The device of claim 1, further comprising a second sensor configured to sense a longitudinal position of the cutting element relative to the end effector; and wherein the controller is configured to close the first and second jaws at a rate proportional to the sensed longitudinal position. 15. The device of claim 1, further comprising a housing having the sensor, the controller, and the motor disposed therein. 16. The device of claim 1, further comprising a housing having the sensor and the controller disposed therein; and wherein the motor is located outside the housing and is in electronic communication with the cutting element. 17. A surgical device, comprising: a proximal handle portion operatively coupled to a motor;a shaft extending distally from the handle portion;an end effector at a distal end of the shaft, the end effector being configured to engage tissue;a cutting element configured to move longitudinally through the end effector from a start position to an end position, the motor being configured to provide power that causes the movement of the cutting element from the start position to the end position;a sensor configured to sense a position of the cutting element relative to the end effector; anda controller configured to adjust the power provided by the motor during the movement of the cutting element based at least in part on the sensed position of the cutting element relative to the end effector,wherein when the cutting element is cutting the tissue, the controller is configured to control the output of the motor such that the output of the motor cannot exceed 80% of a total output capability of the motor; and after the cutting element has cut the tissue, the controller is configured to control the output of the motor such that the output of the motor is allowed to exceed 80% of the total output capability of the motor. 18. The device of claim 17, wherein the controller is configured to prevent the power from causing a force of the cutting element moving longitudinally through the tissue to exceed a maximum threshold amount of force in response to the sensor sensing the position of the cutting element as being at or beyond a predetermined intermediate position that is between the start and end positions. 19. The device of claim 18, wherein the force is based on one or more of a current of the motor, a voltage of the motor, revolutions per minute (RPM) of the motor, and drivetrain of the motor. 20. The device of claim 17, wherein the controller is configured to close the end effector at a rate proportional to the sensed position. 21. The device of claim 17, further comprising a second sensor configured to sense an impedance of the tissue engaged by the end effector; and wherein the controller is configured to adjust the power provided by the motor during the movement of the cutting element based at least in part on the sensed tissue impedance, thereby adjusting a velocity of the cutting element moving longitudinally through the end effector. 22. A surgical method, comprising: engaging tissue with first and second jaws of a surgical device;receiving an input from a user that causes a motor of the device to provide power that causes a cutting element to move along the first and second jaws so as to cut the engaged tissue;measuring an impedance of the engaged tissue in real time with the cutting element moving along the first and second jaws; andchanging an amount of the power provided by the motor based at least in part on the measured tissue impedance,wherein the surgical device comprises a controller configured to change an output of the motor based at least in part on the sensed tissue impedance, thereby controlling the speed of the cutting element translating through the end effector,wherein when the cutting element is cutting the tissue, the controller is configured to control the output of the motor such that the output of the motor cannot exceed 80% of a total output capability of the motor; and after the cutting element has cut the tissue, the controller is configured to control the output of the motor such that the output of the motor is allowed to exceed 80% of the total output capability of the motor. 23. The method of claim 22, further comprising sensing a longitudinal position of the cutting element relative to the first and second jaws; and performing at least one of: changing the amount of the power provided by the motor based at least in part on the sensed longitudinal position of the cutting element relative to the first and second jaws, andclosing the first and second jaws at a rate proportional to the sensed position.
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