Graphic display for a powered surgical stapler.

Abstract

The surgical system includes a surgical instrument and an interface device configured to communicate with the surgical instrument. The system includes a display coupled to the interface device. The display is configured to present a graphical user interface based on the type of surgical instrument. The graphical user interface may include a first interface and a second interface, the first interface configured to provide information regarding operation of the surgical instrument at a level of detail different from the level of detail provided on the second interface.

Description

[Technical Field]

[0001] The present disclosure relates to surgical devices and, more particularly, to electromechanical surgical systems for performing stapling surgical procedures. [Background technology]

[0002] Surgical fastening devices for applying fasteners or staples to tissue are well known. These fastening devices include surgical staplers, which can be manual or powered. There are several types of powered surgical staplers, such as linear staplers or circular staplers, which are specifically designed to perform certain types of surgical procedures, including endoscopic procedures that provide real-time video of the surgical site through a laparoscopic or endoscopic camera. Some powered surgical staplers typically include a small display disposed on the stapler handle. However, due to the size of the display, the information is difficult to see, requiring the surgeon to avert their gaze from the surgical site. Taking their eyes off the monitor to view the handle while the instrument is still in the patient poses some risk. Thus, there is a need for a system that provides visual feedback within the surgeon's field of view while surgery is being performed. Summary of the Invention [Means for solving the problem]

[0003] The present disclosure provides a surgical system integrated with a surgical monitor, e.g., a laparoscopic monitor, an auxiliary monitor, a head-up display, etc., that displays information within the surgeon's line of sight while observing the surgical site on the monitor. The surgical system effectively communicates information in a manner that is quick and easily understood with little or no written instructions. The surgical system includes a powered surgical stapler, modular adapters (e.g., linear and circular), and a graphic user interface (GUI) having elements suitable for display on the display to convey the status of attached reloads and other information related to the use of the instrument.

[0004] The surgical system is configured to operate with a powered stapler system, the powered stapler system including a handle assembly having a power source and one or more motors coupled to the power source. The powered stapler system also includes one or more adapter assemblies having multiple transmission assemblies, e.g., drive shafts, that transmit actuation from the powered handle. The powered handle assembly and adapter assemblies may be reusable. One type of adapter may be used with a linear stapler reload, and another type may be used with a circular stapler reload.

[0005] Circular staplers operate in four stages: clamping, stapling, cutting, and unclamping. Clamping is achieved by moving the anvil proximally to compress tissue between the anvil and a reload assembly containing a plurality of staples. The anvil and reload assembly may be disposable. During stapling, staples are ejected from the reload assembly into the clamped tissue and deformed against the anvil. Cutting involves moving an annular knife through the compressed and stapled tissue until the knife contacts the anvil. During unclamping, the anvil assembly is moved distally from the cut tissue and the reload assembly.

[0006] Linear staplers also clamp, staple, cut, and unclamp. In embodiments, clamping, stapling, and cutting can be accomplished simultaneously by advancing a drive rod (e.g., an I-beam), which engages and moves the anvil and cartridge jaws toward each other. As the jaws close, a sled and knife are advanced by the drive rod, albeit in alternating sequences, so that the compressed tissue is first stapled and then cut. When the drive rod reaches the end of its travel and the tissue has been stapled and cut, the drive rod reverses to unclamp the tissue.

[0007] The surgical system is configured to display the following: An indication of the connection of the surgical instrument, i.e., stapler, to the surgical system; An indication of device status, including battery life, attached components, and ready devices; An indication of active devices displayed and the user's possible selection of which devices to activate; An indication of the type of adapter and reload (i.e., linear or circular) attached to the handle assembly and shown with an accurate graphic depiction of each component of the powered stapler system, i.e., the handle assembly, adapter, and reload; The display also indicates characteristics of the attached reload, such as color, length for linear reloads, staple size, lumen size for circular reloads, etc.

[0008] The surgical system is also configured to display a home screen view of multiple handle assemblies being used, including a history tab, a setup tab, and indicators for active connections, e.g., wireless, Ethernet, and USB. Activating the history function allows the user to view a log of past staple, clamp, and firing sequences, which may be organized by date, time, and reload type (e.g., color, size, and linear or circular graphics). Each log file may contain information metrics specific to linear or circular stapling. Linear stapling files indicate reload type (e.g., length and color) and a peak clamp force graph with force zones and firing force profile, which indicates areas of the staple line that received high force. Circular stapling files indicate compression profiles with zones, visually displaying tissue compression information generated during applicable clamping. The display shows clamp time and pressure at the 100% clamped position, as well as the pressure at the start of staple firing. The display also indicates maximum staple force and maximum cutting force.

