Example embodiments relate to robotic arm assemblies. The robotic arm assembly includes forearm and upper arm segments. Upper arm segment includes distal motor. Robotic arm assembly includes elbow coupling joint assembly connecting distal end of upper arm segment to proximal end of forearm segment via a serial arrangement of proximal and distal elbow joints. Proximal elbow joint is located between upper arm segment and distal elbow joint. Distal elbow joint is located between proximal elbow joint and forearm segment. Proximal elbow joint forms proximal main elbow axis. Distal elbow joint forms distal main elbow axis. Elbow coupling joint assembly includes distal elbow joint subassembly connected to forearm segment. Elbow coupling joint assembly includes proximal elbow joint subassembly connecting upper arm segment to distal elbow joint subassembly. Proximal elbow joint subassembly is configured to be driven to rotate forearm segment relative to proximal main elbow axis.

A method for identifying and treating tissue includes providing an electrosurgical treatment device including an electrode assembly. One or more electrical property values of target tissue are measured. The measured electrical property values of the target tissue are compared against electrical property values of known tissue types. A tissue type of the target tissue is identified. An energy delivery configuration of the electrosurgical treatment device is adjusted to the type of target tissue. The electrosurgical treatment device is activated to treat the target tissue.

An end effector assembly for use with a forceps includes a pair of jaw members, a knife assembly, and one or more cam assemblies. One or more of the jaw members are moveable relative to the other about a pivot between open and closed positions. One or more of the jaw members include a knife channel. The pivot includes first and second sections defining a passage therebetween. The knife assembly includes a knife blade and an actuation shaft. The knife blade is disposed distally relative to the pivot. The actuation shaft is configured for slidable translation through the passage to allow selective advancement of the knife blade through the knife channel. The one or more cam assemblies are operably coupled to the one or more moveable jaw members and are actuatable to move the one or more jaw members between the open and closed positions for grasping tissue therebetween.

Electrosurgical coagulation devices. At least some of the example embodiment are methods including: applying RF energy between a first electrode and a second electrode, the first and second electrodes define an interstice; flowing an electrically conductive fluid through a first nozzle and a second nozzle of the first electrode, the first nozzle defines a first spray direction, the second nozzle defines a second spray direction, and a first angle between the first spray direction and the second spray direction is 180 angular degrees or less measured through the interstice; flowing an electrically conductive fluid through a third nozzle and a fourth nozzle of the second electrode, the third nozzle defines a third spray direction, the fourth nozzle defines a fourth spray direction, and a second angle between the third spray direction and the fourth spray direction is 180 angular degrees or less measured through the interstice.

A radio-frequency ablation catheter comprises a handle having a proximal end and a distal end, an outer tube assembly having a proximal end and a distal end, and an inner tube assembly having a proximal end and a distal end; the proximal end of the outer tube assembly is connected to the distal end of the handle; the proximal end of the inner tube assembly is connected to the distal end of the handle; the inner tube assembly can be driven by the handle to rotate relative to the outer tube assembly; the inner tube assembly comprises a branch electrode assembly, and the branch electrode assembly comprises a plurality of branch electrodes distributed at intervals in the circumferential direction. The branch electrode assembly of the radio-frequency ablation catheter and the radio-frequency ablation system can rotate relative to the outer tube assembly to avoid blood vessels.

A vessel sealing instrument includes a housing having a shaft extending from a distal end thereof including an end effector assembly having opposing first and second jaw members operably coupled thereto. One of the jaw members moveable between open and closed positions for clamping tissue with a closure pressure within the range of about 3 kg/cm.sup.2 to about 16 kg/cm.sup.2. The jaw members are adapted to connect to a generator for providing energy thereto in accordance with a sealing algorithm. An anti-backdrive mechanism is associated with the end effector assembly and includes: a drive shaft coupled to a controller and a screw on opposite ends, the screw configured to engage one of the jaw members upon extension thereof to provide additional closure pressure therebetween. The drive shaft is rotatable by the controller to extend the screw in response to tissue expansion during sealing based on the sealing algorithm.

A vessel sealing instrument includes a housing having a shaft extending from a distal end thereof having an end effector assembly including a pair of opposing first and second jaw members operably coupled thereto. A drive assembly is disposed within the housing and is configured to move the jaw members upon actuation thereof between an open position and a closed position for clamping tissue with a closure pressure within the range of about 3 kg/cm.sup.2 to about 16 kg/cm.sup.2. An anti-backdrive assembly is operably disposed within the housing and includes a drive wedge. A solenoid controller is operably coupled to the drive wedge and is configured to selectively move the drive wedge into the drive assembly upon activation thereof to increase the closure pressure between the jaw members in response to tissue expansion during sealing.

An electrosurgical device including the disclosure describes an electrosurgical device including an elongated body having a tubular section extending from a proximal end to a distal end and defining an evacuation channel configured to evacuate tissue from the distal end to the proximal end, a curette at the distal end of the tubular section, wherein the curette defines a perimeter cutting edge that forms a distal opening to the evacuation channel, a plasma cutting electrode defined by the perimeter cutting edge of the curette, where the plasma cutting electrode is configured to operate in a monopolar configuration to deliver radio frequency (RF) plasma energy to adjacent tissue to cut a volume of the target tissue, and a dielectric coating on at least a portion of the curette, the dielectric coating electrically insulating the curette from target tissue and the volume of cut target tissue, wherein the dielectric coating comprises a ceramic material.

System and methods of an electrosurgical controller having multiple modes of operation that are configured for treatment of a specific targeted tissue type and the electrosurgical effect desired where the treatment and effect are provided by a single controller and an electrosurgical probe. The electrosurgical controller includes an integrated fluid control apparatus or pump where activation of the controller allows for selective energy delivery and corresponding fluid volume flow rates. The electrosurgical probe includes a fluid transport lumen and is in communication with the controller and the pump for operation of the probe in the various user selected modes with accompanying energy delivery and fluid control directed to the desired treatment and surgical effect.

A surgical cutting and fastening instrument comprises an end effector that has a shaft coupled thereto that is coupled to a robotic system. A tool mounting portion includes an electric, DC motor connected to a drive train in the shaft for powering the drive train. A power pack that comprises at least one charge-accumulating device connected to the DC motor for powering the DC motor is provided.