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Robotic surgical system with tool lift control

  • US 10,231,775 B2
  • Filed: 08/16/2016
  • Issued: 03/19/2019
  • Est. Priority Date: 08/16/2016
  • Status: Active Grant
First Claim
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1. A surgical system, comprising:

  • an electromechanical arm configured for movement in multiple axes;

    an electromechanical tool having an instrument shaft and an end effector formed thereon, the electromechanical tool being configured to be mounted on the electromechanical arm, and the electromechanical tool being configured to move relative to the electromechanical arm and apply ultrasonic energy to tissue held by the end effector;

    a controller operatively coupled to the electromechanical arm and the electromechanical tool, the controller configured to;

    receive, during an application of ultrasonic energy to the tissue, a plurality of measurements of an electrical impedance of the tissue;

    detect, based on the received plurality of measurements, an increase in electrical impedance of the tissue, following a period of decreasing electrical impedance of the tissue; and

    in response to detecting the increase in electrical impedance of the tissue, cause a lift of the electromechanical tool.

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