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

Claim 20:
21. 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 for 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; and
transmit a second control signal to the surgical grasping tool upon the first retraction force dropping a predefined amount below the retraction force threshold, wherein the second control signal corresponds to a displacement of the surgical grasping tool;

wherein the surgical grasping tool further comprises:
an end effector comprising a pair of jaws;
a shaft; and
an articulation joint, wherein the end effector is articulatable relative to the shaft about the articulation joint, and wherein the first retraction motion comprises an articulation motion of the end effector about the articulation joint.