US 11,890,065 B2
Surgical system to limit displacement
Frederick E. Shelton, IV, Hillsboro, OH (US); Jerome R. Morgan, Cincinnati, OH (US); Jason L. Harris, Lebanon, OH (US); and David C. Yates, Morrow, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Dec. 22, 2020, as Appl. No. 17/130,242.
Application 17/130,242 is a continuation of application No. 15/940,627, filed on Mar. 29, 2018, granted, now 11,013,563.
Claims priority of provisional application 62/649,320, filed on Mar. 28, 2018.
Claims priority of provisional application 62/611,341, filed on Dec. 28, 2017.
Claims priority of provisional application 62/611,340, filed on Dec. 28, 2017.
Claims priority of provisional application 62/611,339, filed on Dec. 28, 2017.
Prior Publication US 2021/0205028 A1, Jul. 8, 2021
Int. Cl. A61B 34/30 (2016.01); A61B 34/00 (2016.01); G16H 20/40 (2018.01); G16H 40/63 (2018.01); A61B 34/35 (2016.01); G16H 40/60 (2018.01); A61B 90/00 (2016.01); A61B 18/14 (2006.01); A61B 17/00 (2006.01)
CPC A61B 34/25 (2016.02) [A61B 34/30 (2016.02); A61B 34/35 (2016.02); A61B 34/76 (2016.02); G16H 20/40 (2018.01); G16H 40/60 (2018.01); G16H 40/63 (2018.01); A61B 18/1445 (2013.01); A61B 34/77 (2016.02); A61B 90/361 (2016.02); A61B 90/37 (2016.02); A61B 2017/00199 (2013.01); A61B 2017/00221 (2013.01); A61B 2017/00225 (2013.01); A61B 2017/00477 (2013.01); A61B 2034/254 (2016.02); A61B 2034/302 (2016.02); A61B 2034/304 (2016.02); A61B 2034/305 (2016.02); A61B 2090/065 (2016.02); A61B 2090/066 (2016.02); A61B 2218/008 (2013.01)] 24 Claims
OG exemplary drawing
 
1. A surgical system, comprising:
a surgical grasping tool comprising a force sensor; and
a control system operably coupled to the surgical grasping tool, wherein the control system is configured to:
set a retraction force threshold for the surgical grasping tool;
transmit a first control signal to the surgical grasping tool, wherein the first control signal corresponds to a first retraction motion by the surgical grasping tool to apply a first retraction force at the retraction force threshold;
monitor the first retraction force applied by the surgical grasping tool and detected by the force sensor during the first retraction motion;
transmit a second control signal to the surgical grasping tool upon the first retraction force dropping a predefined amount below the retraction force threshold, wherein the second control signal corresponds to a second retraction motion of the surgical grasping tool to increase the first retraction force back to the retraction force threshold;
set a displacement threshold range of the surgical grasping tool;
monitor a displacement of the surgical grasping tool during the first retraction motion and the second retraction motion; and
transmit a third control signal to the surgical grasping tool upon the surgical grasping tool reaching a boundary of the displacement threshold range, wherein the third control signal corresponds to limiting further displacement of the surgical grasping tool.