[0009] The graphic display also provides live feedback during use. In particular, the graphic display shows, in high or low fidelity visual schemes at the user's discretion, real-time linear staple force zones during clamping and firing, clamp / open and new / used status of reload, and firing progress. The graphic display also shows real-time circular staple tissue compression feedback and zones during clamping, and tissue relaxation feedback after clamping is complete. It also displays status information for staple firing, cutting, anvil, and reload.

[0010] The aforementioned features enable the surgical system to provide a higher level of support for clinical decision-making, especially when the surgeon is encountering scenarios that challenge their level of experience. The ability to leverage astute information and device sensor information also increases confidence in the stapling technique and reliance on the tissue-sensing features that are core to the powered stapler system's feature set. Another benefit is the surgical system's ability to provide feedback to other staff, i.e., those not holding and actuating the instrument. During certain procedures, such as circular stapling in colorectal applications, the person firing the stapler may not be the primary surgeon, but an assistant under sterile drapes rather than in the sterile field. This allows the surgeon to better communicate commands and interrupt non-sterile users if undesirable behavior is occurring.

[0011] According to one embodiment of the present disclosure, a surgical system is disclosed. The surgical system includes a surgical instrument and an interface device configured to communicate with the surgical instrument. The system includes a display coupled to the interface device. The display is configured to present a graphical user interface based on a type of surgical instrument. The graphical user interface may include a first interface and a second interface, the first interface configured to provide information regarding operation of the surgical instrument at a level of detail different from the level of detail provided on the second interface.

[0012] Implementations of the above embodiments may include one or more of the following features. According to one aspect of the above embodiments, the surgical instrument may be a modular powered surgical stapler. The modular powered surgical stapler may include a handle assembly, an adapter, and a reload. The graphical user interface may be configured to display a graphical representation of each of the handle assembly, the adapter, and the reload based on their connection status. The type of surgical instrument may be a linear stapler. The first interface displays a segmented progress bar. The segmented progress bar may include a plurality of color-coded segments indicating the force applied by the linear stapler. The second interface may display a live plot of force as a function of travel distance.

[0013] According to another embodiment of the present disclosure, a surgical system is disclosed. The surgical system includes a modular powered surgical stapler having a handle assembly, an adapter, and a reload. The system also includes an interface device configured to communicate with the surgical stapler. The system further includes a display coupled to the interface device. The display is configured to present a graphical user interface based on the type of adapter and reload. The graphical user interface includes a first interface and a second interface, the first interface configured to provide information regarding operation of the surgical instrument at a level of detail different from the level of detail provided on the second interface.

[0014] Implementations of the above embodiments may include one or more of the following features. According to one aspect of the above embodiments, the graphical user interface may be configured to display a graphical representation of each of the handle assembly, the adapter, and the reload based on their connection status. The adapter and reload types may be linear. The first interface may display a segmented progress bar having multiple color-coded segments indicating the force applied by the surgical stapler. The second interface may display a live plot of force as a function of travel distance. The adapter and reload types may be circular. The graphical user interface may display trocar and anvil travel. The first interface may display a segmented progress bar having multiple color-coded segments indicating the force applied by the surgical stapler. The first interface may display an animated staple icon configured to display staple shape during the stapling process. The first interface may display an animated knife icon with a pivoting blade displayed during the cutting process. The second interface may display a live plot of force as a function of travel distance during tissue compression.

[0015] According to a further embodiment of the present disclosure, a method for controlling a surgical system is disclosed. The method includes connecting a handle assembly of a powered surgical system to an interface device and coupling an adapter to the handle assembly and a reload to the adapter. The method also includes displaying a graphical user interface based on a type of adapter and reload, the graphical user interface may include a first interface and a second interface, the first interface configured to provide information regarding operation of the surgical instrument at a level of detail different from the level of detail provided on the second interface.

