Surgical tool performance via measurement and display of tissue tension

Patent metadata

Field	Value
Publication number	US-11141231-B2
Application number	US-201816219080-A
Country	US
Kind code	B2
Filing date	Dec 13, 2018
Priority date	Dec 13, 2018
Publication date	Oct 12, 2021
Grant date	Oct 12, 2021

Abstract

A method includes advancing an end effector of a surgical tool to a surgical site, setting a desired force vector to be assumed on the end effector during actuation of the end effector, engaging tissue at the surgical site with the end effector and calculating a force vector assumed on the end effector, and maneuvering the end effector to obtain the desired force vector.

First claim

What is claimed is:

1. A method, comprising:
advancing an end effector of a surgical tool to a surgical site;
setting a desired force vector that will be assumed on the end effector while actuating the end effector to engage tissue, the desired force vector comprising desired loading forces of both magnitude and direction representative of a desired tissue tension in tissue engaged by the end effector;
engaging the tissue at the surgical site with the end effector and calculating a real-time force vector representative of real-time tissue tension experienced on the tissue and assumed on the end effector; and
maneuvering the end effector in three-dimensional space to obtain the desired force vector and thereby achieve the desired tissue tension.

2. The method of claim 1 , further comprising:
capturing images of the end effector and the surgical site with an image capture device;
displaying the images on a visual display; and
augmenting the visual display with a computer-generated force indicator graphically coupled to the end effector at a reference point,
wherein the force vector forms part of the force indicator and extends from the reference point to graphically display magnitude and direction of loading assumed on the end effector.

3. The method of claim 1 , wherein setting the desired force vector comprises manually inputting one or both of a desired magnitude and a desired direction into a computer system.

4. The method of claim 3 , further comprising:
generating a restricted zone at the surgical site interposing the end effector and a critical structure; and
setting one or both of the desired magnitude and the desired direction such that the end effector does not penetrate the restricted zone, and thereby protecting the critical structure from contact with the end effector.

5. The method of claim 1 , wherein setting the desired force vector comprises:
recognizing the surgical tool with a computer system when the surgical tool is coupled to the tool driver; and
setting the desired force vector based on a preferred force vector corresponding to the surgical tool.

6. The method of claim 1 , further comprising setting limits on one or both of a magnitude and a direction of the desired force vector.

7. The method of claim 1 , wherein the surgical tool is pivotably mounted to a robotic arm at a tool driver, and wherein maneuvering the end effector to obtain the desired force vector comprises operating one or both of the robotic arm and the surgical tool with a computer system to obtain the desired force vector.

8. The method of claim 1 , further comprising:
actuating the end effector; and
maintaining the desired force vector on the end effector during actuation.

9. The method of claim 1 , further comprising preventing actuation of the end effector until the desired force vector is obtained.

10. The method of claim 1 , wherein the end effector comprises opposing jaws to engage the tissue, the method further comprising:
advancing one or more additional end effectors to the surgical site;
grasping the tissue at the surgical site with the one or more additional end effectors;
maneuvering the one or more additional end effectors and thereby increasing a tension of the tissue; and
actuating the end effector to produce a surgical treatment to the grasped tissue.

Assignees

• Ethicon Llc
• Cilag Gmbh Int

Inventors

• Overmyer Mark D
• Posada Sol A
• Young Joshua D
• Davison Mark A
• Denzinger Christopher A

Classifications

• A61B34/20

  Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis · CPC title

• A61B90/37

  Surgical systems with images on a monitor during operation · CPC title

• A61B2090/378

  using ultrasound · CPC title

• A61B17/29

  Forceps for use in minimally invasive surgery · CPC title

• A61B34/76

  Manipulators having means for providing feel, e.g. force or tactile feedback · CPC title