A method implemented by a surgical instrument is disclosed. The surgical instrument includes first and second jaws and a flexible circuit including multiple sensors to optimize performance of a radio frequency (RF) device. The flexible circuit includes at least one therapeutic electrode couplable to a source of RF energy, at least two sensing electrodes, and at least one insulative layer. The insulative layer is positioned between the at least one therapeutic electrode and the at least two sensing electrodes. The method includes contacting tissue positioned between the first and second jaws of the surgical instrument with the at least one therapeutic electrode and at the least two sensing electrodes; sensing signals from the at least two sensing electrodes; and controlling RF energy delivered to the at least one therapeutic electrode based on the sensed signals.

An ultrasonic device may include an electromechanical ultrasonic system defined by a predetermined resonant frequency, the electromechanical ultrasonic system further including an ultrasonic transducer coupled to an ultrasonic blade. A method of delivering energy to the ultrasonic device may include measuring a complex impedance of the ultrasonic blade coupled to the ultrasonic transducer, comparing the measured complex impedance to stored values of complex impedance patterns associated with ultrasonic blade functions, and applying, an algorithm to control a power output to the ultrasonic transducer based on the comparison. The method may further include delivering energy to the ultrasonic device based on a state or condition of an end effector, in which the state or condition of the end effector corresponds to a state of only sealing a tissue or of spot coagulating the tissue.

A surgical severing and stapling instrument, suitable for laparoscopic and endoscopic clinical procedures, clamps tissue within an end effector of an elongate channel pivotally opposed by an anvil. An E-beam firing bar moves distally through the clamped end effector to sever tissue and to drive staples on each side of the cut. The E-beam firing bar affirmatively spaces the anvil from the elongate channel to assure properly formed closed staples, especially when an amount of tissue is clamped that is inadequate to space the end effector. In particular, an upper pin of the firing bar longitudinally moves through an anvil slot and a channel slot is captured between a lower cap and a middle pin of the firing bar to assure a minimum spacing. Forming the E-beam from a thickened distal portion and a thinned proximal strip enhances manufacturability and facilitates use in such articulating surgical instruments.

A surgical instrument comprising an end effector, a staple firing drive, and a motor control system is disclosed. The end effector includes a replaceable unspent staple cartridge comprising staples. The staple firing drive comprises an electric motor circuit including an electric motor. The staple firing drive further comprises a firing member movable through a firing stroke by the electric motor. The firing member comprises a tissue cutting knife. The staples are deployable from the staple cartridge based on movement of the firing member through the firing stroke. The motor control system comprises a current sensor and a position sensor. The motor control system is configured to change the operation of the electric motor based on an input from the current sensor. The motor control system is configured to change the operation of the electric motor based on an input from the position sensor.

A surgical tool for use with a robotic system is disclosed that includes a shaft, an end effector, a motor, an axially movable drive member, and a rotary drive shaft in operable communication with the motor. The end effector comprises a first jaw member and a second jaw member movable relative to the first jaw member between an open position and a closed position. The end effector is rotatable relative to the shaft. The axially movable drive member is in operable communication with the second jaw member. The rotary drive shaft is in operable engagement with the axially movable drive member. At least one rotational motion of the rotary drive shaft causes the axially movable drive member to move the second jaw member relative to the first jaw member from the closed position to the open position.

A generator, ultrasonic device, and method for controlling a temperature of an ultrasonic blade are disclosed. A control circuit coupled to a memory determines an actual resonant frequency of an ultrasonic electromechanical system comprising an ultrasonic transducer coupled to an ultrasonic blade by an ultrasonic waveguide. The actual resonant frequency is correlated to an actual temperature of the ultrasonic blade. The control circuit retrieves from the memory a reference resonant frequency of the ultrasonic electromechanical system. The reference resonant frequency is correlated to a reference temperature of the ultrasonic blade. The control circuit then infers the temperature of the ultrasonic blade based on the difference between the actual resonant frequency and the reference resonant frequency. The control circuit controls the temperature of the ultrasonic blade based on the inferred temperature

Surgical instruments with articulation joints that include an articulation linkage assembly comprising a plurality of links configured to operably interface with a proximal joint member for movable travel relative thereto in a first proximal travel path and a second proximal travel path that are transverse to each other. The plurality of links are further configured to operably interface with a distal joint member for movable travel relative thereto in a first distal travel path and a second distal travel path that are transverse each other.

Surgical end effectors with first and second jaws that are opened and closed with an axially movable firing member. The firing member is configured to apply a first closure motion to the second jaw to move the second jaw from an open position to a closed position as the firing member is moved in a distal direction from a home position to an ending position. The firing member is further configured to move the second jaw towards the first jaw when the firing member is moved in a proximal direction from the home position.

Various aspects of a generator, ultrasonic device, and method for estimating and controlling a state of an end effector of an ultrasonic device are disclosed. The ultrasonic device includes an electromechanical ultrasonic system defined by a predetermined resonant frequency, including an ultrasonic transducer coupled to an ultrasonic blade. A control circuit measures a complex impedance of an ultrasonic transducer, wherein the complex impedance is defined as $Z_g\left(t\right)=\frac{V_g\left(t\right)}{I_g\left(t\right)}.$
The control circuit receives a complex impedance measurement data point and compares the complex impedance measurement data point to a data point in a reference complex impedance characteristic pattern. The control circuit then classifies the complex impedance measurement data point based on a result of the comparison analysis and assigns a state or condition of the end effector based on the result of the comparison analysis. The control circuit estimates the state of the end effector of the ultrasonic device and controls the state of the end effector of the ultrasonic device based on the estimated state.

A generator, ultrasonic device, and method for controlling a temperature of an ultrasonic blade are disclosed. A control circuit coupled to a memory determines an actual resonant frequency of an ultrasonic electromechanical system comprising an ultrasonic transducer coupled to an ultrasonic blade by an ultrasonic waveguide. The actual resonant frequency is correlated to an actual temperature of the ultrasonic blade. The control circuit retrieves from the memory a reference resonant frequency of the ultrasonic electromechanical system. The reference resonant frequency is correlated to a reference temperature of the ultrasonic blade. The control circuit then infers the temperature of the ultrasonic blade based on the difference between the actual resonant frequency and the reference resonant frequency. The control circuit controls the temperature of the ultrasonic blade based on the inferred temperature