[0016] Embodiments of the present disclosure are described herein with reference to the accompanying drawings. [Brief explanation of the drawings]

[0017] [Figure 1] 1 is a surgical system and a powered stapler system according to an embodiment of the present disclosure; [Figure 2] FIG. 1 is a perspective view of a powered linear stapler including a handle assembly, an adapter assembly, and an end effector according to an embodiment of the present disclosure; [Figure 3] FIG. 1 is a perspective view of a powered circular stapler including a handle assembly, an adapter assembly, and an end effector according to an embodiment of the present disclosure; [Figure 4] FIG. 2 is a schematic diagram of the handle assembly, adapter assembly, and end effector of FIG. 1. [Figure 5] 1 is a method for displaying the status of a power stapler system according to an embodiment of the present disclosure. [Figure 6] 10 is a sequence of graphical user interfaces (GUIs) displayed by a surgical system during the performance of a method according to an embodiment of the present disclosure. [Figure 7] 10 is a sequence of graphical user interfaces (GUIs) displayed by a surgical system during the performance of a method according to an embodiment of the present disclosure. [Figure 8] 10 is a sequence of graphical user interfaces (GUIs) displayed by a surgical system during the performance of a method according to an embodiment of the present disclosure. [Figure 9] 10 is a sequence of graphical user interfaces (GUIs) displayed by a surgical system during the performance of a method according to an embodiment of the present disclosure. [Figure 10] 10 is a sequence of graphical user interfaces (GUIs) displayed by a surgical system during the performance of a method according to an embodiment of the present disclosure. [Figure 11]10 is a sequence of graphical user interfaces (GUIs) displayed by a surgical system during the performance of a method according to an embodiment of the present disclosure. [Figure 12] 10 is a sequence of graphical user interfaces (GUIs) displayed by a surgical system during the performance of a method according to an embodiment of the present disclosure. [Figure 13] 10 is a sequence of graphical user interfaces (GUIs) displayed by a surgical system during the performance of a method according to an embodiment of the present disclosure. [Figure 14] 10 is a sequence of graphical user interfaces (GUIs) displayed by a surgical system during the performance of a method according to an embodiment of the present disclosure. [Figure 15] 10 is a sequence of graphical user interfaces (GUIs) displayed by a surgical system during the performance of a method according to an embodiment of the present disclosure. [Figure 16] 10 is a sequence of graphical user interfaces (GUIs) displayed by a surgical system during the performance of a method according to an embodiment of the present disclosure. [Figure 17] 10 is a sequence of graphical user interfaces (GUIs) displayed by a surgical system during the performance of a method according to an embodiment of the present disclosure. [Figure 18] 10 is a sequence of graphical user interfaces (GUIs) displayed by a surgical system during the performance of a method according to an embodiment of the present disclosure. [Figure 19] 10 is a sequence of graphical user interfaces (GUIs) displayed by a surgical system during the performance of a method according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0018] Embodiments of the surgical devices disclosed herein, and adapter assemblies and / or handle assemblies for the surgical devices, will now be described in detail with reference to the drawings, in which like reference numerals refer to identical or corresponding elements in each of the several views. As used herein, the term "distal" refers to the portion of a surgical instrument or component thereof that is distal from the user, while the term "proximal" refers to the portion of a surgical instrument or component thereof that is proximal to the user.

[0019] 1 illustrates a surgical system 10 configured to communicate with one or more surgical devices and output information related to the devices on one or more displays 12. The displays 12 may be any suitable monitor, augmented or virtual reality headset, heads-up display, projector, or the like. In an embodiment, the display 12 may also be a touchscreen. The system 10 also includes an interface device 104 configured to communicate with a powered surgical stapler system 100 that includes a modular surgical stapler, i.e., a linear stapler 200 and a circular stapler 300. The interface device 104 is further configured to receive device information from the powered surgical stapler system 100 and process the device information for display on the one or more displays 12.

[0020] 2 and 3, each of staplers 200 and 300 may share a common power platform, i.e., a handle assembly 102 that includes one or more motors, a power supply, a main controller, a storage device, a transceiver, etc. Stapler 200 also includes a linear adapter 202 configured to connect handle assembly 102 to a loading unit 204 that includes an end effector 206 having a first jaw 208 with a stapler cartridge 210 and a second jaw 212 with an anvil 214. Linear adapter 202 includes various mechanical linkages that couple end effector 206 with handle assembly 102, enabling actuation of end effector 206 to perform various functions, such as clamping, stapling, and cutting. For further details regarding the structure and operation of linear stapler components, reference may be made to U.S. Pat. No. 9,839,425, filed March 30, 2015, the entire contents of which are incorporated herein by reference.

