Methods and systems for indicating a clamping prediction

摘要

End effectors with closing mechanisms, and related tools and methods to facilitate clamping, are provided. 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 jaw members, measuring the separation parameter between 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.

主权项

1. A method comprising:
measuring a grasping separation parameter between two jaws grasping a material with a grasping force; and outputting an indication on a user interface in response to the measured separation 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 clamping force is a range of clamping forces greater than the grasping force.