|Publication number||CA2585622 C|
|Application number||CA 2585622|
|Publication date||5 Apr 2016|
|Filing date||20 Apr 2007|
|Priority date||24 Apr 2006|
|Also published as||CA2585622A1, DE602007002940D1, EP1849425A1, EP1849425B1, EP2140825A1, EP2140825B1, EP2298208A1, EP2298208B1, US7651492, US8556890, US9119624, US20070250052, US20100094275, US20140039490|
|Publication number||CA 2585622, CA 2585622 C, CA 2585622C, CA-C-2585622, CA2585622 C, CA2585622C|
|Inventors||Robert H. Wham|
|Applicant||Sherwood Services Ag, Robert H. Wham|
|Export Citation||BiBTeX, EndNote, RefMan|
|Classifications (6), Legal Events (1)|
|External Links: CIPO, Espacenet|
I I I' I1. , 11.CA 02585622 2007-04-20 ARC BASED ADAPTIVE CONTROL SYSTEM FOR AN ELECTROSURGICAL UNIT
Technical Fielcl The present disclosure relates to electrosurgical generators. More particularly, the present disclosure relates to a system and method for controlling output of an electrosurgical generator.
The ellectrosurgical generator includes a sensing feedback control system and an arc-based adaptive control system which adjusts output in response to arcing.
Background qf Relatecl Art Energy based tissue treatment is well known in the art. Various types of energy (e.g., electrical, ultrasonic, microwave, cryo, heat, laser, etc.) are applied to tissue to achieve a desired result. Electrosurgery involves application of high radio frequency electrical current to a surgical site to cut, ablate, coagulate send or otherwise seal tissue. In monopolar electrosurgery, a source or active electrode delivers radio frequency energy from the electrosurgical generator to the tissue and ai-eturn electrode cames the current back to the generator. In monopolar electrosurgery, the source electrode is typically part of the surgical instrument held by the surgeon and applied to the tissue to be treated. A patient return electrode is placed remotely from the active electrode to carry the current back to the generator.
In bipolar electrosurgery, one of the electrodes of the hand-held instrument functions as the active electrode and the other as the return electrode. The return electrode is placed in close proximity to the active electrode such that an electrical circuit is formed between the two electrodes (e.g., electrosurgical forceps). In this manner, the applied electrical current is limited to the body tissue positioned between the electrodes. When the electrodes are sufficiently separated from one another, the electrical circuit is open and thus inadvertent contact with body tissue with either of the separated electrodes does not cause current to flow.
It is known in the art that sensed tissue feedback may be used to control delivery of electrosurgical energy. During application of electrosurgical energy, arcing may occur during the course of treatment. Energy arcing is particularly problematic for sensed feedback control systems since the systems attempt to adjust to the rapidly occurring changes in tissue properties caused by arcing.
According to one aspect of the present disclosure an electrosurgical system is disclosed.
The system includes an electrosurgical generator adapted to supply electrosurgical energy to tissue in form of one or more electrosurgical waveforms having a crest factor and a duty cycle.
The system also includes sensor circuitry adapted to measure impedance and to obtain one or more measured impedance signals. The sensor circuitry is further adapted to generate one or more arc detection signals upon detecting an arcing condition. The system further includes a controller adapted to generate one or more target control signals as a function of the measured impedance signals and to adjust output of the electrosurgical generator based on the arc detection signal. An electrosurgical instrument is also included having one or more active electrodes adapted to apply electrosurgical energy to tissue.
Another aspect of the present disclosure includes a method for performing an electrosurgical procedure. The method includes the steps of: supplying electrosurgical energy
2 from an electrosurgical generator to tissue in form of one or more electrosurgical waveforms having a crest factor and a duty cycle and measuring impedance to obtain one or more measured impedance signals and generating one or more detection signal upon detecting arcing conditions.
The method further includes the steps of generating one or more target control signals as a function of the measured impedance signals and adjusting output of the electrosurgical generator based on the arc detection signals.
