CLOSED FEEDBACK CONTROL FOR ELECTROSURGICAL DEVICE
First Claim
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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Accused Products
Abstract
A robotic surgical system comprising a surgical instrument comprising an end effector comprising (i) a blade, (ii) a first jaw member including a first electrode, and (iii) a second jaw member including a second electrode. The robotic surgical system may also comprise a motor and a control circuit configured to: (i) produce control signals comprising a first control signal and a second control signal, (ii) deliver an electrosurgical energy signal to the first electrode and the second electrode via the first control signal, (iii) deliver a drive signal to the motor via the second control signal (iv) receive at least one feedback signal, (v) determine a rate of change based on a first feedback signal of the at least one feedback signal, and (vi) maintain the rate of change at a predetermined rate or within a predetermined range.
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Citations
20 Claims
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1. A robotic surgical system, comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A surgical instrument, comprising:
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an end effector, comprising; a blade; a first jaw member including a first electrode; and a second jaw member including a second electrode; a motion generator to reciprocate 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 an electrosurgical energy signal to the first electrode and the second electrode via the first control signal; deliver a drive signal to the motion generator via the second control signal; receive at least one feedback signal comprising a feedback signal from the end effector; determine a rate of change of impedance of tissue clamped between the first jaw member and the second jaw member based on the end effector feedback signal; monitor the rate of change of impedance of the tissue; and maintain the rate of change of impedance of the tissue at a predetermined rate or within a predetermined range during treatment of the tissue, wherein maintaining the rate of change of impedance of the tissue comprises modulating one or more of the control signals. - View Dependent Claims (12, 13, 14, 15, 16)
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17. A surgical tool, comprising:
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a tool mounting portion; a shaft coupled to the tool mounting portion; an end effector coupled to the shaft, wherein the end effector comprises; a blade; a first jaw member including a first electrode; and a second jaw member including a second electrode; a motor to reciprocate the blade within the end effector; a motor control circuit coupled to the motor; and a control circuit configured to; produce control signals comprising a first control signal and a second control signal; deliver an 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 feedback signals comprising a feedback signal from the end effector and a feedback signal from the motor control circuit; determine a rate of change of impedance of tissue clamped between the first jaw member and the second jaw member based on the end effector feedback signal; monitor the rate of change of impedance of the tissue; and maintain the rate of change of impedance of the tissue at a predetermined rate or within a predetermined range during treatment of the tissue, wherein maintaining the rate of change of impedance of the tissue comprises modulating one or more of the control signals. - View Dependent Claims (18, 19, 20)
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Specification