# How a Robotic Surgical Tool Clamps Tissue Manually and Automatically > This patent describes a surgical tool for robotic operations that can clamp tissue using a motor-driven yoke, but also allows a surgeon to manually control the clamping action. - **Patent:** US 11786761 - **Original title:** Ultrasonic robotic tool actuation - **Owner:** Cilag GmbH International - **Granted:** 2023 - **Status:** Active - **Times cited:** 0 - **Field:** medical_devices, robotics, mechanical, surgical ## What it does The patent describes a surgical tool for clamping tissue during endoscopic surgery. It uses a "yoke" inside the tool's housing that slides back and forth along a "shaft assembly" (Claim 1). This movement, called "longitudinal translation," makes a "clamp arm" on the tool's end open and close against a "blade" to grab tissue. A motor on a surgical robot can move the yoke by pushing "first and second actuators" (Claim 1). Alternatively, a surgeon can directly grasp and move "at least one linear actuator" on the tool's housing to control the clamp manually (Claim 5). For example, a surgeon could use the robot to precisely clamp a blood vessel, then take manual control to adjust the clamping force if needed. The tool can also apply different clamping forces based on how far the yoke moves (Claim 4). ## What it does NOT cover - Surgical tools that only use a rotational mechanism to open and close the clamp arm, rather than linear translation of a yoke. - Clamping mechanisms that do not involve a specific "clamp arm" and a "blade" for engaging tissue. - Surgical tools that are exclusively robotic or exclusively manual, without the ability to switch between both modes of actuation. - Systems where the clamping force cannot be varied based on the distance the internal mechanism travels. ## The clever bit The novelty lies in creating a single surgical tool that can be actuated both robotically and manually through the same internal "yoke" mechanism and "linear actuators." This dual-mode operation provides surgeons with flexibility and control during delicate procedures. ## Real-world examples 1. Robotic surgical systems like da Vinci Surgical System 2. Endoscopic surgical instruments 3. Advanced laparoscopic tools ## Why it matters This patent is important for advancing surgical robotics by offering a tool that combines the precision of a robot with the immediate control of a human surgeon. It allows for flexible operation in complex surgical environments, potentially improving safety and adaptability. The ability to precisely control clamping force (Claim 4) is crucial for delicate tissue manipulation and sealing. ## Frequently asked questions ### What does How a Robotic Surgical Tool Clamps Tissue Manually and Automatically cover? This patent describes a surgical tool for robotic operations that can clamp tissue using a motor-driven yoke, but also allows a surgeon to manually control the clamping action. ### Who owns patent US 11786761? Cilag GmbH International owns this patent, granted in 2023. ### When does this patent expire? This patent is expected to expire on October 31, 2039, when the invention enters the public domain. ### What problem does this patent solve? This patent is important for advancing surgical robotics by offering a tool that combines the precision of a robot with the immediate control of a human surgeon. It allows for flexible operation in complex surgical environments, potentially improving safety and adaptability. The ability to precisely control clamping force (Claim 4) is crucial for delicate tissue manipulation and sealing. ### What does this patent NOT cover? Surgical tools that only use a rotational mechanism to open and close the clamp arm, rather than linear translation of a yoke. **Full plain-English explainer:** https://patentbrief.org/patent/us/11786761/ultrasonic-robotic-tool-actuation **Original patent:** https://patents.google.com/patent/US11786761 --- _Source: PatentBrief — https://patentbrief.org. Patent facts are from public records; the plain-English explanation is PatentBrief's._ ## Related patents Semantically similar inventions in the PatentBrief corpus: - [How a Surgical Robot Arm's Wrist Moves Instruments](https://patentbrief.org/patent/us/12414825/surgical-arm) — This patent describes a specific design for the end part of a surgical robot arm, called the terminal portion, which uses a clever arrangement of three joints to precisely position and rotate surgical tools. - [Customizing Surgical Dissectors Using 3D Printing](https://patentbrief.org/patent/us/10959744/surgical-dissectors-and-manufacturing-techniques) — This patent describes a surgical tool's working tip, called an end effector, which has two jaws whose gripping features can be custom-made using 3D printing for specific surgical needs. - [Uniform Scaling of Haptic Forces in Surgical Systems](https://patentbrief.org/patent/us/12114954/uniform-scaling-of-haptic-actuators) — This patent describes a surgical system that uses a single scaling factor to adjust the strength of touch feedback from multiple motors, ensuring the feedback feels consistent even when one motor reaches its maximum power. - [How Surgical Robots Reconfigure Their Arms Without Moving the Tool Tip](https://patentbrief.org/patent/us/9949801/systems-and-methods-for-commanded-reconfiguration-of-a-surgical-manipulator-usin) — This patent describes how a surgical robot arm can move and reshape itself to avoid obstacles or improve its position, all while keeping its surgical tool perfectly still at the patient's entry point or target. - [How a Robot Actuator Controls Force and Speed with Gears](https://patentbrief.org/patent/us/8209052/high-performance-differential-actuator-for-robotic-interaction-tasks) — This patent describes a compact robot actuator that uses a special gear system and two motors with different electrical resistance to precisely control both the force and speed applied to a robotic arm or tool.