US 12,251,182 B2
Surgical tool positioning based on sensed parameters
Chad E. Eckert, Milford, OH (US); Jason L. Harris, Lebanon, OH (US); and Frederick E. Shelton, IV, Hillsboro, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Oct. 23, 2023, as Appl. No. 18/382,853.
Application 18/382,853 is a continuation of application No. 16/552,413, filed on Aug. 27, 2019, granted, now 11,793,582.
Application 16/552,413 is a continuation of application No. 15/238,001, filed on Aug. 16, 2016, granted, now 10,398,517.
Prior Publication US 2024/0130807 A1, Apr. 25, 2024
Prior Publication US 2024/0225757 A9, Jul. 11, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 18/08 (2006.01); A61B 18/00 (2006.01); A61B 34/30 (2016.01); A61B 17/00 (2006.01); A61B 90/00 (2016.01); B25J 9/16 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 18/082 (2013.01); A61B 18/085 (2013.01); A61B 2017/00084 (2013.01); A61B 2018/00791 (2013.01); A61B 2090/0427 (2016.02); B25J 9/1676 (2013.01); G05B 2219/40415 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A surgical system, comprising:
an electromechanical tool having an instrument shaft and an end effector formed thereon; and
a controller configured to retard advancement of the electromechanical tool toward a tissue surface based on a sensed temperature of the end effector by reducing a velocity of the electromechanical tool to a first threshold velocity when the sensed temperature is within a first predetermined temperature range and to a second threshold velocity when the sensed temperature is within a second predetermined temperature range, wherein the controller is configured to retard advancement of the electromechanical tool when the end effector is within a predetermined threshold distance from a tissue surface, and wherein the predetermined threshold distance varies based on the temperature of the end effector.