Surgical tool positioning based on sensed parameters
First Claim
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 with or relative to the electromechanical arm and apply energy to tissue engaged by the electromechanical tool; and
a controller operatively coupled to the electromechanical arm and the electromechanical tool, the controller configured to retard advancement of the electromechanical tool toward a tissue surface based on a sensed amount of displacement of the tissue surface.
3 Assignments
0 Petitions
Accused Products
Abstract
Devices, systems, and methods are provided in which movement of a tool is controlled based on sensed parameters. In one embodiment, an electromechanical tool is provided having an instrument shaft and an end effector formed thereon. The electromechanical tool is configured to be mounted on an electromechanical arm, and the electromechanical tool is configured to move with or relative to the electromechanical arm and perform surgical functions. A controller is operatively coupled to the electromechanical arm and the electromechanical tool and is configured to retard advancement of the electromechanical tool toward a tissue surface based on a sensed amount of displacement of a tissue surface, a strain on the tissue of the patient, the temperature of the electromechanical tool, or the like.
36 Citations
14 Claims
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1. A surgical system, comprising:
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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 with or relative to the electromechanical arm and apply energy to tissue engaged by the electromechanical tool; and a controller operatively coupled to the electromechanical arm and the electromechanical tool, the controller configured to retard advancement of the electromechanical tool toward a tissue surface based on a sensed amount of displacement of the tissue surface. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of operating a surgical system, comprising:
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advancing an end effector formed on an instrument shaft of an electromechanical tool toward a tissue surface, the electromechanical tool being mounted on an electromechanical arm; receiving a sensed amount of displacement of the tissue surface; and reducing, based on the sensed amount of displacement of the tissue surface, a velocity of the electromechanical tool toward the tissue surface. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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Specification