Patent ID: 11890065
Assignee: CILAG GMBH INTERNATIONAL
Field: Medical technology (Instruments)
Classification: CPC A  G | IPC A  G

Claim 7:
8. 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 range of the surgical grasping tool;
set a displacement threshold range of 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;
monitor a first retraction force applied by the surgical grasping tool and detected by the force sensor during the first retraction motion;
monitor a displacement of the surgical grasping tool during the first retraction motion;
transmit a second control signal to the surgical grasping tool upon the first retraction force reaching a boundary of the retraction force threshold range, wherein the second control signal corresponds to a displacement of the surgical grasping tool; 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.