Robotic surgical instruments including mechanochromatic coating for force feedback

Abstract

A surgical robotic system includes a robotic controller; a camera connected to the robotic controller; and an electrosurgical instrument connected to the robotic controller, the electrosurgical instrument including an end effector configured to grasp tissue. At least a portion of the end effector includes a mechanochromatic material. The camera is configured to observe the end effector as it grasps tissue and transmit an image of the mechanochromatic material to the robotic controller. The robotic controller determines a force applied to the tissue while the end effector grasps tissue based on the color of the mechanochromatic material in the transmitted image.

Description

Attorney Docket No.: A0012968W001ROBOTIC SURGICAL INSTRUMENTS INCLUDING MECHANOCHROMATIC COATING FOR FORCE FEEDBACKCROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims the benefit of U.S. Provisional Patent Application Serial No. 63 / 727,381, filed December 3, 2024, the entire contents of which is incorporated herein by reference.BACKGROUND

[0002] Surgical robotic systems may include a surgeon console controlling one or more surgical robotic arms, each having a surgical instrument having an end effector. In operation, the robotic arm is moved to a position over a patient and the surgical instrument is guided into a small incision via a surgical access port or a natural orifice of a patient to position the end effector at a work site within the patient’s body. The surgical instrument may be a surgical stapler having an articulatable end effector configured to clamp, fasten, and cut tissue.

[0003] Robotic surgical instruments typically do not provide the surgeon with any feedback in relation to the clamping forces experienced during a tissue grasping or manipulating function, or in the instance of a robotic surgical stapler, during the surgical stapler firing function. Additionally, feedback related to a chosen surgical stapler size (or surgical staple reload size) for use on a particular underlying target tissue has not been readily available to the surgeon. Addition of sensors to robotic surgical instruments, to measure the forces, for example, being exerted on the underlying target tissue by the robotic surgical stapler, only adds to the overall cost of the robotic surgical stapler or the like.

[0004] Accordingly, a need exists for more economical robotic surgical staplers / instruments and / or systems that can provide a surgeon operating the robotic surgical stapler from a surgeon console, with force feedback during a tissue grasping function or during a stapler clamping process (prior to the stapler firing and cutting processes), and that can provide the surgeon with feedback related to the compression of the particular underlying target tissue by the robotic surgical stapler.Attorney Docket No.: A0012968W001SUMMARY

[0005] The present disclosure provides for a surgical robotic system, including a robotic controller; a camera connected to the robotic controller; and an electrosurgical instrument connected to the robotic controller. The electrosurgical instrument is configured to grasp tissue. The electrosurgical instrument includes a mechanochromatic material on at least a portion thereof. The camera is configured to transmit an image of the electrosurgical instrument to the robotic controller, wherein the image shows the mechanochromatic material.

[0006] The present disclosure further provides for a method for controlling an electromechanical surgical instrument in a surgical robotic system. The method includes actuating a clamping function of an end effector of an electromechanical surgical instrument to grasp a target tissue within a body cavity. The end effector includes a mechanochromatic material on at least a portion thereof. The method also includes observing, with a camera connected to a robotic controller, a color of the mechanochromatic material during the clamping function of the end effector; communicating the color of the mechanochromatic material to the robotic controller; comparing, via the robotic controller, the observed color of the mechanochromatic material of the end effector against a database of stored colors of mechanochromatic materials on end effectors of comparable electrosurgical instruments; determining, via the robotic controller, a value of the clamping force associated with the observed color of the mechanochromatic material; and displaying, on a display, the value of the clamping force associated with the observed color of the mechanochromatic material.

[0007] The present disclosure additionally provides for a surgical robotic system, including a robotic controller; a camera connected to the robotic controller; and an electrosurgical instrument connected to the robotic controller. The electrosurgical instrument includes an elongated shaft and an end effector operatively supported on a distal end of the elongated shaft. The end effector including a first jaw member and a second jaw member movable between a first position wherein at least one of the jaw members is spaced relative to the other of the jaw members and a second position wherein the first jaw member and the second jaw member configured to grasp tissue. The electrosurgical instrument includes a mechanochromatic material on at least a portion of at least one of the end effector and theAttorney Docket No.: A0012968W001 elongated shaft. The camera is configured to transmit an image of the electrosurgical instrument to the robotic controller, wherein the image shows the mechanochromatic material of the at least one of the end effector and the elongated shaft.BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Various embodiments of the present disclosure are described herein with reference to the drawings wherein:

[0009] FIG. 1 is a perspective illustration of a surgical robotic system including a control tower, a console, and one or more surgical robotic arms each disposed on a mobile cart according to an embodiment of the present disclosure;

[0010] FIG. 2 is a perspective view of a surgical robotic arm of the surgical robotic system of FIG. 1 according to an embodiment of the present disclosure;

[0011] FIG. 3 is a perspective view of a setup arm with the surgical robotic arm of the surgical robotic system of FIG. 1 according to an embodiment of the present disclosure;

[0012] FIG. 4 is a schematic diagram of a computer architecture of the surgical robotic system of FIG. 1 according to an embodiment of the present disclosure;

[0013] FIG. 5 is a perspective view, with parts separated, of the instrument drive unit and a surgical instrument according to an embodiment of the present disclosure;

[0014] FIG. 6 is a perspective view of the surgical instrument of FIG. 5, prior to the surgical instrument clamping or grasping the underlying target tissue;

[0015] FIG. 7 is an enlarged, perspective view of a stapling end effector of the surgical instrument of FIG. 6;

[0016] FIG. 8 is a perspective view of a handle controller according to one embodiment of the present disclosure;

[0017] FIG. 9 is a flow chart of a method for determining clamping force on underlying target tissue and for providing force feedback to a user according to the present disclosure;Attorney Docket No.: A0012968W001

[0018] FIG. 10 is an illustration of the end effector of the surgical instrument depicted in FIG. 6, illustrating an effect of a first clamping force exerted on the underlying target tissue and becoming visible due to a mechanochromatic color change to a surface of a jaw member of the end effector;

[0019] FIG. 11 is an illustration of the end effector of the surgical instrument depicted in FIG. 6, illustrating an effect of a second clamping force exerted on the underlying target tissue and becoming visible due to the mechanochromatic color change to the surface of the jaw member of the end effector; and

[0020] FIG. 12 is an illustration of the end effector of the surgical instrument depicted in FIG. 6, illustrating an effect of a third clamping force exerted on the underlying target tissue and becoming visible due to the mechanochromatic color change to the surface of the jaw member of the end effector.DETAILED DESCRIPTION

[0021] Embodiments of the presently disclosed surgical stapling systems are described in detail with reference to the drawings, in which like reference numerals designate identical or corresponding elements in each of the several views. As used herein the term “proximal” refers to the portion of the surgical robotic system and / or the surgical instrument coupled thereto that is closer to a base of a robot, while the term “distal” refers to the portion that is farther from the base of the robot.

