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Closed feedback control for electrosurgical device

  • US 9,226,767 B2
  • Filed: 06/29/2012
  • Issued: 01/05/2016
  • Est. Priority Date: 06/29/2012
  • Status: Active Grant
First Claim
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1. A method of controlling an end effector in a robotic surgical system, the method comprising:

  • applying, by the robotic surgical system, a drive control signal and an electrosurgical energy signal to an end effector of a surgical device;

    maintaining, by the robotic surgical system, a first speed of a blade coupled to the end effector using the drive control signal, the blade configured to move along a longitudinal axis of the end effector at the first speed;

    receiving, by the robotic surgical system, a feedback signal indicative of tissue impedance of tissue in contact with the end effector;

    determining, by the robotic surgical system, a decrease of the tissue impedance based on the feedback signal;

    in response to the decrease of the tissue impedance, modifying the drive control signal to cause the robotic surgical system to maintain a second speed of the blade, the second speed being faster than the first speed; and

    controlling, by the robotic surgical system, the electrosurgical energy signal based on the feedback signal to maintain a predetermined rate of change of tissue impedance by modulating a pulse width of the electrosurgical energy signal in response to changes in the tissue impedance as measured by the feedback signal.

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