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CLOSED FEEDBACK CONTROL FOR ELECTROSURGICAL DEVICE

  • US 20160192999A1
  • Filed: 01/04/2016
  • Published: 07/07/2016
  • Est. Priority Date: 06/29/2012
  • Status: Active Grant
First Claim
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1. A robotic surgical system, comprising:

  • a surgical instrument, comprising;

    an end effector comprising;

    a blade;

    a first jaw member including a first electrode; and

    a second jaw member including a second electrode, wherein the first electrode and the second electrode are configured to receive an electrosurgical energy signal; and

    a motor to slideably translate the blade within the end effector; and

    a control circuit configured to;

    produce control signals comprising a first control signal and a second control signal;

    deliver the electrosurgical energy signal to the first electrode and the second electrode via the first control signal;

    deliver a drive signal to the motor via the second control signal;

    receive at least one feedback signal indicative of a characteristic of tissue clamped between the first jaw member and the second jaw member;

    determine a rate of change based on a first feedback signal of the at least one feedback signal; and

    maintain the rate of change at a predetermined rate or within a predetermined range.

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