[0022] As will be described in detail below, in aspects, the present disclosure is directed to a surgical robotic system, which includes a surgeon console, a control tower, and one or more mobile carts having a surgical robotic arm coupled to a setup arm. The surgeon console receives user input through one or more interface devices, which are interpreted by the control tower as movement commands for moving the surgical robotic arm. The surgical robotic arm includes a controller, which is configured to process the movement command and to generate a torque command for activating one or more actuators of the robotic arm, which would, in turn, move the robotic arm in response to the movement command.

[0023] With reference to FIG. 1, a surgical robotic system 10 includes a control tower 20, which is connected to all of the components of the surgical robotic system 10 including aAttorney Docket No.: A0012968W001 surgeon console 30 and one or more movable carts 60. Each of the movable carts 60 includes a robotic arm 40 having a surgical instrument 50 removably coupled thereto. The robotic arm 40 is also coupled to the movable cart 60. The robotic system 10 may include any number of movable carts 60 and / or robotic arms 40.

[0024] The surgical instrument 50 is configured for use during minimally invasive surgical procedures. In embodiments, the surgical instrument 50 may be configured for open surgical procedures. In embodiments, the surgical instrument 50 may be an endoscope, such as an endoscopic camera 51, configured to provide a video feed for the user. In further embodiments, the surgical instrument 50 may be an electrosurgical forceps configured to seal tissue by compressing tissue between a pair of jaw members and applying electrosurgical current thereto. In yet further embodiments, the surgical instrument 50 may be a surgical stapler including a pair of jaw members (i.e., a first jaw member and a second jaw member) configured to grasp and clamp tissue while deploying a plurality of tissue fasteners, e.g., staples, and cutting stapled tissue.

[0025] One of the robotic arms 40 may include the endoscopic camera 51 configured to capture video of the surgical site. The endoscopic camera 51 may be a stereoscopic endoscope configured to capture two side-by-side (i.e., left and right) images of the surgical site to produce a video stream of the surgical scene. The endoscopic camera 51 is coupled to a video processing device 56, which may be disposed within the control tower 20. The video processing device 56 may be any computing device as described below configured to receive the video feed from the endoscopic camera 51 perform the image processing based on the depth estimating algorithms of the present disclosure and output the processed video stream.

[0026] The surgeon console 30 includes a first display 32, which displays a video feed of the surgical site provided by camera 51 of the surgical instrument 50 disposed on the robotic arms 40, and a second display 34, which displays a user interface for controlling the surgical robotic system 10. The first and second displays 32 and 34 are touchscreens allowing for displaying various graphical user inputs.

[0027] The surgeon console 30 also includes a plurality of user interface devices, such as foot pedals 36 and a pair of handle controllers 38a and 38b which are used by a user toAttorney Docket No.: A0012968W001 remotely control robotic arms 40 and instrument 50. The surgeon console further includes an armrest 33 used to support clinician’s arms while operating the handle controllers 38a and 38b.

[0028] The control tower 20 includes a display 23, which may be a touchscreen, and outputs on the graphical user interfaces (GUIs). The control tower 20 also acts as an interface between the surgeon console 30 and one or more robotic arms 40. In particular, the control tower 20 is configured to control the robotic arms 40, such as to move the robotic arms 40 and the corresponding surgical instrument 50, based on a set of programmable instructions and / or input commands from the surgeon console 30, in such a way that robotic arms 40 and the surgical instrument 50 execute a desired movement sequence in response to input from the foot pedals 36 and the handle controllers 38a and 38b.

[0029] Each of the control tower 20, the surgeon console 30, and the robotic arm 40 includes a respective computer 21, 31, 41. The computers 21, 31, 41 are interconnected to each other using any suitable communication network based on wired or wireless communication protocols. The term “network,” whether plural or singular, as used herein, denotes a data network, including, but not limited to, the Internet, Intranet, a wide area network, or a local area network, and without limitation as to the full scope of the definition of communication networks as encompassed by the present disclosure. Suitable protocols include, but are not limited to, transmission control protocol / internet protocol (TCP / IP), datagram protocol / internet protocol (UDP / IP), and / or datagram congestion control protocol (DCCP). Wireless communication may be achieved via one or more wireless configurations, e.g., radio frequency, optical, Wi-Fi, Bluetooth (an open wireless protocol for exchanging data over short distances, using short length radio waves, from fixed and mobile devices, creating personal area networks (PANs), ZigBee® (a specification for a suite of high level communication protocols using small, low-power digital radios based on the IEEE 122.15.4-2003 standard for wireless personal area networks (WPANs)).

[0030] The computers 21, 31, 41 may include any suitable processor (not shown) operably connected to a memory (not shown), which may include one or more of volatile, nonvolatile, magnetic, optical, or electrical media, such as read-only memory (ROM), random access memory (RAM), electrically-erasable programmable ROM (EEPROM), non-volatileAttorney Docket No.: A0012968W001RAM (NVRAM), or flash memory. The processor may be any suitable processor (e.g., control circuit) adapted to perform the operations, calculations, and / or set of instructions described in the present disclosure including, but not limited to, a hardware processor, a field programmable gate array (FPGA), a digital signal processor (DSP), a central processing unit (CPU), a microprocessor, and combinations thereof. Those skilled in the art will appreciate that the processor may be substituted for by using any logic processor (e.g., control circuit) adapted to execute algorithms, calculations, and / or set of instructions described herein.

[0031] With reference to FIG. 2, each of the robotic arms 40 may include a plurality of links 42a, 42b, 42c, which are interconnected at joints 44a, 44b, 44c, respectively. Other configurations of links and joints may be utilized as known by those skilled in the art. The joint 44a is configured to secure the robotic arm 40 to the mobile cart 60 and defines a first longitudinal axis. With reference to FIG. 3, the mobile cart 60 includes a lift 67 and a setup arm 61, which provides a base for mounting of the robotic arm 40. The lift 67 allows for vertical movement of the setup arm 61. The mobile cart 60 also includes a display 69 for displaying information pertaining to the robotic arm 40. In embodiments, the robotic arm 40 may include any type and / or number of joints.

[0032] The setup arm 61 includes a first link 62a, a second link 62b, and a third link 62c, which provide for lateral maneuverability of the robotic arm 40. The links 62a, 62b, 62c are interconnected at joints 63a and 63b, each of which may include an actuator (not shown) for rotating the links 62b and 62b relative to each other and the link 62c. In particular, the links 62a, 62b, 62c are movable in their corresponding lateral planes that are parallel to each other, thereby allowing for extension of the robotic arm 40 relative to the patient (e.g., surgical table). In embodiments, the robotic arm 40 may be coupled to the surgical table (not shown). The setup arm 61 may include controls (not shown) for adjusting movement of the links 62a, 62b, 62c as well as the lift 67. In embodiments, the setup arm 61may include any type and / or number of joints.

