US Patent 11779413 Optical force sensor for robotic surgical system

According to an aspect of the present disclosure, a surgical instrument is provided and includes a housing; an elongate shaft extending from the housing; and a tool assembly supported by a distal portion of the elongate shaft, the tool assembly including first and second jaw member. The at least one of the first and second jaw members is moveable relative to the other jaw member between a neutral configuration in which the first and second jaw members are spaced apart relative to one another; and a clamping configuration in which the first and second jaw members are approximated relative to one another with tissue grasped therebetween, the first jaw member defining a cavity.