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US 11,141,231 B2Granted
Surgical tool performance via measurement and display of tissue tension
AssigneeCilag GmbH International
InventorsMark D. Overmyer, Sol A. Posada, Joshua D. Young, Mark A. Davison, Christopher A. Denzinger
Life of this patent
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Abstract
A method includes advancing an end effector of a surgical tool to a surgical site, setting a desired force vector to be assumed on the end effector during actuation of the end effector, engaging tissue at the surgical site with the end effector and calculating a force vector assumed on the end effector, and maneuvering the end effector to obtain the desired force vector.
Claims10
A method, comprising:
- advancing an end effector of a surgical tool to a surgical site;
- setting a desired force vector that will be assumed on the end effector while actuating the end effector to engage tissue, the desired force vector comprising desired loading forces of both magnitude and direction representative of a desired tissue tension in tissue engaged by the end effector;
- engaging the tissue at the surgical site with the end effector and calculating a real-time force vector representative of real-time tissue tension experienced on the tissue and assumed on the end effector;
- and
- maneuvering the end effector in three-dimensional space to obtain the desired force vector and thereby achieve the desired tissue tension.
2 more elements
Dependencies are inferred from the claim text.