[0021] The stapler 300 also includes a circular adapter 302 configured to connect the handle assembly 102 to an end effector 306 having a reload 308 with a stapler cartridge 310. The end effector 306 also includes an anvil 314 that is movable relative to the reload 308. The liner adapter 302 includes various mechanical linkages that couple the end effector 306 with the handle assembly 102 and enable actuation of the end effector 306 to perform various functions, such as clamping, stapling, and cutting. For further details regarding the structure and operation of circular stapler components, reference may be made to U.S. Pat. No. 11,045,199, filed May 7, 2018, the entire contents of which are incorporated herein by reference.

[0022] Referring to FIG. 4 , the handle assembly 102 includes a main controller circuit board 142, a rechargeable battery 144 configured to power any of the electrical components of the handle assembly 102, and multiple motors, e.g., first motor 152a, second motor 152b, and third motor 152c, coupled to the battery 144. The handle assembly 102 also includes a display 146. In embodiments, the motors 152a, 152b, and 152c may be coupled to any suitable power source configured to provide electrical energy to the motors 152a, 152b, and 152c, such as an AC / DC transformer. Each of the motors 152a, 152b, and 152c is coupled to a motor controller 143 that controls the operation of the corresponding motor 152a, 152b, and 152c, including the flow of electrical energy from the battery 144 to the motors 152a, 152b, and 152c. A main controller 147 is provided to control the handle assembly 102. The main controller 147 is configured to execute software instructions that embody algorithms, such as clamping, stapling, and cutting algorithms, that control the operation of the handle assembly 102 .

[0023] The motor controller 143 includes a plurality of sensors 160a...160n configured to measure the operating conditions of the motors 152a, 152b, 152c and the battery 144. The sensors 160a-n include a strain gauge 160b and may also include voltage sensors, current sensors, temperature sensors, telemetry sensors, optical sensors, and combinations thereof. The strain gauge 160b may be disposed within the linear adapter 202 and the circular adapter 302. The sensors 160a-160n may measure the voltage, current, and other electrical characteristics of the electrical energy supplied by the battery 144. The sensors 160a-160n may also measure the angular velocity (e.g., rotational speed) in revolutions per minute (RPM), torque, temperature, current draw, and other operating characteristics of the motors 152a, 152b, 152c. Sensor 160a also includes an encoder configured to count rotations or other indicators of motors 152a, 152b, 152c, which is then used by main controller 147 to calculate linear movement of components moveable by motors 152a, 152b, 152c. Angular velocity may be determined by measuring rotations of motors 152a, 152b, 152c or a drive shaft (not shown) coupled to and rotatable by motors 152a, 152b, 152c. Position of the various axially moveable drive shafts may also be determined using various linear sensors positioned at or near the shafts, or may be estimated from RPM measurements. In an embodiment, torque may be calculated based on the adjusted current draw of motors 152a, 152b, 152c at a constant RPM. In further embodiments, motor controller 143 and / or main controller 147 may measure time and process the values described above as a function of time, including integration and / or differentiation, to determine, for example, the rate of change of the measured value. Main controller 147 is also configured to determine the distance traveled by various components of adapter 202 / 302 and / or end effector 204 / 306 by counting rotations of motors 152a, 152b, 152c.

[0024] Motor controller 143 is coupled to main controller 147, which includes multiple inputs and outputs for interfacing with motor controller 143. In particular, main controller 147 receives measured sensor signals from motor controller 143 regarding the operating conditions of motors 152a, 152b, 152c, and battery 144, in turn, outputs control signals to motor controller 143 to control the operation of motors 152a, 152b, 152c based on the sensor readings and specific algorithm instructions. Main controller 147 is also configured to accept multiple user inputs, for example, from a user interface (switches, buttons, touch screen, etc.) coupled to main controller 147.

