Mark D. Overmyer,Sol A. Posada,Joshua D. Young,Mark A. Davison,Christopher A. Denzinger
申请号：
US16219050
公开号：
US20200188045A1
申请日:
2018.12.13
申请国别(地区):
US
年份:
2020
代理人:
摘要：
A method includes advancing an end effector of a surgical tool to a surgical site, the surgical tool being pivotably mounted to a robotic arm at a tool driver, engaging tissue at the surgical site with the end effector, calculating a force vector assumed on the end effector by engaging the tissue, optimizing the force vector to obtain an optimized force vector, and actuating the end effector after applying the optimized force vector on the end effector.
