CLOSED FEEDBACK CONTROL FOR ELECTROSURGICAL DEVICE

摘要

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.

主权项

1. A robotic surgical system, comprising:
a surgical instrument, comprising:
an end effector comprising:
a blade;a first jaw member including a first electrode; anda 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; andmaintain the rate of change at a predetermined rate or within a predetermined range.