[0025] The main controller 147 is also coupled to the memory 141. The memory 141 may include volatile (e.g., RAM) and non-volatile storage configured to store data including software instructions for operating the handle assembly 102. The main controller 147 is also coupled to the strain gauges 160b using a wired or wireless connection and is configured to receive strain measurements from the strain gauges 160b used during operation of the handle assembly 102.

[0026] The handle assembly 102 includes a plurality of motors 152 a, 152 b, 152 c, each including a respective motor shaft (not explicitly shown) extending therefrom and configured to drive a respective transmission assembly. Rotation of the motor shaft by each motor functions to drive shafts and / or gear components of the adapters 202 / 302 to perform various operations of the handle assembly 102. In particular, the motors 152 a, 152 b, 152 c of the handle assembly 102 are configured to drive shafts and / or gear components of the adapter assemblies 202 and 302 to actuate the end effectors 206 and 306.

[0027] The handle assembly 102 also includes a communication interface 162 configured to connect to an interface device 104 using a wired connection (e.g., Firewire®, USB®, Serial RS232®, Serial RS485®, USART®, Ethernet®, etc.) or a wireless connection (e.g., Bluetooth®, ANT3®, KNX®, ZWave®, X10® Wireless USB®, IrDA®, Nanonet®, Tiny OS®, ZigBee®, 802.11 IEEE, and other wireless, infrared, UHF, VHF communications, etc.). The interface device 104 is configured to store data transmitted to it by the stapler 200 / 300, as well as process and analyze the data. The interface device 104 is also connected to other devices, such as a display 12.

[0028] Referring to FIG. 5, a method for displaying the status of the powered stapler system 100 on the display 12 is shown. One or more staplers 200 / 300 can be used simultaneously with the interface device 104. In step 400, the handle assembly 102 is actuated and paired with the interface device 104. Referring to FIGS. 6-19, screenshots of a GUI 500 shown on the display 12 during use of the surgical system 10 are continuously updated during the procedure. Referring to FIG. 6, on the home screen 501 of the GUI 500, a graphical handle representation 502 of the handle assembly 102 is displayed in one of multiple areas 503, indicating that the handle assembly 102 is paired with the interface device 104. The home screen 501 allows viewing of multiple staplers 200 / 300, a history tab, a setup tab, and indicators for active connections, e.g., wireless, Ethernet, and USB connections.

[0029] In step 402, once the stapler 200 / 300 is assembled, each of the components is also shown in a corresponding area 503. Thus, once the adapter 202 / 302 is coupled to the handle assembly 102, a graphical adapter representation 504 is displayed, which represents the adapter 200 / 300, e.g., a linear or circular adapter. Similarly, once the end effector 206 / 306 is coupled, a graphical end effector representation 506 is also displayed, which shows the fully assembled stapler 200 / 300, which indicates that the stapler 200 / 300 is ready for use. Thus, area 503 displays device status, including battery life, attached components, device ready status, etc.

[0030] In step 404, one of the paired available staplers 200 / 300 is selected through the GUI 500. The selection may be made through the stapler 200 / 300, for example, by pressing a button thereon, or through the surgical system 10 using any suitable user interface, for example, a keyboard, mouse, touch screen, to select one of the staplers 200 / 300 for use. The GUI 500 may highlight a selected region 503 to indicate the active stapler 200 / 300.

[0031] Once the selected stapler 200 / 300 is used in a surgical procedure, the GUI 500 transitions to a corresponding treatment interface specific to each of the staplers 200 / 300. Furthermore, each of the treatment interfaces includes two versions having different levels of detail, e.g., a high-fidelity interface and a low-fidelity interface. The interface device 104 is configured to display the treatment interface based on the selected stapler 200 or 300. In particular, the stapler 200 / 300 is configured to send an indicator to the interface device 104 that the treatment has begun, and in response, the interface device 104 switches to the corresponding treatment interface.

[0032] If the linear stapler 200 is in use, the interface device 104 proceeds to step 406, during which the linear stapler 200 advances a drive rod (not shown), which clamps tissue between the first jaw 208 and the second jaw 212. The drive rod (e.g., an I-beam) engages the first jaw 208 and the second jaw 212, approximating them. In step 408, as the drive rod is continuously advanced, an ejector (e.g., a sled) advances along with the knife blade, stapling and cutting the tissue. In step 410, the drive rod is retracted, thereby retracting the knife, while the sled may remain in a distal position. As the drive rod is further retracted, the first jaw 208 and the second jaw 212 are unclamped in step 412.

