Patent ID: 8801710

Claim:
A surgical tool system comprising: an electrosurgical tool configured to seal tissue, the tool including a distal portion including a tissue sealing mechanism connected to a handle via a shaft; a sensor coupled to the electrosurgical tool, wherein the sensor is configured to monitor a tissue property; a control system electrically connected to the sensor, wherein the control system calculates sensor information from signals received from the sensor and processes the sensor information into signal commands; a feedback system including one or more haptic actuators coupled to the handle and electrically connected to the control system, wherein the control system communicates the signal commands to the feedback system and the feedback system uses the signal commands to generate haptic feedback relating to the sensor information to the handle; a deployable cutting element on the distal portion of the tool and a displacement sensor coupled to the cutting element, wherein the haptic feedback generated by the feedback system also informs the user of whether the tissue is ready to be cut by the cutting element or the cutting speed of the cutting element; and a trigger coupled to the deployable cutting element, wherein the one or more haptic actuators include a kinesthetic actuator coupled to the trigger to enable variable resistance to motion as the haptic feedback.