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 |
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.
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