Adaptable surgical instrument control

Patent metadata

Field	Value
Publication number	US-12239407-B2
Application number	US-202117156296-A
Country	US
Kind code	B2
Filing date	Jan 22, 2021
Priority date	Jan 22, 2021
Publication date	Mar 4, 2025
Grant date	Mar 4, 2025

Abstract

A surgical computing system may receive usage data associated with movement of a surgical instrument and user inputs to the surgical instrument. The surgical computing system may receive motion and biomarker sensor data from sensing systems applied to the operator of the surgical instrument. The surgical computing system may determine, based on at least one of the usage data and/or the sensor data, a control feature for implementation by the surgical instrument. The surgical computing system may communicate the determined control feature(s) to the surgical instrument. The surgical instrument may modify its operation based on the control features.

First claim

The invention claimed is:

1. A surgical computing system comprising:
a processor configured to:
receive usage data associated with user inputs to a surgical instrument comprising an end effector, wherein the end effector comprises jaws for clamping tissue, and wherein the usage data from the surgical instrument comprises data associated with controlling the jaws;
receive sensor data from one or more sensing systems, the sensor data comprising biomarker data associated with one or more persons operating the surgical instrument;
determine, based on at least one of the usage data or the sensor data, a control feature for implementation by the surgical instrument, wherein the control feature for implementation by the surgical instrument comprises switching from load control of the jaws to position control of the laws; and
communicate an indication of the control feature to the surgical instrument, wherein the indication of the control feature communicates switching from load control of the jaws to position control of the jaws,
wherein load control of the jaws causes the jaws to apply a force for clamping tissue in response to application of force to a control trigger, and
wherein position control of the jaws causes the jaws to apply a force for clamping tissue without application of force to the control trigger.

2. The surgical computing system of claim 1 ,
wherein the usage data comprises data associated with operation of the surgical instrument by a healthcare professional; and
wherein the sensor data comprising biomarker data associated with one or more persons operating the surgical instrument comprises data associated with the healthcare professional operating the surgical instrument.

3. The surgical computing system of claim 1 ,
wherein data associated with controlling the jaws comprises data associated with a length of time a control position has been maintained; and
wherein the processor is configured to determine that the length of time the control position has been maintained exceeds a time threshold.

4. The surgical computing system of claim 1 ,
wherein the usage data further comprises first data associated with hand motion;
wherein the sensor data further comprises second data associated with hand motion;
wherein the processor is further configured to:
determine, based on at least one of the first data associated with hand motion or the second data associated with hand motion, a second control feature for implementation by the surgical instrument, the second control feature comprising gross control or fine control; and
communicate an indication of the second control feature to the surgical instrument.

5. The surgical computing system of claim 1 ,
wherein the usage data further comprises first data associated with user correction action;
wherein the sensor data further comprises second data associated with user correction action;
wherein the processor is further configured to:
determine, based on at least one of the first data associated with user correction action or the second data associated with user correction action, a second control feature for implementation by the surgical instrument, the second control feature comprising over-correction control; and
communicate an indication of the second control feature the surgical instrument.

6. The surgical computing system of claim 1 ,
wherein the usage data further comprises first data associated with tremors experienced by a person operating the surgical instrument;
wherein the sensor data further comprises second data associated with tremors experienced by the person operating the surgical instrument;
wherein the processor is further configured to:
determine, based on at least one of the first data associated with tremors experienced by the person operating the surgical instrument or the second data associated with tremors experienced by an operator of the surgical instrument, a second control feature for implementation by the surgical instrument the second control feature comprising stability control; and
communicate an indication of the second control feature to the surgical instrument.

7. The surgical computing system of claim 6 ,
wherein the processor is further configured to:
compare at least one of the first data and the second data to baseline data;
determine feedback associated with tremors, based on comparing the first data and the second data to baseline data; and
communicate the feedback.

8. The surgical computing system of claim 1 ,
wherein the usage data further comprises first fatigue data associated with fatigue experienced by a person operating the surgical instrument;
wherein the sensor data further comprises second fatigue data associated with fatigue experienced by the person operating the surgical instrument;
wherein the processor is further configured to:
determine, based on at least one of the first fatigue data or the second fatigue data, a second control feature for implementation by the surgical instrument, the second control feature comprising fatigue control; and
communicate an indication of the second control feature to the surgical instrument.

9. A surgical instrument comprising:
a control trigger, the control trigger configured to receive user input for controlling engagement with patient tissue; and
a processor configured to:
monitor user inputs to the control trigger, the user inputs to the control trigger being associated with controlling jaws for clamping tissue, the jaws being comprised in an end effector;
generate data associated with the user inputs to the control trigger, the data associated with the user inputs to the control trigger comprising data associated with controlling the jaws for clamping tissue;
send the data associated with the user inputs to the control trigger to a surgical computing system;
receive an indication of a control feature from the surgical computing system, the indication of the control feature comprising an indication of position control; and
modify operation of the surgical instrument in response to a user operation, based on the indication of the control feature, to switch from load control of the jaws to position control of the jaws,
wherein load control of the jaws causes the jaws to apply a force for clamping tissue in response to application of force to the control trigger, and
wherein position control of the jaws causes the jaws to apply a force for clamping tissue without application of force to the control trigger.

10. The surgical instrument of claim 9 ,
wherein the data associated with controlling the jaws for clamping tissue comprises data indicating a length of time the jaws have been maintained in a position.

11. The surgical instrument of claim 9 ,
wherein the processor is further configured to:
monitor second user inputs to the control trigger, the second user inputs to the control trigger fife associated with controlling the end effector;
generate second data associated with the second user inputs to the control trigger, wherein the second data associated with the second user inputs to the control trigger comprising data associated with hand motion;
send the second data associated with the second user inputs to the control trigger to a surgical computing system;
receive an indication of a second control feature from the surgical computing system, the indication of the second control feature comprising an indication of one of gross control or fine control; and
modify operation of the surgical instrument, based on the indication of one of gross control or fine control, to scale a rate the end effector is moved in response to user input controls.

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Assignees

• Cilag Gmbh Int

Inventors

• Shelton Iv Frederick E
• Harris Jason L
• Eckert Chad E
• Ward Andrèas N

Classifications

• A61B2017/00207

  with hand gesture control or hand gesture recognition · CPC title

• A61B2017/00075

  Motion · CPC title

• A61B17/28

  Surgical forceps (biopsy forceps A61B10/06; {for holding suture needles or materials A61B17/0483; for removing or smashing calculi A61B17/221; surgical scissors A61B17/3201;} obstetrical forceps A61B17/44) · CPC title

• G16H20/40

  relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture · CPC title

• A61B34/77 Primary

  Manipulators with motion or force scaling · CPC title