Chad E. Eckert,Jason L. Harris,Frederick E. Shelton, IV,Jeffrey S. Swayze,Michael J. Vendely,David C. Yates
申请号：
US15238015
公开号：
US20180049832A1
申请日:
2016.08.16
申请国别(地区):
US
年份:
2018
代理人:
摘要：
Devices, systems, and methods are provided in which movement of a tool is controlled based on sensed parameters. In one embodiment, an electromechanical tool is provided having an instrument shaft and an end effector formed thereon. The electromechanical tool is configured to be mounted on an electromechanical arm, and the electromechanical tool is configured to move with or relative to the electromechanical arm and perform surgical functions. A controller is operatively coupled to the electromechanical arm and the electromechanical tool and is configured to retard advancement of the electromechanical tool toward a tissue surface based on a sensed amount of displacement of a tissue surface, a strain on the tissue of the patient, the temperature of the electromechanical tool, or the like.
