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    ELECTROSURGICAL INSTRUMENT WITH MONOPOLAR AND BIPOLAR ENERGY CAPABILITIES
    31.
    发明申请
    ELECTROSURGICAL INSTRUMENT WITH MONOPOLAR AND BIPOLAR ENERGY CAPABILITIES 有权

    公开(公告)号：US20210196361A1

    公开(公告)日：2021-07-01

    申请号：US16885881

    申请日：2020-05-28

    申请人： Ethicon LLC

    发明人： Frederick E. Shelton, IV ,  Kevin M. Fiebig ,  Taylor W. Aronhalt ,  Sarah A. Worthington

    IPC分类号： A61B18/14 ,  A61B18/12

    摘要： An electrosurgical instrument comprising an end effector including a first jaw, a second jaw, and an electrical circuit is disclosed. The first jaw comprises a first conductive skeleton, a first insulative coating selectively covering portions of the first conductive skeleton, and first-jaw electrodes comprising exposed portions of the first conductive skeleton. The second jaw comprises a second conductive skeleton, a second insulative coating selectively covering portions of the second conductive skeleton, and second-jaw electrodes comprising exposed portions of the second conductive skeleton. The circuit is configured to transmit a bipolar RF energy and a monopolar RF energy to the tissue through the first-jaw electrodes and the second-jaw electrodes. The monopolar RF energy shares a first electrical pathway and a second electrical pathway defined by the electrical circuit for transmission of the bipolar RF energy.

    ELECTROSURGICAL INSTRUMENT WITH FLEXIBLE WIRING ASSEMBLIES
    33.
    发明申请
    ELECTROSURGICAL INSTRUMENT WITH FLEXIBLE WIRING ASSEMBLIES 有权

    公开(公告)号：US20210196349A1

    公开(公告)日：2021-07-01

    申请号：US16885860

    申请日：2020-05-28

    申请人： Ethicon LLC

    发明人： Kevin M. Fiebig ,  Sarah A. Worthington ,  Joshua P. Morgan ,  Nicholas M. Morgan ,  Frederick E. Shelton, IV

    IPC分类号： A61B18/14 ,  A61B18/12

    摘要： An electrosurgical instrument comprising a housing, a shaft extending from the housing, an end effector extending from the shaft, an articulation joint rotatably connecting the end effector to the shaft, and a wiring circuit is disclosed. The housing comprises a printed control board. The wiring circuit extends from the printed control board through the shaft and into the end effector. The wiring circuit is configured to monitor a function of the end effector and communicate the monitored function to the printed control board. The wiring circuit comprises a proximal rigid portion fixed to the shaft, a distal rigid portion fixed to the end effector, and an intermediate portion extending from the proximal rigid portion to the distal rigid portion. The intermediate portion comprises a resilient portion and a stretchable portion.

    CLOSED LOOP VELOCITY CONTROL TECHNIQUES BASED ON SENSED TISSUE PARAMETERS FOR ROBOTIC SURGICAL INSTRUMENT
    38.
    发明申请
    CLOSED LOOP VELOCITY CONTROL TECHNIQUES BASED ON SENSED TISSUE PARAMETERS FOR ROBOTIC SURGICAL INSTRUMENT 审中-公开

    公开(公告)号：US20190000565A1

    公开(公告)日：2019-01-03

    申请号：US15636837

    申请日：2017-06-29

    申请人： Ethicon LLC

    发明人： Frederick E. Shelton, IV ,  Jason L. Harris ,  Sarah A. Worthington

    IPC分类号： A61B34/30 ,  A61B17/072

    摘要： The present disclosure provides a robotic surgical system that includes a control circuit configured to detect a condition at an end effector during a closure phase. The control circuit detects a condition at an end effector during a closure phase. The control sets command velocity of a motor coupled to a displacement member coupled to the end effector based on the detected condition at the end effector during the closure phase. The control circuit fires the displacement member at the set command velocity and detects a condition at the end effector during a firing phase. The control circuit sets command velocity of the motor based on the condition detected at the end effector during the firing phase.

    CLOSED LOOP VELOCITY CONTROL TECHNIQUES FOR ROBOTIC SURGICAL INSTRUMENT
    39.
    发明申请
    CLOSED LOOP VELOCITY CONTROL TECHNIQUES FOR ROBOTIC SURGICAL INSTRUMENT 审中-公开

    公开(公告)号：US20190000446A1

    公开(公告)日：2019-01-03

    申请号：US15636829

    申请日：2017-06-29

    申请人： Ethicon LLC

    发明人： Frederick E. Shelton, IV ,  Jason L. Harris ,  David C. Yates ,  Gregory J. Bakos ,  Sarah A. Worthington ,  Chester O. Baxter, III

    IPC分类号： A61B17/068 ,  A61B34/30

    摘要： Methods of controlling velocity of a firing member in a robotic surgical system are disclosed. One method detects an end effector condition during closure, sets a command velocity of a displacement member based on the closure condition, fires the displacement member at the set command velocity, detects an end effector condition during a firing phase, and sets a command velocity based on the firing condition. Another method receives closure force of a closure member, compares the actual closure force to a threshold, determines a set point velocity based on the comparison, and controls the actual velocity of the closure member based on the set point velocity. Another method receives actual closure force of a closure member, receives actual position of a firing member, and sets a new closure force based on the actual closure force applied to the closure member and the actual position of the firing member.