[0033] The third link 62c may include a rotatable base 64 having two degrees of freedom. In particular, the rotatable base 64 includes a first actuator 64a and a second actuator 64b. The first actuator 64a is rotatable about a first stationary arm axis which is perpendicular toAttorney Docket No.: A0012968W001 a plane defined by the third link 62c and the second actuator 64b is rotatable about a second stationary arm axis which is transverse to the first stationary arm axis. The first and second actuators 64a and 64b allow for full three-dimensional orientation of the robotic arm 40.

[0034] The actuator 48b of the joint 44b is coupled to the joint 44c via the belt 45a, and the joint 44c is in turn coupled to the joint 46b via the belt 45b. Joint 44c may include a transfer case coupling the belts 45a and 45b, such that the actuator 48b is configured to rotate each of the links 42b, 42c and a holder 46 relative to each other. More specifically, links 42b, 42c, and the holder 46 are passively coupled to the actuator 48b which enforces rotation about a pivot point “P” which lies at an intersection of the first axis defined by the link 42a and the second axis defined by the holder 46. In other words, the pivot point “P” is a remote center of motion (RCM) for the robotic arm 40. Thus, the actuator 48b controls the angle 9 between the first and second axes allowing for orientation of the surgical instrument 50. Due to the interlinking of the links 42a, 42b, 42c, and the holder 46 via the belts 45a and 45b, the angles between the links 42a, 42b, 42c, and the holder 46 are also adjusted in order to achieve the desired angle 9. In embodiments, some or all of the joints 44a, 44b, 44c may include an actuator to obviate the need for mechanical linkages.

[0035] The joints 44a and 44b include an actuator 48a and 48b configured to drive the joints 44a, 44b, 44c relative to each other through a series of belts 45a and 45b or other mechanical linkages such as a drive rod, a cable, or a lever and the like. In particular, the actuator 48a is configured to rotate the robotic arm 40 about a longitudinal axis defined by the link 42a.

[0036] With reference to FIG. 2, the holder 46 defines a second longitudinal axis and is configured to receive an instrument drive unit (IDU) 52 (FIG. 1). The IDU 52 is configured to couple to an actuation mechanism of the surgical instrument 50 and the camera 51 and is configured to move (e.g., rotate) and actuate the instrument 50 and / or the camera 51. IDU 52 transfers actuation forces from its actuators to the surgical instrument 50 to actuate components (e.g., end effector) of the surgical instrument 50. The holder 46 includes a sliding mechanism 46a, which is configured to move the IDU 52 along the second longitudinal axis defined by the holder 46. The holder 46 also includes a joint 46b, which rotates the holder 46 relative to the link 42c. During endoscopic procedures, the instrumentAttorney Docket No.: A0012968W00150 may be inserted through an endoscopic port 55 (FIG. 3) held by the holder 46. The holder 46 also includes a port latch 46c for securing the port 55 to the holder 46 (FIG. 2).

[0037] The robotic arm 40 also includes a plurality of manual override buttons 53 (FIG. 1) disposed on the IDU 52 and the setup arm 61, which may be used in a manual mode. The user may press one or more of the buttons 53 to move the component associated with the button 53.

[0038] With reference to FIG. 4, each of the computers 21, 31, 41 of the surgical robotic system 10 may include a plurality of controllers, which may be embodied in hardware and / or software. The computer 21 of the control tower 20 includes a controller 21a and safety observer 21b. The controller 21a receives data from the computer 31 of the surgeon console 30 about the current position and / or orientation of the handle controllers 38a and 38b and the state of the foot pedals 36 and other buttons. The controller 21a processes these input positions to determine desired drive commands for each joint of the robotic arm 40 and / or the IDU 52 and communicates these to the computer 41 of the robotic arm 40. The controller 21a also receives the actual joint angles measured by encoders of the actuators 48a and 48b and uses this information to determine force feedback commands that are transmitted back to the computer 31 of the surgeon console 30 to provide haptic feedback through the handle controllers 38a and 38b. The safety observer 21b performs validity checks on the data going into and out of the controller 21a and notifies a system fault handler if errors in the data transmission are detected to place the computer 21 and / or the surgical robotic system 10 into a safe state.

[0039] The computer 41 includes a plurality of controllers, namely, a main cart controller 41a, a setup arm controller 41b, a robotic arm controller 41c, and an instrument drive unit (IDU) controller 4 Id. The main cart controller 41a receives and processes joint commands from the controller 21a of the computer 21 and communicates them to the setup arm controller 41b, the robotic arm controller 41c, and the IDU controller 4 Id. The main cart controller 41a also manages instrument exchanges and the overall state of the mobile cart 60, the robotic arm 40, and the IDU 52. The main cart controller 41a also communicates actual joint angles back to the controller 21a.Attorney Docket No.: A0012968W001

[0040] Each of joints 63a and 63b and the rotatable base 64 of the setup arm 61 are passive joints (i.e., no actuators are present therein) allowing for manual adjustment thereof by a user. The joints 63a and 63b and the rotatable base 64 include brakes that are disengaged by the user to configure the setup arm 61. The setup arm controller 41b monitors slippage of each of joints 63 a and 63b and the rotatable base 64 of the setup arm 61, when brakes are engaged or can be freely moved by the operator when brakes are disengaged, but do not impact controls of other joints. The robotic arm controller 41c controls each joint 44a and 44b of the robotic arm 40 and calculates desired motor torques required for gravity compensation, friction compensation, and closed loop position control of the robotic arm 40. The robotic arm controller 41c calculates a movement command based on the calculated torque. The calculated motor commands are then communicated to one or more of the actuators 48a and 48b in the robotic arm 40. The actual joint positions are then transmitted by the actuators 48a and 48b back to the robotic arm controller 41c.

[0041] The IDU controller 41d receives desired joint angles for the surgical instrument 50, such as wrist and jaw angles, and computes desired currents for the motors in the IDU 52. The IDU controller 41d calculates actual angles based on the motor positions and transmits the actual angles back to the main cart controller 41a.