According to a further aspect of the present disclosure an electrosurgical generator is disclosed. The generator includes an RF output stage adapted to supply electrosurgical energy to tissue in form of one or more electrosurgical waveforms having a crest factor and a duty cycle.
The generator also includes sensor circuitry adapted to measure impedance and to obtain one or more measured impedance signals. The sensor circuitry is further adapted to generate one or more arc detection signals upon detecting one or more arcing conditions. The generator further includes a controller adapted to generate one or more target control signals as a function of the measured impedance signals and to adjust output of the electrosurgical generator based on the arc detection signal BRIEF DESCRIPTION OF THE DRAWINGS
Various embodiments of the present disclosure are described herein with reference to the drawings wherein:
Fig. I is a schematic block diagram of an electrosurgical system according to the present disclosure;
Fig. 2 is a schematic block diagram of a generator according to the present disclosure;
3 . 1 I I+=14, and Fig. 3 is a flow diagram illustrating a method according to the present disclosure.
Particular embodiments of the present disclosure are described hereinbelow with reference to the accompanying drawings. In the following description, well-known functions or constructions are not described in detail to avoid obscuring the present disclosure in unnecessary detail. Those skilled in the art will understand that the method according to the present disclosure may be adapted to monitor use with either monopolar or bipolar electrosurgical systems.
Fig. 1 is a schematic illustration of an electrosurgical system according to the present disclosure. The system includes an electrosurgical instrument 10 having one or more electrodes for treating tissue of a patient P. The instrument 10 may be either a monopolar type including one or more active electrodes (e.g., electrosurgical cutting probe, ablation electrode(s), etc.) or a bipolar type including one or more active and return electrodes (e.g., electrosurgical sealing forceps). Electrosurgical RF energy is supplied to the instrument 10 by a generator 20 via a supply line 12, which is operably connected to an active output terminal, allowing the instrument 10 to coagulate, seal, ablate and/or otherwise treat tissue.
If the instrument 10 is a monopolar type instrument then energy may be returned to the generator 20 through a return electrode (not explicitly shown) which may be disposed on the patient's body. The system may also include a plurality of return electrodes which are arranged to minimize the chances of damaged tissue by maximizing the overall contact area with the
4 patient P. In addition, the generator 20 and the monopolar return electrode may be configured for monitoring so called "tissue-to-patient" contact to insure that sufficient contact exists therebetween to further minimize chances of tissue damage.
If the instrument 10 is a bipolar type instrument, the return electrode is disposed in proximity to the active electrode (e.g., on opposing jaws of a bipolar forceps). It is also envisioned that the generator 20 may include a plurality of supply and return terminals and a corresponding number of electrode leads.
The generator 20 includes input controls (e.g., buttons, activators, switches, touch screen, etc.) for controlling the generator 20. In addition, the generator 20 may include one or more display screens for providing the surgeon with a variety of output information (e.g., intensity settings, treatment complete indicators, etc.). The controls allow the surgeon to adjust power of the RF energy, waveform, and other parameters to achieve the desired waveform suitable for a particular task (e.g., coagulating, tissue sealing, intensity setting, etc.).
It is also envisioned that the instrument 10 may include a plurality of input controls which may be redundant with certain input controls of the generator 20. Placing the input controls at the instrument 10 allows for easier and faster modification of RF energy parameters during the surgical procedure without requiring interaction with the generator 20.
Fig. 2 shows a schematic block diagram of the generator 20 having a controller 24, a high voltage DC power supply 27 ("HVPS") and an RF output phase 28. The HVPS
provides high voltage DC power to an RF output phase 28 which then converts high voltage DC power into RF energy and delivers the high frequency RF energy to the active electrode 24.
