Jeffrey S. Swayze,Mark D. Overmyer,David C. Yates,Frederick E. Shelton, IV,Geoffrey S. Strobl,Jason L. Harris
申请号：
US15237700
公开号：
US20180049817A1
申请日:
2016.08.16
申请国别(地区):
US
年份:
2018
代理人:
摘要：
A robotic surgical system is provided that includes an electromechanical tool coupled to a surgical instrument such as an end effector of the tool is adapted to apply ultrasound and/or radiofrequency (RF) energy to tissue when the end effector is in contact with the tissue. The end effector is configured to measure force exerted by the tissue on the end effector, which corresponds to tension at the tissue engaged by the end effector. A controller operatively coupled to the tool and the arm is configured to adjust a power applied to the tissue based on the measured force on the end effector. The controller can also adjust a type of energy such that one or both ultrasound and RF energy is selected to be applied to the tissue, based on measured force exerted by the tissue on the end effector.