[0042] The robotic arm 40 is controlled in response to a pose of the handle controller controlling the robotic arm 40, e.g., the handle controller 38a, which is transformed into a desired pose of the robotic arm 40 through a hand eye transform function executed by the controller 21a. The hand eye function, as well as other functions described herein, is / are embodied in software executable by the controller 21a or any other suitable controller described herein. The pose of one of the handle controller 38a may be embodied as a coordinate position and role-pitch-yaw (RPY) orientation relative to a coordinate reference frame, which is fixed to the surgical console 30. The desired pose of the instrument 50 is relative to a fixed frame on the robotic arm 40. The pose of the handle controller 38a is then scaled by a scaling function executed by the controller 21a. In embodiments, the coordinate position may be scaled down and the orientation may be scaled up by the scaling function. In addition, the controller 21a may also execute a clutching function, which disengages the handle controller 38a from the robotic arm 40. In particular, the controller 21a stops transmitting movement commands from the handle controller 38a to the robotic arm 40 ifAttorney Docket No.: A0012968W001 certain movement limits or other thresholds are exceeded and in essence acts like a virtual clutch mechanism, e.g., limits mechanical input from effecting mechanical output.

[0043] The desired pose of the robotic arm 40 is based on the pose of the handle controller 38a and is then passed by an inverse kinematics function executed by the controller 21a. The inverse kinematics function calculates angles for the joints 44a, 44b, 44c of the robotic arm 40 that achieve the scaled and adjusted pose input by the handle controller 38a. The calculated angles are then passed to the robotic arm controller 41c, which includes a joint axis controller having a proportional-derivative (PD) controller, the friction estimator module, the gravity compensator module, and a two-sided saturation block, which is configured to limit the commanded torque of the motors of the joints 44a, 44b, 44c.

[0044] With reference to FIG. 5, the IDU 52 is shown in more detail and is configured to transfer power and actuation forces from its motors 152a-d to the instrument 50 to drive movement of components of the instrument 50, such as articulation, rotation, pitch, yaw, clamping, cutting, etc. The IDU 52 may also be configured for the activation or firing of an electrosurgical energy-based instrument or the like (e.g., cable drives, pulleys, friction wheels, rack and pinion arrangements, etc.).

[0045] The IDU 52 includes a motor pack 150 and a sterile barrier housing 130. Motor pack 150 includes motors 152a-d for controlling various operations of the instrument 50. The instrument 50 is removably couplable to IDU 52. As the motors 152a-d of the motor pack 150 are actuated, rotation of the drive transfer shafts 154a, 154b, 154c, 154d of the motors 152a-d, respectively, is transferred to the drive assemblies of the instrument 50.

[0046] The instrument 50 is configured to couple to a loading unit 240 secured to a distal end thereof. The instrument 50 is configured to transfer rotational forces / movement supplied by the IDU 52 (e.g., via the motors 152a-d of the motor pack 150) into longitudinal movement or translation of the cables or drive shafts to effect various functions of an end effector 244 (FIG. 7).

[0047] Each of the motors 152a-d includes a current sensor 153, a torque sensor 155, and a position sensor 157, which may be an encoder configured to measure angular position of the motor. For conciseness only operation of the motor 152a is described below. TheAttorney Docket No.: A0012968W001 sensors 153, 155, 157 monitor the performance of the motor 152a. The current sensor 153 is configured to measure the current draw of the motor 152a and the torque sensor 155 is configured to measure motor torque. The torque sensor 155 may be any force or strain sensor including one or more strain gauges configured to convert mechanical forces and / or strain into a sensor signal indicative of the torque output by the motor 152a. The sensor 157 may be any device that provides a sensor signal indicative of the number of rotations of the motor 152a, such as a mechanical encoder or an optical encoder. Parameters which are measured and / or determined by the sensor 157 may include speed, distance, revolutions per minute, position, and the like. The sensor signals from sensors 153, 155, 157 are transmitted to the IDU controller 4 Id, which then controls the motors 152a-d based on the sensor signals. In particular, the motors 152a-d are controlled by an actuator controller 159, which controls torque outputted and angular velocity of the motors 152a-d. In embodiments, additional position sensors may also be used, which include, but are not limited to, potentiometers coupled to movable components and configured to detect travel distances, Hall Effect sensors, accelerometers, and gyroscopes. In embodiments, a single controller can perform the functionality of the IDU controller 41d and the actuator controller 159.

[0048] With reference to FIG. 6, instrument 50 includes an adapter 200 having a housing 202 at a proximal end portion thereof and an elongated shaft 204 that extends distally from housing 202. Housing 202 of adapter 200 is configured to selectively couple to IDU 52, to enable motors 152a-d of IDU 52 to operate the loading unit 240 coupled to the instrument 50. Housing 202 of adapter 200 supports a drive assembly that mechanically and / or electrically cooperates with motors 152a-d of IDU 52. Drive assembly 250 of instrument 50 may include any suitable electrical and / or mechanical component to effectuate driving force / movement.

[0049] Elongated shaft 204 is configured to couple to the loading unit 240 having a first jaw member and a second jaw member defining an end effector 244. With reference to FIGS. 6 and 7, the loading unit 240 includes a proximal body portion 242 and the end effector 244. Proximal body portion 242 is releasably attached to a distal end portion of the instrument 50, and end effector 244 is pivotally attached to a distal end of proximal body portion 242. End effector 244 includes an anvil assembly 246 and a cartridge assembly 248. Anvil assembly 246 is pivotable in relation to the cartridge assembly 248 and is movable betweenAttorney Docket No.: A0012968W001 an open or unclamped position and a closed or clamped position. Proximal body portion 242 includes a drive assembly 250.

[0050] Drive assembly 250 includes a drive shaft 254, which may be flexible, and having a distal end portion 254a and a proximal engagement section 254b. The distal end portion 254a includes an I-beam 255 having a knife 255a. The I-beam 255 is configured to travel through the anvil assembly 246 and the cartridge assembly 248, thereby pushing the anvil assembly 246 toward the cartridge assembly 248 to clamp tissue. The proximal engagement section 254b includes diametrically opposed inwardly extending fingers 254c that engage a drive member (not shown) of the instrument 50 to fixedly secure drive member to the proximal end of flexible drive shaft 254. Drive shaft 254 of drive assembly 250 is actuated by the IDU 52.

[0051] Cartridge assembly 248 of end effector 244 includes a staple cartridge 258 removably supported in a carrier 260. Staple cartridge 258 defines a central longitudinal slot 258a, and a plurality of linear rows of staple retention slots 258b positioned on each side of the central longitudinal slot 258a. Each of the staple retention slots 258b receives a staple 262 and a portion of a staple pusher 264. During operation, drive assembly 250 abuts an actuation sled 266 and pushes actuation sled 266 through the staple cartridge 258. As the actuation sled 266 moves through staple cartridge 258, cam wedges of the actuation sled 266 sequentially engage staple pushers 264 to move staple pushers 264 vertically within staple retention slots 258b and sequentially eject the staples 262 therefrom for formation against an anvil plate 246a of anvil assembly 246. In addition, the drive shaft 254 closes the anvil assembly 246 and the cartridge assembly 248 and simultaneously advances the knife 255a and the actuation sled 266. Once clamping, cutting, and stapling is completed, the drive shaft 254 is retracted in a reverse (i.e., proximal) direction.

