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Closed feedback control for electrosurgical device

  • US 9,713,507 B2
  • Filed: 01/04/2016
  • Issued: 07/25/2017
  • 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 wherein the blade is longitudinally translatable within the first jaw member and the second jaw member;

    a motor to slideably translate the blade; 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, wherein the at least one feedback signal comprises a first 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 the first feedback signal; and

    modulate the second control signal to maintain the rate of change at a predetermined rate or within a predetermined range, wherein modulating the second control signal adjusts the delivered drive signal to alter a speed of the blade during treatment of the tissue.

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