초록 ▼

End effectors with closing mechanisms, and related tools and methods may be particularly beneficial when used for minimally invasive surgery. An example surgical tool comprises a first and second jaw movable between a closed grasped or clamped configuration and an open configuration. The tool furthe

End effectors with closing mechanisms, and related tools and methods may be particularly beneficial when used for minimally invasive surgery. An example surgical tool comprises a first and second jaw movable between a closed grasped or clamped configuration and an open configuration. The tool further comprises a soft grip mode for grasping the tissue at a first force during which a separation parameter between the jaws is measured, and a therapeutic clamping mode in which the jaws clamp on the body tissue at a force greater than the grasping force. The methods comprise grasping the body tissue between jaws, measuring the separation parameter between the jaws, indicating on a user interface the separation parameter for comparison to a desired separation parameter, and then releasing the body tissue for repositioning or therapeutically clamping the body tissue in response to the separation parameter indication.

대표청구항 ▼

1. A method comprising: measuring a grasping parameter between two jaws grasping a material with a grasping force; andoutputting an indication in response to the measured grasping parameter, wherein the indication indicates a predicted success or failure of clamping the grasped material between the

1. A method comprising: measuring a grasping parameter between two jaws grasping a material with a grasping force; andoutputting an indication in response to the measured grasping parameter, wherein the indication indicates a predicted success or failure of clamping the grasped material between the two jaws at a desired clamping force, wherein the desired clamping force is in a range of clamping forces greater than the grasping force, the indication comprising an indicator. 2. The method of claim 1, wherein the indicator comprises a sensory indicator. 3. The method of claim 2, wherein the sensory indicator comprises an audible sound, a visual indicator, a haptic response, or any combination thereof. 4. The method of claim 3, wherein the visual indicator comprises a graphical representation on a user interface display. 5. The method of claim 1, wherein the method further comprises: determining successful clamping of the material; andoutputting an indicator of the successful clamping of the material. 6. The method of claim 5, wherein the method further comprises after a pre-determined period of time elapses after the successful clamping, outputting an indicator that it is safe to proceed with stapling of the clamped material. 7. The method of claim 1, wherein the method is non-surgical in nature and the material comprises a compliant material. 8. The method of claim 1, further comprising applying the grasping force in response to a measurement grasping force command. 9. The method of claim 1, wherein the indication is of predicted success and is output in response to a determination that a predicted clamped jaw separation is within a desired range of clamped jaw separations when clamping the grasped material between the two jaws at the desired clamping force. 10. The method of claim 9, wherein the desired range of clamped jaw separations is determined based on a dimension of a staple or fastener to be used in stapling or fastening the clamped material. 11. The method of claim 9, wherein the desired range of clamped jaw separations comprises a distance between the jaws that is suitable for applying a staple to the material between the jaws. 12. The method of claim 1, wherein the material comprises living tissue. 13. The method of claim 12, the method further comprising: therapeutically clamping the tissue between the jaws at the desired clamping force in response to a user command to clamp and after providing the indication of predicted success, or;releasing the tissue from between the jaws after providing the indication of predicted failure in response to a user command. 14. The method of claim 12: wherein the grasping occurs in a soft grip tissue manipulation mode and the clamping occurs in a therapeutic clamping mode;the method further comprising: switching from the soft grip tissue manipulation mode to the therapeutic clamping mode. 15. The method of claim 14, wherein switching from the soft grip tissue manipulation mode to the therapeutic clamping mode occurs in response to a user input command to clamp the tissue. 16. The method of claim 1, wherein: grasping the material comprises driving the jaws with a grasping torque applied by an actuator system; andthe grasping parameter is measured during application of the grasping torque. 17. The method of claim 1, wherein the parameter comprises an angle between the jaws or a distance between the jaws. 18. The method of claim 17, wherein the angle between the jaws is within a range from 1 degree to about 10 degrees. 19. The method of claim 1, wherein the desired clamping force is at least twice the grasping force. 20. The method of claim 19, wherein the desired clamping force is between 5 to 10 times the grasping force. 21. The method of claim 1, wherein: the indication comprises predicted clamping failure when the measured grasping parameter is greater than a desired grasping separation; andthe indication comprises predicted clamping success when the measured grasping parameter is equal to or less than the desired grasping parameter. 22. The method of claim 1, wherein: each of the jaws has a distal tip; andthe grasping parameter corresponds to a separation distance between the distal tips of the jaws. 23. The method of claim 22, wherein the separation distance is within a range of about 0.7 mm to 8 mm. 24. The method of claim 22, wherein the separation distance is about 4 mm. 25. The method of claim 22, wherein the grasping force corresponds to a tip force between the distal tips of the jaws within a range from about 3 lb-f to 10 lb-f. 26. The method of claim 22, wherein the desired clamping force corresponds to a tip force between the distal tips of the jaws within a range from about 30 lb-f to 70 lb-f. 27. The method of claim 1, further comprising determining the desired grasping parameter in response to one or more clamping parameters, the one or more clamping parameters including any or all of a dimension of the jaws, a texture of a clamping surface on the jaws, a dimension of a staple, and a characteristic of the material being clamped. 28. The method of claim 27, wherein the characteristic of the material comprises any of a type of tissue, a thickness of tissue, a stiffness of tissue or any combination thereof. 29. The method of claim 1, further comprising: automatically repositioning the jaws relative to the material, in response to the indication being of predicted failure;after the repositioning of the jaws, automatically grasping with the jaws at the grasping force while measuring a second grasping separation between the jaws; andoutputting a second indication that indicates a second predicted success or failure of clamping the grasped material between the repositioned jaws at the desired clamping force in response to the measured second grasping separation between the repositioned jaws. 30. The method of claim 1, wherein the grasping and/or desired clamping force varies according to any of: a jaw dimension, a thickness of the material, a type of the material, a characteristic of the material, a desired clamping separation, a type of application, or any combination thereof. 31. The method of claim 30, wherein the type of application comprises stapling of the material such that the grasping and/or desired clamping force varies according to any of: a staple length, a staple size, a stapler angle of articulation, or any combination thereof. 32. The method of claim 30, wherein the material comprises a living tissue, and the type of application is tissue cutting, tissue sealing, or tissue stapling. 33. The method of claim 1, wherein grasping the material comprises driving the jaws with a first actuation mechanism, and clamping the material comprises driving the jaws with a second actuation mechanism different from the first actuation mechanism. 34. The method of claim 33, wherein first actuation mechanism comprises a cable-driven mechanism and the second actuation mechanism comprises a leadscrew-driven mechanism. 35. The method of claim 1 wherein measuring a grasping parameter and outputting an indication in response to the measured grasping parameter comprises measuring multiple grasping parameters at sequentially increasing grasping forces and outputting multiple indications in response to the corresponding multiple measured grasping parameters.