[0052] The adapter 200 of the instrument 50 includes a storage device 203 configured to store various operating parameters pertaining to the adapter 200. Such parameters may include, for example, a maximum torque and / or maximum current that may be used during closing of the end effector 244 and / or firing of the instrument 50 to fire and form staples in the target tissue and to cut the target tissue. Such parameters may further include, for example, a maximum torque and / or maximum current that may be used during a retractionAttorney Docket No.: A0012968W001 of the drive shaft 254 to open anvil assembly 246 and the cartridge assembly 248 to release stapled and cut tissue. Storage device 203 of the adapter 200 of the instrument 50 may also include information (e.g., physical characteristics and / or performance characteristics) about the instrument 50, including and not limited to, an identification number, a serial number, a manufacture date, a use-by date, a size / length of the staple cartridge 258, a size of the staples loaded in the staple cartridge 258, stapler reload / cartridge type (e.g., whether the stapler reload or cartridge includes a buttress or does not include a buttress), and maximum compression force threshold allowable for a particularly sized staple cartridge 258.

[0053] The IDU controller 41d may obtain the parameters or instrument information automatically by reading the parameters from the storage device 203 and / or the parameters or instrument information may be set manually by the user by selecting either the type of the adapter 200 and / or the loading unit 240. The storage device 203 may be any suitable device configured to store data, e.g., flash memory. The adapter 200 may also include a torque or force sensor (not shown) in addition or in lieu of the torque sensors 155 of the IDU 52.

[0054] The adapter 200 of the instrument 50 further includes a force or strain sensor that is in mechanical contact with any portion of the firing mechanism, such as strain gauge 205. The strain gauge 205 is connected to the IDU controller 41d and ultimately the controller 21a of the computer 21 in the tower 21a and / or to the surgeon console 31. The strain gauge 205 is configured to measure forces on the drive assembly 250 of the instrument 50 during clamping of the end effector 244, during opening of the end effector 244, during firing of the staples from the staple cartridge 258, during firing of the knife 255a, and / or during the articulation of the end effector 244. During use of instrument 50, these forces are communicated to the IDU controller 41d and ultimately the controller 21a of the computer 21 in the tower 21a and / or to the surgeon console 31.

[0055] In accordance with the present disclosure, a mechanochromatic material is included on at least a portion the instrument 50 which mechanochromatic material is capable of changing optical properties thereof (e.g., changes in color or piezochromic effects, fluorescent properties, or the like) when exposed to mechanical forces (e.g., compressiveAttorney Docket No.: A0012968W001 forces, tensile forces, torsional forces, stress / strain forces, bending forces and the like). In aspects, a portion of the instrument 50 is coated with the mechanochromatic material.

[0056] In use, when the instrument 50, or any component thereof, experiences no mechanical forces or loads thereon, then the mechanochromatic material remains at a first color. However, when the instrument 50, or any component thereof, experiences mechanical forces or loads thereon, then the mechanochromatic material changes color in proportion to the degree of mechanical forces or loads experienced. For example, as depicted in FIG. 10, when no mechanical forces or loads are exerted on the instrument 50, and in turn on the mechanochromatic material, the mechanochromatic material may have a first or red color. As depicted in FIG. 11, when a first mechanical force or load is exerted on the instrument 50, and in turn on the mechanochromatic material, the mechanochromatic material may transition to a second or green color. As depicted in FIG. 12, when a second mechanical force or load is exerted on the instrument 50, relatively greater than the first mechanical force or load, and in turn on the mechanochromatic material, the mechanochromatic material may transition to a third or yellow color. When a third mechanical force or load is exerted on the instrument 50, relatively greater than the second mechanical force or load, and in turn on the mechanochromatic material, the mechanochromatic material may transition to a fourth or blue color. The changing of the color of the mechanochromatic material described above is merely illustrative, as it is envisioned that any designated color may be associated with any degree of mechanical force or load.

[0057] In accordance with the present disclosure, the changes exhibited by the mechanochromatic material may be visible under white light, infrared light, ultraviolet light and the like.

[0058] It is envisioned that the mechanochromatic material may be located on any portion of, or any component of, the instrument 50. For example, the mechanochromatic material may be applied to the elongated shaft 204, the loading unit 240, the end effector 244, the anvil assembly 246, and / or the carrier 260 for the staple cartridge 258. Specifically, it is envisioned that the mechanochromatic material is located on the outer surfaces of theAttorney Docket No.: A0012968W001 aforementioned components, however, it is envisioned that any surface of the instrument 50 may include the mechanochromatic material.

[0059] The mechanochromatic material may be applied to the instrument 50, and / or components, thereof, via painting, spraying, adhering of a film or tape, deposition or the like.

[0060] As mentioned above, the surgeon console 30 includes a pair of handle controllers 38a and 38b which are used by a user to remotely control robotic arms 40 and instrument 50. Hand controllers 38a, 38b are mirror images of one another, and thus only hand controller 38a will be described in detail herein. As illustrated in FIG. 8, hand controller 38a includes a handle 701 and a paddle 708 that is pivotally coupled to the handle 701 at one end (e.g., proximal) of the paddle 708. The paddle 708 is configured to control actuation, namely, opening and closing of the staple cartridge 258 and the anvil assembly 246 of the end effector 244. The paddle 708 may include a finger sensor 704 configured to detect presence or movement of a finger, such as touch sensors, capacitive sensors, optical sensors, and the like. In embodiments, the finger sensor 704 may be disposed on any portion of the handle controller 38a. Handle controller 38a may also include a trigger 705a and one or more buttons 705b for activating various functions of the instrument 50. In addition, handle controller 38a may include a gimbal assembly 706 allowing for movement and rotation of the handle controller 38a about three axes (x, y, z). The handle controller 38a may also include an infrared proximity sensor 707 configured to detect hand contact with a grip of the handle controller 38a. The controller 31a of the surgeon console 30 monitors operator interactions with the handle controller 38a and controls the instrument(s) 50 in response to operator inputs.

[0061] The paddle 708 is maintained, i.e., biased, in an open position by a feedback motor 712 located within handle 701, which receives operator mechanical input, i.e., as the motor 712 is back driven during closure of the paddle 708 toward the closed position. The motor 712 also provides force feedback to the paddle 708 by counteracting operator’s input, i.e., the motor 712 is forward driven. In addition, the motor 712 also measures the force, angle relative to the handle 701, and / or velocity of the paddle 708. The angle of the paddle 708 relative to the handle 701 is proportional to the angle between the staple cartridge 258 andAttorney Docket No.: A0012968W001 the anvil assembly 246 of the end effector 244. Thus, the paddle 708 and the staple cartridge 258 and the anvil assembly 246 of the end effector 244 may be fully aligned when in fully open and fully closed position and the jaw angle in between those position corresponds the paddle angle during the travel of the paddle 708.