In particular, the RF output phase 28 generates sinusoidal waveforms of high frequency RF
energy. The RF output phase 28 is configured to generate a plurality of waveforms having
5 I I I d.a various duty cycles, peak voltages, crest factors, and other parameters.
Certain types of waveforms are suitable for specific electrosurgical modes. For instance, the RF output phase 28 generates a 100% duty cycle sinusoidal waveform in cut mode, which is best suited for dissecting tissue and a 25% duty cycle waveform in coagulation mode, which is best used for cauterizing tissue to stop bleeding.
The controller 24 includes a microprocessor 25 operably connected to a memory which may be volatile type memory (e.g., RAM) and/or non-volatile type memory (e.g., flash media, disk media, etc.). The microprocessor 25 includes an output port which is operably connected to the HVPS 27 and/or RF output phase 28 allowing the microprocessor 25 to control the output of the generator 20 according to either open and/or closed control loop schemes.
A closed loop control scheme or feedback control loop is provided that includes sensor circuitiy 22 having one or more sensors for measuring a variety of tissue and energy properties (e.g., tissue impedance, tissue temperature, output current and/or voltage, etc.). The sensor circuitiy 22 provides feedback to the controller 24. Such sensors are within the purview of those skilled in the art. The controller 24 then signals the HVPS 27 and/or RF
output phase 28 which then adjust DC and/or RF power supply, respectively. The controller 24 also receives input signals from the input controls of the generator 20 or the instrument 10. The controller 24 uti'lizes the input signals to adjust power outputted by the generator 20 and/or performs other control functions thereon.
In particular, sensor circuitry 22 is adapted to measure tissue impedance.
This is accomplished by measuring voltage and current signals and calculating corresponding impedance values as a function thereof at the sensor circuitry 22 and/or at the microprocessor
6 25. Power and other energy properties may also be calculated based on collected voltage and current signals. The sensed impedance measurements are used as feedback by the generator 20 for regulating the energy delivery to the tissue. Various types of impedance feedback control schemes are envisioned, such as for example, impedance matching (wherein power output is adjusted to match measured impedance to target impedance), impedance maintenance (epower is adjusted to maintain impedance), etc.
The sensor circuitry 22 obtains impedance signals and sends a corresponding target control signal that is used by the controller 24 to adjust the output of the generator 20. Since the output of the generator 20 is adjusted as a function of the measured impedance, the output of the generator 20 responds to every fluctuation in the measured impedance.
While high resolution response times are desirable, certain variations in impedance may not warrant adjustrnents to the output of the generator 20.
During electrosurgical procedures, it is known that arcing causes rapid changes in impedance. Impedance fluctuates between arc impedance to open circuit impedance (e.g., nil).
An impedance feedback control scheme that adjusts the output of the generator 20 in response to impedance changes for each arc is undesirable. If the output of the generator 20 tracks the impedance changes caused by arcing too closely, unwanted oscillation in the output may occur.
The present disclosure provides an arc-based adaptive control method for mitigating oscillation and adjusting the behavior of an impedance feedback control scheme of the controller 24.
Fig. 3 shows an arc-based adaptive control method according to one embodiment of the present disclosure wliich is configured to control the output of the generator in response to monitored tissue impedance. In step 100, the instrument 10 engages the tissue and the generator 20 supplies electrosurgical energy to the tissue through the instrument 10. In step
7 a, 110, during application of energy to the tissue, impedance is continually monitored by the sensor circuitry 22 and a measured impedance signal is obtained. As discussed above, the measured impedance signal is derived from voltage and current signals.
In step 120, a target control signal is generated by the controller 24 as a function of the measured impedance signal. In particular, the target control signal is generated by using output control algorithms which may operate in a wide variety of ways. For example, the algorithms may attempt to match measured impedance signal to predetermined target impedance or may simply use look-up tables containing corresponding target control signals. The output control algorithms are stored within the memory 26 and are executed by the microprocessor 26.
Consecquently, the target control signal is used to make appropriate adjustments to the output of the generator 20.
