Improving surgical tool performance via measurement and display of tissue tension
US11033344B2 · kind B2 · utility
2Cited by
2References
20Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Dec 13, 2018 |
| Grant date | Jun 15, 2021 |
| Priority date | — |
| Expiry date | Aug 14, 2039 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2217/007
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A method includes advancing an end effector of a surgical tool to a surgical site, the surgical tool being pivotably mounted to a robotic arm at a tool driver, engaging tissue at the surgical site with the end effector, calculating a force vector assumed on the end effector by engaging the tissue, optimizing the force vector to obtain an optimized force vector, and actuating the end effector after applying the optimized force vector on the end effector.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.