[0062] In addition, the controller 31a also monitors individual or a new velocity of each joint of the gimbal assembly 706 as well as displacement of each of the joint of the gimbal assembly 706 and / or net displacement of the gimbal assembly 706. Details of the handle controllers 38a and 38b are provided in U.S. Patent Application Publication No. 2020 / 0315729, titled “Control arm assemblies for surgical robotic systems” filed on November 30, 2018, the entire contents of which are incorporated by reference herein.

[0063] A feedback assembly 710 is disposed in the handle controller 38a to provide vibratory or haptic feedback to the operator. As shown, the feedback assembly 710 is configured to provide vibrational feedback to the operator, via the handle controller 38a and / or the paddle 708, at set clamping force thresholds for particular end effectors 244 of instruments 50, and during the clamping and / or firing sequences of the instruments 50.

[0064] The feedback assembly 710 may include eccentric rotating mass (ERM) actuator, a linear resonant actuator (LRA), a piezoelectric actuator, or any other suitable tactile actuator configured to impart information to the operator through their sense of touch. Details of the haptic feedback mechanism are provided in U.S. Patent No. 10,517,686, titled “Haptic feedback controls for a surgical robotic system interface” filed April 13, 2018, the entire contents of which are incorporated by reference herein. The feedback assembly 710 may further include active control of the paddle 708, and specifically an angle of the paddle 708 relative to the handle 701, and / or a relative stillness or motionlessness of the paddle 708.

[0065] The paddle 708 is used to actuate various components of the instrument 50, e.g., open and close the staple cartridge 258 and the anvil assembly 246 of the end effector 244. Thus, for example, during use, the operator may apply a force to the paddle 708 in a direction toward the handle 701, to close or approximate the staple cartridge 258 and the anvil assembly 246 of the end effector 244, and may apply a force to the paddle 708 in a direction away from the handle 701, to open or separate the staple cartridge 258 and the anvil assembly 246 of the end effector 244.Attorney Docket No.: A0012968W001

[0066] Turning now to FIG. 9, in accordance with the present disclosure, generally during operation on an underlying target tissue “T”, awareness and monitoring of clamping forces acting on the underlying target tissue “T” is desirable in order to achieve desired outcomes. FIG. 9 is a flow chart which depicts a method 1000 for visually observing and monitoring clamping forces exerted on underlying target tissue “T” by an instrument 50. The steps of method 1000 may be embodied as software instructions executable by any one or more of the controllers of robotic system 10 (e.g., main controller 21a, the IDU controller 4 Id, etc.). While determination and monitoring of clamping forces acting on underlying target tissue is described herein, it is further contemplated that tissue stiffness or firmness and any externa loads acting on the instrument 50 (e.g., side loads or transverse loads, etc.) may also be determined and monitored.

[0067] Prior to engaging or acting on the target tissue “T”, at step 1002, the camera observes the instrument 50 within a field of view “FOV” (FIG. 10) of the endoscopic camera 51 to obtain a baseline value for any mechanical forces or loads impacting any portion of the instrument 50.

[0068] At step 1004, the instrument 50 observed in the field of view “FOV” is identified using software-based (e.g., machine learning based) image recognition on the video stream or images taken by the endoscopic camera 51. The identification of the instrument 50 may include comparing the images / video of the instrument 50 located in the field of view “FOV” against a database of known instruments, observing discrete markings located on an exterior surface of the instrument 50, and / or receiving instrument information from the storage device 203 of the instrument 50. For example, the instrument 50, and related elongated shaft 204 and end effector 244, includes discrete physical characteristics and performance parameters as stored on the storage device 203 thereof (e.g., diameter of the elongated shaft 204, dimensions of the anvil assembly 246 and / or the carrier 260 for the staple cartridge 258, deflection and / or flexure profiles of the elongated shaft 204, the anvil assembly 246 and / or the carrier 260 for the staple cartridge 258 (i.e., deflection coefficients); a size / length of the staple cartridge 258, a size of the staples loaded in the staple cartridge 258, stapler reload / cartridge type, and a maximum compression force threshold).Attorney Docket No.: A0012968W001

[0069] At step 1006, the instrument 50 is moved into position relative to the target tissue “T” whereby the staple cartridge 258 of the end effector 244 is disposed on a first side of the target tissue “T” and the anvil assembly 246 of the end effector 244 is disposed on a second side of the target tissue “T”, opposite the first side of the target tissue “T”.

[0070] At step 1008, the user (e.g., clinician, surgeon, etc.) clamps the end effector 244 of the selected instrument 50 onto the underlying target tissue “T”, by actuating the paddle 704 of the handle 701, e.g., moving the paddle 704 toward the handle 701. With reference to FIGS. 10-12, as the end effector 244 is clamping onto the underlying target tissue “T”, at step 1010, the endoscopic camera 51 is observing the end effector 244 (and portions of the elongated shaft 204) within the field of view “FOV” and observing changes in color to the mechanochromatic material on the instrument 50, and more specifically, the elongated shaft 204, the anvil assembly 246, the staple cartridge 258, and / or the carrier 260 for the staple cartridge 258.

[0071] At step 1012, the observed changes in color, of the mechanochromatic material coated on the instrument 50, are compared or mapped to known or predetermined or preobserved color values for mechanochromatic material coated instruments 50 contained in a database (e.g., the storage device 203 of instrument 50, or the memories of computers 21, 31, 41).

[0072] At step 1014, a clamping force exerted by the end effector 244 of the instrument 50 is calculated as a function of the known geometries of the elongated shaft 204, the anvil assembly 246 and / or the carrier 260 for the staple cartridge 258; force values associated with known color values contained in the database and assigned to the observed color values from step 1010; and a correlation factor. Additionally, forces exerted on the elongated shaft 204 of the instrument 50 (e.g., bending forces) may be calculated as a function of the known geometries of the elongated shaft 204; force values associated with known color values contained in the database and assigned to the observed color values from step 1010; and a correlation factor.

[0073] The clamping force on the underlying target tissue “T”, and optionally bending forces on the elongated shaft 204, are measured throughout the closure of the end effector 244. The end effector 244 is closed onto the target tissue “T” until the staple cartridge 258Attorney Docket No.: A0012968W001 and the anvil assembly 246 are at a proper gap distance for firing and cutting. As the end effector 244 is closed onto the target tissue “T”, by movement of the paddle 708 relative to the handle 701, the clamping forces exerted onto the underlying target tissue “T”, as calculated in step 1014, are fed back to the paddle 708 (i.e., paddle force) to thereby provide the clinician with tactile feedback of the clamping procedure. The paddle force may be a function of the following values: calculated clamping force from step 1014, performance parameters of the selected instrument 50 and end effector 244; strain gauge readings from the strain gauge 205; angle of the paddle 708 relative to the handle 701; and a correlation factor.