[0033] During steps 406-412, the interface device 104 outputs a linear procedure GUI 510 as either a first GUI 512 (FIG. 7) or a second GUI 514 (FIG. 8). The GUI 510 shows real-time linear staple force zones 1, 2, and 3, new / used status, and firing progress during clamping, cutting, and staple firing. The user has the option to select either the first GUI 512 or the second GUI 514, depending on the desired level of detail, by pressing the corresponding button 516a or 516b, respectively. In FIG. 7, the first GUI 512 can provide low-fidelity (i.e., minimal) information and includes a segmented progress bar 518 that outputs a color-coded bar corresponding to the force measured during the clamping process. Additionally, a progress bar 520 is shown, which indicates the progress of the drive rod as it advances along its length through the stapler cartridge 210. Also shown is a force gauge 522, which provides instantaneous (e.g., live) force as zones 1, 2, and 3. In FIG. 8, the second GUI 514 can be high-fidelity (i.e., maximum) information and includes a live plot 524 in place of the segmented progress bar 518 to track force. The area below the plot 524 is color-coded based on a vertical zone scale 526. Additionally, a progress bar 530 is replicated from the first GUI 512. A live histogram 532 showing compression force is also displayed along the vertical zone scale 526. The histogram 532 is live only during tissue compression (i.e., clamping), and is held at a peak force once full clamping is achieved. The live force is then displayed via the plot during firing.

[0034] 5, if the circular stapler 300 is in use, the interface device 104 proceeds to step 414, during which the circular stapler 300 extends a trocar (not shown) until it pierces tissue. In particular, a user begins a surgical procedure by positioning the circular adapter 302, including the trocar and anvil 314, within the colorectal or upper gastrointestinal region. After extension of the trocar, the anvil 314, previously positioned by the surgeon, is attached to the trocar. In an embodiment, the anvil 314 is detected based on the force measured by the strain gauge 160b, which reaches a minimum threshold when the anvil 314 is retracted.

[0035] In step 416, a clamping process is initiated on the tissue interposed between the reload 308 and the anvil 314. The clamping process may involve controlled tissue compression until a desired force threshold is reached. Once the tissue is compressed and the tissue compression is confirmed by the primary controller 147, a stapling process is initiated, either manually or automatically, in step 418. During this process, staples are fired into the compressed tissue held between the anvil 314 and the reload 308. After stapling is completed, which may also be monitored by the primary controller 147, a severing process may be initiated, either automatically or manually. During step 420, an annular knife (not shown) advances through the stapled tissue. Confirmation of the stapling and severing process may be based, for example, on the measured force reaching a threshold. In step 422, after confirmation of a completed severance, the anvil 314 advances away from the reload 308, thereby releasing the tissue. As the anvil 314 advances, it tilts relative to the shaft 315 (FIG. 3) and disengages from the circular adapter 302, allowing the anvil 314 and adapter 302 to be removed from the patient.

[0036] During steps 416-422, the interface device 104 outputs the circular procedure GUI 600 as either the first GUI 602 (FIGS. 10-12) or the second GUI 604 (FIGS. 14-16). At the start of a circular stapling procedure, the circular procedure GUI 600 displays a trocar / anvil GUI 606 showing a graphical representation 608 of a reload coupled to a graphical representation 610 of a trocar and a graphical representation 612 of an anvil. The trocar / anvil GUI 606 indicates the size and color of the reload and the position of the trocar during advancement and retraction, including maximum extension. Arrows 614a and 614b indicate the direction of trocar movement (i.e., retraction or extension). The trocar / anvil GUI 606 indicates when the trocar is sufficiently far away from the anvil 314 to which it is attached. Furthermore, the trocar / anvil GUI 606 also indicates when the anvil 314 is attached to the trocar when the anvil 314 contacts the reload 308 and the strain gauge 160b recognizes a minimum force threshold.

