Control of jaw or clamp arm closure in concert with advancement of device
View Patent ↗A robotic surgical system including a control system that controls the movement of a robotic arm is described. The robotic arm can be coupled to a tool assembly that includes an end effector positioned at a distal end of a shaft. The tool assembly can include one or more sensors that measure a variety of forces or velocities associated with either the robotic arm or end effector. The control system can collect and monitor such sensed forces and velocities to determine and control one or more appropriate movement parameters associated with the robotic arm thereby controlling the cutting of tissue and preventing unwanted cutting of tissue. Furthermore, movement parameters associated with more than one robotic arm can be controlled by the control system.
1. A robotic surgical system comprising:
a robotic arm;
a tool assembly coupled to the robotic arm, the tool assembly comprising
a shaft extending distally from a housing,
an end effector coupled to a distal end of the shaft, the end effector comprising a blade and a clamp, and
a sensor that is configured to sense a force applied to the blade and a deflection of the blade in response to the applied force, and
a control system configured to control, based on the sensed force applied to the blade, an angle of orientation of the blade relative to a tissue of a patient.
2. The robotic surgical system of claim 1 , wherein the blade is configured to cut the tissue.
3. The robotic surgical system of claim 2 , wherein the sensor includes more than one sensor positioned radially about at least one of the blade and an extension coupled to the blade.
4. The robotic surgical system of claim 2 , wherein the blade is configured to deliver one or more of an ultrasonic energy and a radio frequency energy to the tissue for assisting with cutting the tissue.
5. The robotic surgical system of claim 1 , wherein the control system is further configured to control, based on at least one of the sensed force and the angle of orientation of the blade, a velocity of movement of the robotic arm or a velocity of movement of the end effector.
6. The robotic surgical system of claim 5 , wherein the velocity of movement of the end effector includes a velocity at which the blade cuts the tissue.
7. The robotic surgical system of claim 1 , wherein the control system is further configured to control, based on at least one of the sensed force and the angle of orientation of the blade, an energy delivered from the end effector to the tissue for assisting with cutting the tissue.
8. The robotic surgical system of claim 1 , wherein the sensor includes a strain gauge.
9. A method comprising:
sensing a force applied by tissue to an end effector located at a distal end of a shaft of a tool assembly, the tool assembly being coupled to a robotic arm of a robotic surgical system, the end effector comprising a blade and a clamp;
sensing a deflection of the blade in response to the applied force; and
positioning the blade of the end effector at a desired angle of orientation relative to the tissue, the positioning being based on the sensed applied force.
10. The method of claim 9 , further comprising controlling, based on the sensed force, a velocity of movement of the end effector.
11. The method of claim 9 , further comprising controlling, based on the sensed force, an energy delivered from the end effector to the tissue.
12. The method of claim 11 , wherein the energy is one or more of an ultrasonic energy and a radio frequency energy.
13. The method of claim 9 , further comprising cutting the tissue with the blade.