[0074] It is contemplated that the clamping force exerted by the end effector 244 of the instrument 50 may be displayed on the display 23 of the control tower 20 and / or the displays 32, 34 of the surgeon console 30. The clamping force may be displayed as a numerical value or a color value.

[0075] In accordance with the present disclosure, if the clamping force exerted on the underlying target tissue “T”, from step 1014, is below the maximum compression force threshold for the selected instrument 50, then the remainder of the stapling and cutting procedure, using the selected instrument 50, may be completed.

[0076] Also in accordance with the present disclosure, if the clamping or compression force on the target tissue “T” reaches or exceeds the maximum compression force threshold for the selected instrument 50 (and / or, optionally, if the bending force experienced by the elongated shaft 204 reaches or exceeds the maximum compression force threshold for the selected instrument 50), it is contemplated that an audible, visual and / or haptic alert may be activated and the clamping function paused or stopped. The alerts may include, for example, at least one of an audio prompt broadcast from the control tower 20 and / or the surgeon console 30; a visual prompt shown on the display 23 of the control tower 20 and / or the displays 32, 34 of the surgeon console 30; or a vibration generated in the hand controlled s) 38a, 38b.

[0077] It is contemplated that the alerts may be graduated in nature, for example, as the compression force approaches the maximum compression force threshold for the selected instrument 50, the alerts may increase, rise or intensify. Specifically, as the compressionAttorney Docket No.: A0012968W001 force approaches the maximum compression force threshold for the selected instrument 50, the audio prompts may become louder, more frequent or different, the visual prompts may become larger, change colors and / or change patterns (i.e., flash or pulse), and the vibratory prompts may increase in intensity and frequency, or the vibration pattern changed.

[0078] In an embodiment, the alerts may change in graduation once the compression force observed by the endoscopic camera 51, as evidenced by changes in color of the mechanochromatic material coated on the instrument 50, reaches a specific percentage of the maximum compression force threshold for the selected instrument 50, for example, at 50%, 60%, 70%, 80%, 90% and / or 100%, or any percentage customized by the user or clinician.

[0079] When an alert is activated, a number of follow-on or remedial actions may take place. For example, the follow-on or remedial actions include, and are not limited to:(1) overriding the alert;(2) waiting for a present period of time before automatically re-continuing with the clamping function or prompting to re-continue with the clamping function;(3) waiting for a period of time while continuing to monitor the compression force and automatically re-continuing with the clamping function or prompting to re-continue with the clamping function once the clamping force drops below the maximum compression force threshold for the selected instrument 50, whereby the target tissue “T” has relaxed and fluid has moved out of the target tissue “T” thus reducing the force from clamping;(4) swapping the selected instrument 50 for a replacement instrument 50 which is better capable of performing and completing the clamping / stapling and cutting procedure (e.g., a larger or upsized replacement instrument 50);(5) generating a prompt and recommending a replacement instrument 50 to the user or clinician; and / or(6) choosing, or relocating to, a different section of the target tissue “T” for use with the selected instrument 50.Attorney Docket No.: A0012968W001

[0080] While a robotic surgical instrument 50, in the form of a robotic surgical stapler is shown and described in detail herein, it is envisioned and within the scope of the present disclosure that any robotic surgical instrument may include or employ the features of the present disclosure. In addition to robotic surgical staplers, such robotic surgical instruments may include graspers, needle drivers, shears, clip appliers, monopolar energy delivery devices, bipolar energy delivery devices, and the like.

[0081] Further aspects and embodiments of the present disclosure are set out in the below numbered clauses:1. A surgical robotic system, comprising: a robotic controller; a camera connected to the robotic controller; and an electrosurgical instrument connected to the robotic controller, the electrosurgical instrument configured to grasp tissue, the electrosurgical instrument including a mechanochromatic material on at least a portion thereof, wherein the camera is configured to transmit an image of the electrosurgical instrument to the robotic controller, the image showing the mechanochromatic material.2. The surgical robotic system according to clause 1, wherein, when the electrosurgical instrument is used, the mechanochromatic material is exposed to at least one of a compressive force, a tensile force, a torsional force, a stress force, a strain force, or a bending force.3. The surgical robotic system according to any one of clause 1 or 2, wherein the robotic controller is configured to compare a color of the mechanochromatic material in the transmitted image against a database of stored colors of mechanochromatic materials of comparable electrosurgical instruments.4. The surgical robotic system according to any preceding clause, wherein the mechanochromatic material is on at least one of a first jaw member or a second jaw member of an end effector of the electrosurgical instrument, and the camera is configured to transmitAttorney Docket No.: A0012968W001 an image of the mechanochromatic material during a grasping function of the end effector on the tissue to the robotic controller.5. The surgical robotic system according to any preceding clause, wherein the robotic controller is configured to calculate a clamping force exerted on the tissue by the end effector as a function of the color of the mechanochromatic material in the transmitted image.6. The surgical robotic system according to any preceding clause, wherein the robotic controller is configured to activate an alert when a predetermined maximum clamping force is exerted on the tissue.7. The surgical robotic system according to any preceding clause, wherein the alert includes at least one of activating vibrations in a handle controller, activating audible signals, or generating visual prompts on a display of the surgical robotic system.8. A method for controlling an electromechanical surgical instrument in a surgical robotic system, the method comprising: actuating a clamping function of an end effector of an electromechanical surgical instrument to grasp a target tissue within a body cavity, the end effector including a mechanochromatic material on at least a portion thereof; observing, with a camera connected to a robotic controller, a color of the mechanochromatic material during the clamping function of the end effector; communicating the color of the mechanochromatic material to the robotic controller; comparing, via the robotic controller, the observed color of the mechanochromatic material of the end effector against a database of stored colors of mechanochromatic materials on end effectors of comparable electrosurgical instruments; determining, via the robotic controller, a value of the clamping force associated with the observed color of the mechanochromatic material; andAttorney Docket No.: A0012968W001 displaying, on a display, the value of the clamping force associated with the observed color of the mechanochromatic material.9. The method according to clause 8, further comprising activating an alert when the clamping force exerted on the tissue is above a predetermined maximum clamping force for the tissue.10. The method according to any one of clause 8 or 9, wherein activating the alert includes at least one of: stopping the clamping function of the end effector; activating vibrations in a handle controller of the surgical robotic system; activating audible signals; or generating visual prompts on a display of the surgical robotic system.11. The method according to any one of clause 8 to 10, wherein following activation of the alert, the method includes activating a remedial action.12. The method according to any one of clause 8 to 11, wherein activating the remedial action includes at least one of: overriding the alert; waiting for a pre-set period of time before automatically re-continuing the clamping function of the end effector or prompting to re-continue the clamping function of the end effector; waiting for a period of time while continuing to monitor the clamping force on the tissue and automatically re-continuing the clamping function of the end effector or prompting to re-continue the clamping function of the end effector once the compression force, as determined using the observed color of the mechanochromatic material, drops below the maximum compression force threshold;Attorney Docket No.: A0012968W001 swapping the electromechanical surgical instrument for a replacement electromechanical surgical instrument, which replacement electromechanical surgical instrument has a different predetermined maximum compression force threshold; generating a prompt and recommending a replacement electromechanical surgical instrument; or relocating the end effector on a different section of the target tissue.13. A surgical robotic system, comprising: a robotic controller; a camera connected to the robotic controller; and an electrosurgical instrument connected to the robotic controller, the electrosurgical instrument including an elongated shaft and an end effector operatively supported on a distal end of the elongated shaft, the end effector including a first jaw member and a second jaw member movable between a first position wherein at least one of the jaw members is spaced relative to the other of the jaw members and a second position wherein the first jaw member and the second jaw member configured to grasp tissue, the electrosurgical instrument including a mechanochromatic material on at least a portion of at least one of the end effector and the elongated shaft, wherein the camera is configured to transmit an image of the electrosurgical instrument to the robotic controller, the image showing the mechanochromatic material of the at least one of the end effector and the elongated shaft.14. The surgical robotic system according to clause 13, wherein the mechanical force includes at least one of a compressive force, a tensile force, a torsional force, a stress force, a strain forces and a bending force acting on at least one of the first jaw member and the second jaw member.15. The surgical robotic system according to any one of clause 13 to 14, wherein the camera is configured to observe the elongated shaft, the first jaw member and the second jaw member during performance of a function of the electrosurgical instrument on the tissue,Attorney Docket No.: A0012968W001 and to communicate video of the observed elongated shaft, first jaw member and second jaw member to the robotic controller.16. The surgical robotic system according to any one of clause 13 to 15, wherein the robotic controller is configured to compare a color of at least one of the observed elongated shaft, first jaw member and second jaw member against a database of stored colors of comparable mechanochromatic coated electrosurgical instruments.17. The surgical robotic system according to any one of clause 13 to 16, wherein the robotic controller is configured to calculate a force exerted on the elongated shaft, the first jaw member and the second jaw member as a function of the color observed.18. The surgical robotic system according to any one of clause 13 to 17, wherein the mechanochromatic material is further located on at least one of an anvil assembly, a staple cartridge, or a carrier for a staple cartridge of the electrosurgical instrument.19. The surgical robotic system according to any one of clause 13 to 18, wherein the mechanochromatic material is an applied coating on the portion of the electrosurgical instrument.20. The surgical robotic system according to any one of clause 13 to 19, wherein the robotic controller is configured to activate an alert when a predetermined maximum clamping force is exerted on the tissue.

