Surgical instrument configured to determine treatment modality during tissue clamping
AssigneeCilag GmbH International
InventorsZHIJUN LIU, DOUGLAS MARRIOTT
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Abstract
Surgical instruments, methods, and software are presented herein that are configured to actuate an end effector to grasp between the pair of jaws, compress tissue during a tissue relaxation time period in which grasped tissue relaxes between the pair of jaws, monitor a motor parameter of the motor during at least a portion of the tissue relaxation time period, extract a mathematical feature of the motor parameter during at least a portion of the tissue relaxation time period, and determine a treatment modality based at least in part on the mathematical feature.
Claims20
A surgical instrument comprising:
- an end effector comprising a pair of jaws;
- a motor assembly comprising a motor mechanically coupled to the end effector, the motor assembly being configured to actuate the end effector to grasp and compress tissue between the pair of jaws;
- and
- a motor control circuit configured to:
- electrically drive the motor during a tissue relaxation time period during which tissue relaxes between the pair of jaws, wherein the tissue relaxation time period comprises an initial transient time period,
- monitor a motor parameter of the motor during at least a portion of the tissue relaxation time period,
- extract a mathematical feature of the motor parameter after the initial transient time period, and
- determine a treatment modality based at least in part on the mathematical feature.
A method comprising:
- electrically driving a motor of a surgical instrument during a tissue relaxation time period, the motor being mechanically coupled to an end effector of the surgical instrument and configured to actuate the end effector to grasp and compress the tissue between a pair of jaws of the end effector, the tissue relaxing between the pair of jaws during the tissue relaxation time period;
- monitoring a motor parameter of the motor during at least a portion of the tissue relaxation time period;
- extracting a mathematical feature of the motor parameter after an initial transient time period of the tissue relaxation time period;
- and
- determining a treatment modality based at least in part on the mathematical feature.
Dependencies are inferred from the claim text.