In step 130, arcing is detectable by monitoring for rapid repeating changes in measured impedance signal, target control signal, or voltage and current signals. Since target control signal and voltage and current signals are directly related to measured impedance signal, rapid changes in those signals are also indicative of arcing conditions. In other words, impedance correlates with arcing -- low impedance is measured during an arc condition followed by high impedance when arcing stops. In step 140, an arc detection signal is generated. With reference to Fig. 2, this is accomplished by passing the measured impedance tissue signal through a high pass filter 29 and then pass the absolute value of the high pass through a low pass filter 30.
The resulting filtered signal is the arc detection signal that is scaled and capped (for example by a 0 to I scale representing the level of arcing, where 1 represents heavy arcing and 0 represents no arcing). The arc detection signal rises as arcing increases and reduces and arcing decreases.
8 Arcing may also be detected by detecting rapid changes in the target control signal and/or by detecting rapid changes in either the voltage or current signals. If arcing is detected, the method proceeds to step 150 wherein the arc detection signal is used to make adjustments to the output control algorithm of the controller 24. This may be achieved by substituting the measut-ed impedance signal with an average impedance value. By using the average impedance value to obtain the target control signal the generator 20 avoids using extreme impedance values associated with arcing. Alternatively, the output control algorithm may be configured to include selecting the target control signal associated with either the miniinum or maximum impedance measured during arcing. This selects an impedance signal that is closest to the previously measured impedance ensuring that the impedance signal and, hence, the target control signal, do not deviate substantially from other values. Upon detecting arcing, the controller 24 may also stop and/or hold from issuing any target control signals thereby maintaining the output based on an immediately preceding measured impedance signal.
In response to arcing, RF generation may be stopped to quickly remove the arcing condition. This may be achieved to shutting down the RF output stage 28 and/or the HVPS 27.
In addiition, the circuit between the patient and generator 20 may be opened to prevent the RF
energy from reaching tissue.
Other optimizations to the controller 24 are envisioned so that arcing is extinguished or energy delivery is enhanced during arcing. In particular, the calculations performed by the output control algorithm may be modified so that the desired output voltage, current and/or power are adjusted when arcing is present.
Further, modification to the waveform produced by the RF output stage 28 may be made in response to arcing. This may include moinentary modification of the crest factor (i.e.,
ratio of the peak value to RMS value), the waveform and/or the duty cycle of the waveform.
Adjustments to the crest factor and the duty cycle enhance or extinguish the arc. Low duty cycles tend to provide coagulation behavior whereas high duty cycles tend to provide for better cutting; behavior. Thus, momentarily increasing the duty cycle of the waveform extinguishes the arc. Other ways of providing arc-based adaptive control include adjusting PID gain of the controller 24 such that the gain is reduced as the level of arcing increases.
In step 160, after the arcing conditions are removed, the modifications made to the controller 24 and/or the waveform are recalibrated and normal operating conditions are restored.
The arc-based adaptive control method according to the present disclosure allows for fast response to changes in non-arcing conditions and slows down the controller 24 during arcing so that the controller may readily select an alternate output value for heating a particular tissue type. This limits aggressive arcing behavior (e.g., so called entry/exit sparking).
Another recognizable advantage is that electrosurgical systems utilizing arc-based control methods are capable of automatically switching from cutting to coagulation mode. Thus, during low arcing conditions, the system is optimized for cutting, but as the arcing increases the system adjusts so that coagulation is enhanced.
While several embodiments of the disclosure have been shown in the drawings and/or discussed herein, it is not intended that the disclosure be limited thereto, as it is intended that the disclosure be as broad in scope as the art will allow and that the specification be read likewise. Therefore, the above description should not be construed as limiting, but merely as exemplifications of particular embodiments. Those skilled in the art will envision other inodifications within the scope and spirit of the claims appended hereto.
|International Classification||A61B5/053, A61B18/12|
|Cooperative Classification||A61B2018/00726, A61B18/1206, A61B2018/00875, A61B2018/1213|