Robotically-controlled surgical instrument having recording capabilities

Abstract

A surgical instrument. The surgical instrument includes an end effector that comprises a staple channel and an anvil that is movably translatable relative to the staple channel. A tool mounting portion is configured to interface with a robotic system and operably communicate with the end effector. The instrument further includes a first sensor that has an output that represents a first condition of a portion of the robotic system A second sensor has an output that represents a position of the anvil. An third sensor has an output that represents a position of a reciprocating knife within the end effector. An externally accessible memory device communicates with the first, second and third sensors.

1 . A surgical instrument comprising:
 an end effector to engage tissue, the end effector comprising a staple channel and an anvil pivotably translatable relative to the staple channel, wherein at least one of the anvil and the staple channel define a longitudinal channel;   a reciprocating knife positioned to slide distally through the longitudinal channel when the anvil is pivoted to a position substantially parallel to the staple channel;   a tool mounting portion configured to interface with a robotic system and operably communicating with said end effector;   a first sensor having an output representing a first condition of a portion of the robotic system;   a second sensor having an output representing a position of the anvil;   a third sensor having an output representing a position of the reciprocating knife and wherein said robotic system comprises an externally accessible memory device in communication with the first, second and third sensors, wherein the memory device is configured to record the output of the first, second and third sensors.   
     
     
         2 . The surgical instrument of  claim 1 , wherein the memory device comprises an output port. 
     
     
         3 . The surgical instrument of  claim 1 , wherein the memory device comprises a removable medium. 
     
     
         4 . The surgical instrument of  claim 1 , wherein the surgical instrument further comprises a second sensor in communication with the memory device, the second sensor having an output representing a second condition of at least one of the group consisting of the robotic system and the end effector, wherein the memory device is further configured to record the output of the second sensor. 
     
     
         5 . The surgical instrument of  claim 4 , wherein the memory device is configured to record the output of the first sensor and the output of the second sensor when the first condition changes and when the second condition changes. 
     
     
         6 . The surgical instrument of  claim 1 , wherein the first condition indicates whether an anvil of the end effector is in an open position or a closed position. 
     
     
         7 . The surgical instrument of  claim 1 , wherein the first condition indicates at least one of the group consisting of a position of a knife within the end effector, a position of the robotic system, and a pressure exerted by the end effector. 
     
     
         8 . The surgical instrument of  claim 1 , wherein the memory device comprises at least one of the group consisting of a microcontroller and an electrically erasable programmable read only memory (EEPROM). 
     
     
         9 . The surgical instrument of  claim 1 , wherein the first sensor is a binary sensor. 
     
     
         10 . The surgical instrument of  claim 1 , wherein the first sensor is an analog sensor. 
     
     
         11 . The surgical instrument of  claim 10 , wherein the surgical instrument further comprises an analog-to-digital converter in communication with the first sensor and the memory device. 
     
     
         12 . A surgical instrument comprising:
 an end effector;   a tool mounting portion configured to interface with a robotic system to generate actuation motions for actuating portions of said end effector;   a first sensor having an output representing a condition of the end effector;   a second sensor having an output representing a condition of the robotic system; and   a memory device in communication with the first sensor and the second sensor, wherein the memory device is configured to record the output of the first sensor and the output of the second sensor.   
     
     
         13 . The surgical instrument of  claim 12 , wherein the memory device comprises at least one of an output port and a removable storage medium. 
     
     
         14 . The surgical instrument of  claim 12 , wherein the condition of the end effector indicates at least one of the group consisting of a position of a knife of the end effector, a position of an anvil of the end effector, the presence of a staple cartridge in the end effector, a force exerted by the end effector, and the status of the staple cartridge in the end effector.