[0082] It will be understood that various modifications may be made to the embodiments disclosed herein. Therefore, the above description should not be construed as limiting, but merely as exemplifications of various embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the claims appended thereto.

Claims

Attorney Docket No.: A0012968W001WHAT IS CLAIMED IS:

1. A surgical robotic system, comprising: a robotic controller; a camera connected to the robotic controller; and an electrosurgical instrument connected to the robotic controller and configured to grasp tissue, the electrosurgical instrument including a mechanochromatic material, wherein the camera is configured to transmit an image of the electrosurgical instrument to the robotic controller, the image showing the mechanochromatic material.

2. The surgical robotic system according to claim 1, wherein, when the electrosurgical instrument is used, the mechanochromatic material is exposed to at least one of a compressive force, a tensile force, a torsional force, a stress force, a strain force, or a bending force.

3. The surgical robotic system according to any of the preceding claims, wherein the robotic controller is configured to compare a color of the mechanochromatic material in the transmitted image against a database of stored colors of mechanochromatic materials of comparable electrosurgical instruments.

4. The surgical robotic system according to any of the preceding claims, wherein the mechanochromatic material is on at least one of a first jaw member or a second jaw member of an end effector of the electrosurgical instrument, and the camera is configured to transmit an image of the mechanochromatic material during a grasping function of the end effector on the tissue to the robotic controller.

5. The surgical robotic system according to any of the preceding claims, wherein the robotic controller is configured to calculate a clamping force exerted on the tissue by the end effector as a function of the color of the mechanochromatic material in the transmitted image.Attorney Docket No.: A0012968W0016. The surgical robotic system according to any of the preceding claims, wherein the robotic controller is configured to activate an alert when a predetermined maximum clamping force is exerted on the tissue.

7. The surgical robotic system according to any of the preceding claims, wherein the alert includes at least one of activating vibrations in a handle controller, activating audible signals, or generating visual prompts on a display of the surgical robotic system.

8. A method for controlling an electromechanical surgical instrument in a surgical robotic system, the method comprising: actuating a clamping function of an end effector of an electromechanical surgical instrument to grasp a target tissue within a body cavity, the end effector including a mechanochromatic material; observing, with a camera connected to a robotic controller, a color of the mechanochromatic material during the clamping function of the end effector; communicating the color of the mechanochromatic material to the robotic controller; comparing, via the robotic controller, the observed color of the mechanochromatic material of the end effector against a database of stored colors of mechanochromatic materials on end effectors of comparable electrosurgical instruments; determining, via the robotic controller, a value of the clamping force associated with the observed color of the mechanochromatic material; and displaying, on a display, the value of the clamping force associated with the observed color of the mechanochromatic material.

9. The method according to claim 8, further comprising activating an alert when the clamping force exerted on the tissue is above a predetermined maximum clamping force for the tissue.Attorney Docket No.: A0012968W00110. The method according to any of claims 8-9, wherein activating the alert includes at least one of: stopping the clamping function of the end effector; activating vibrations in a handle controller of the surgical robotic system; activating audible signals; or generating visual prompts on a display of the surgical robotic system.

11. The method according to any of claims 8-10, wherein following activation of the alert, the method includes activating a remedial action.

12. The method according to any of claims 8-11, wherein activating the remedial action includes at least one of: overriding the alert; waiting for a pre-set period of time before automatically re-continuing the clamping function of the end effector or prompting to re-continue the clamping function of the end effector; waiting for a period of time while continuing to monitor the clamping force on the tissue and automatically re-continuing the clamping function of the end effector or prompting to re-continue the clamping function of the end effector once the compression force, as determined using the observed color of the mechanochromatic material, drops below the maximum compression force threshold; swapping the electromechanical surgical instrument for a replacement electromechanical surgical instrument, which replacement electromechanical surgical instrument has a different predetermined maximum compression force threshold; generating a prompt and recommending a replacement electromechanical surgical instrument; orAttorney Docket No.: A0012968W001 relocating the end effector on a different section of the target tissue.

Images