[0037] 10-12, the first GUI 602 can provide low-fidelity (i.e., minimal) information, including a segmented progress bar 618, showing the distance and force traveled during compression. The segmented progress bar 618 conveys the distance and status of closure, in addition to a percentage value displayed on the reload graphical representation 608. The segments of the segmented progress bar 618 change color depending on the status of tissue compression; for example, a green segment indicates tissue compression is in Zone 1 or 2, and a yellow segment indicates the tissue is compressed under high-pressure Zone 3. Full compression is indicated, such as by a 100% display (FIG. 11).

[0038] Also shown is a pressure gauge 620, which provides instantaneous pressure as zones 1, 2, and 3. A live histogram 622 indicating tissue compression is also displayed alongside the pressure gauge 620. The histogram 622 may change color corresponding to zones 1, 2, and 3. A maximum line may also be displayed, which indicates the maximum pressure detected as a high mark and maintains a peak level while the histogram is free to move up and down with live feedback from the strain gauge 160b.

[0039] 11 , upon completion of closure, as the circular stapler 300 begins stapling, the first GUI 602 transitions to a staple display to show circular stapling progress. The first GUI 602 includes animated staple icons 624 that indicate when staple firing begins, when the staple legs are partially formed, and when the staple is fully formed and stapling is complete. In embodiments, if the staple cannot be formed, an error message may be displayed within the staple icon 624 or elsewhere. As shown in FIG. 12 , once stapling is complete, the circular stapler 300 begins cutting, and the first GUI 602 then indicates that the circular knife is extending, penetrating the tissue, and completing the cut. In particular, the first GUI 602 includes an animated knife icon 626 that indicates the blade shearing (i.e., pivoting in an arc).

[0040] After the cut is complete, the circular stapler 300 extends the anvil 314 to release the tissue. Figure 13 shows the trocar / anvil GUI 606 with the anvil graphical representation 612 shown in a tilted configuration. Also shown is the position and orientation of the anvil 314 until it reaches the release position.

[0041] 14-16 illustrate a second GUI 604, which may provide high-fidelity (i.e., maximum) information. During compression, as shown in FIG. 14, the second GUI 604 displays a live plot 630, which shows tissue compression pressure over a 30-second window rather than an instantaneous histogram. The line plot 630 rises and falls with a leading dot to indicate the tissue compression reading. The rise and fall is a visual representation of the adaptive clamping technique, which applies instantaneous pressure and then waits for tissue pressure to drop slightly before applying more pressure, allowing compression within the initial 30-second window without exceeding the threshold for Zones 2 / 3. A timer 632 is shown in the upper right, and vertical zone scales 633 for each pressure zone 1, 2, and 3 indicate the current compression zone. This second GUI 604 also shows the tissue compression response at the threshold between compression zones 2 and 3 and indicates when to rise to Zone 3, if necessary. Once clamping reaches 100%, the circular stapler 300 records the compression pressure and time. Depending on the user's preference, the system can display pressure (PSI) or force (lb) as shown herein. Plot 630 continues to display live compression feedback as edema clears from the tissue and the compression level decreases, providing a visual indication of tissue relaxation.

[0042] 15 shows a second GUI 604 during stapling using animated staple icons 634 that indicate when staple firing begins, when the staple legs are partially formed, and when the staple is fully formed and stapling is complete. A live histogram 636 showing the staple closure force is also displayed below the animated staple icon 634.

[0043] 16 shows the second GUI 604 during cutting, using an animated knife icon 638 showing the blade shearing (e.g., pivoting in an arc), which shows the progress of the cut. A live histogram 639 showing the cutting force is also displayed below the animated knife icon 638.

[0044] 17 shows the History tab 640 available from the home screen 501 of the GUI 500. Activating the History tab 640 allows the user to view a log of past staple clamping and firing sequences, shown as icons 642 and organized by date, time, and reload type (e.g., color, size, linear or circular). Each file contains information metrics specific to linear or circular stapling.

[0045] FIG. 18 shows a linear stapling file 644 that provides similar information as the second GUI 514, showing reload type (e.g., length and color) and a peak clamp force graph with a firing force profile showing force zones and areas of the staple line that received high force.

[0046] 19 shows a circular stapling file 646, which provides similar information as the second GUI 604, showing the compression profile in zones to visually display tissue compression information generated during applicable clamping. The circular stapling file 646 also shows the clamping time and pressure at 100% clamping, as well as the pressure at which staple firing begins. The circular stapling file 646 also shows the maximum staple and cut forces, as well as the color and lumen size of the circular reload.

[0047] While the present disclosure is illustrated with respect to a surgical instrument including a handle assembly, it should be understood that the principles of the present disclosure can also be applied to robotic surgical systems that technically do not include a handle assembly. The disclosed GUI schemes can be adapted to teleoperated robotic surgical systems. It is understood that various modifications can be made to the stapler embodiments disclosed herein. Accordingly, the foregoing should not be construed as limiting, but merely as illustrative of embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the present disclosure.

[0048] In one or more examples, the described techniques may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored as one or more instructions or code on a computer-readable medium and executed by a hardware-based processing unit. The computer-readable medium may include non-transitory computer-readable media that corresponds to tangible media, such as data storage media (e.g., RAM, ROM, EEPROM, flash memory, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer).

[0049] The instructions may be executed by one or more processors, such as one or more digital signal processors (DSPs), general-purpose microprocessors, application-specific integrated circuits (ASICs), field-programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuitry. Correspondingly, the term "processor," as used herein, may refer to any of the foregoing structures or any other physical structure suitable for implementing the described techniques. The techniques may also be implemented entirely in one or more circuits or logic elements.

Claims

1. Surgical instruments and an interface device configured to communicate with the surgical instrument; a display coupled to the interface device; and Equipped with the display is configured to present a graphical user interface based on the type of surgical instrument, the graphical user interface including a first interface and a second interface, the first interface configured to provide information regarding operation of the surgical instrument at a level of detail different from the level of detail provided on the second interface. Surgical systems.

2. The surgical system of claim 1 , wherein the surgical instrument is a modular powered surgical stapler.

3. The surgical system of claim 2 , wherein the modular powered surgical stapler includes a handle assembly, an adapter, and a reload.

4. The surgical system of claim 3 , wherein the graphical user interface is configured to display a graphical representation of each of the handle assembly, the adapter, and the reload based on their connection status.

5. The surgical system of claim 1 , wherein the type of surgical instrument is a linear stapler.

6. The surgical system of claim 5 , wherein the first interface displays a segmented progress bar.

7. The surgical system of claim 6 , wherein the segmented progress bar includes a plurality of color-coded segments that indicate the force applied by the linear stapler.

8. The surgical system of claim 5 , wherein the second interface displays a live plot of force as a function of travel distance.

9. a modular powered surgical stapler including a handle assembly, an adapter, and a reload; an interface device configured to communicate with the surgical stapler; a display coupled to the interface device; and Equipped with the display is configured to present a graphical user interface based on the type of adapter and the reload, the graphical user interface including a first interface and a second interface, the first interface configured to provide information regarding operation of the surgical instrument at a level of detail different from the level of detail provided on the second interface. Surgical systems.

10. The surgical system of claim 9 , wherein the graphical user interface is configured to display a graphical representation of each of the handle assembly, the adapter, and the reload based on their connection status.

11. The surgical system of claim 9 , wherein the adapter and the reload are linear in type.

12. The surgical system of claim 11 , wherein the first interface displays a segmented progress bar having a plurality of color-coded segments indicating the force applied by the surgical stapler.

13. The surgical system of claim 11 , wherein the second interface displays a live plot of force as a function of travel distance.

14. The surgical system of claim 9 , wherein the adapter and the reload are of a circular type.

15. The surgical system of claim 14 , wherein the graphical user interface displays trocar and anvil movement.

16. The surgical system of claim 14, wherein the first interface displays a segmented progress bar having a plurality of color-coded segments indicating tissue pressure applied by the surgical stapler.

17. The surgical system of claim 14, wherein the first interface displays an animated staple icon configured to display a staple shape during the stapling process.

18. The surgical system of claim 14, wherein the first interface displays an animated knife icon having a pivoting blade displayed during the cutting process.

19. The surgical system of claim 14 , wherein the second interface displays a live plot of tissue pressure as a function of distance traveled during tissue compression.

20. connecting a handle assembly of the powered surgical system to an interface device; coupling an adapter to the handle assembly and a reload to the adapter; displaying a graphical user interface based on the adapter and the type of reload; Including, the graphical user interface includes a first interface and a second interface, the first interface configured to provide information regarding operation of the surgical instrument at a level of detail different from the level of detail provided on the second interface. A method for controlling a surgical system.

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