Electrosurgical instrument with electrode biasing support

Abstract

A surgical end effector for use with an electrosurgical instrument is disclosed. The end effector includes a first jaw having a first electrode and a second jaw having a second electrode. The end effector is transitionable from an open configuration to a closed configuration to grasp tissue. The second electrode is laterally offset from the first electrode. The first electrode and the second electrode are configured to cooperate to deliver bipolar energy to the tissue. The second jaw further includes a monopolar electrode configured to deliver monopolar energy to the tissue and a compliant substrate. The monopolar electrode and the second electrode are fixedly attached to the compliant substrate in a spaced apart arrangement. The compliant substrate is configured to apply a biasing force to the second electrode and the monopolar electrode toward the first jaw in the closed configuration.

Description

[0001] Cross Reference to Related Applications

[0002] This non-provisional application claims priority under 35 U.S.C. § 119(e) to U.S. Provisional Patent Application Serial No. 62 / 955,299, entitled “DEVICES AND SYSTEMS FOR ELECTROSURGERY” filed December 30, 2019, the disclosure of which is incorporated by reference herein in its entirety. BACKGROUND

[0003] The present disclosure relates to surgical instruments designed for use in processing tissue, including but not limited to surgical instruments configured to both cut and fasten tissue. The surgical instruments can include electrosurgical instruments powered by a generator to effect tissue dissection, cutting, and / or coagulation during a surgical procedure. The surgical instruments can include instruments configured to cut and staple tissue using surgical staples and / or fasteners. The surgical instruments can be configured for use in open surgical procedures, but can also be applied in other types of surgical procedures, such as laparoscopic, endoscopic, and robotic-assisted procedures, and can include end effectors that can be articulated relative to a shaft portion of the instrument to facilitate precise positioning within a patient. SUMMARY

[0004] In various embodiments, a surgical end effector for use with an electrosurgical instrument is disclosed. The end effector includes a proximal end, a distal end, a first jaw, and a second jaw. A central plane of the surgical end effector extends through the proximal end and the distal end. The first jaw is bisected by the central plane in a longitudinal direction. The first jaw includes a first electrode extending along a portion of the first jaw. The first electrode is positioned on a first side of the central plane. The second jaw is bisected by the central plane in the longitudinal direction. At least one of the first jaw and the second jaw is movable to transition the end effector from an open configuration to a closed configuration to grasp tissue positioned between the first jaw and the second jaw. The second jaw includes a second electrode and a compliant substrate. The second electrode extends along a portion of the second jaw. The second electrode is positioned on a second side of the central plane. The first electrode and the second electrode are configured to cooperate to deliver bipolar energy to the tissue. The compliant substrate extends along a length of the second jaw. The compliant substrate includes a first compliant portion on the first side of the central plane, a second compliant portion on the second side of the central plane, and a monopolar electrode extending along the central plane. The second electrode is mounted to the second compliant portion. The monopolar electrode is mounted to the compliant substrate. The monopolar electrode is configured to deliver monopolar energy to the tissue. The compliant substrate is configured to apply a biasing force to the second electrode and the monopolar electrode toward the first jaw in the closed configuration.

[0005] In various embodiments, a surgical instrument including a shaft and an end effector extending from the shaft is disclosed. The end effector includes a proximal end, a distal end, a first jaw, and a second jaw. A central plane of the end effector extends through the proximal end and the distal end. The first jaw is bisected by the central plane in a longitudinal direction. The first jaw includes a first electrode extending along a portion of the first jaw. The first electrode is positioned on a first side of the central plane. The second jaw is bisected by the central plane in the longitudinal direction. At least one of the first jaw and the second jaw is movable to transition the end effector from an open configuration to a closed configuration to grasp tissue positioned between the first jaw and the second jaw. The second jaw includes a second electrode and a compressible support. The second electrode extends along a portion of the second jaw. The second electrode is positioned on a second side of the central plane. The first electrode and the second electrode are configured to cooperate to deliver bipolar energy to the tissue. The compressible support extends along a length of the second jaw. The compressible support includes a first compressible portion on the first side of the central plane, a second compressible portion on the second side of the central plane, and a monopolar electrode extending along the central plane. The second electrode is mounted to the second compressible portion. The monopolar electrode is mounted to the compressible support. The monopolar electrode is configured to deliver monopolar energy to the tissue. The compressible support is configured to apply a spring bias to the second electrode and the monopolar electrode against the first jaw in the closed configuration.

[0006] In various embodiments, a surgical end effector for use with an electrosurgical instrument is disclosed. The end effector includes a proximal end, a distal end, a first jaw, and a second jaw. The first jaw extends longitudinally between the proximal end to the distal end. The first jaw includes a first electrode extending longitudinally along a portion of the first jaw. The second jaw extends longitudinally between the proximal end and the distal end. At least one of the first jaw and the second jaw is movable to transition the end effector from an open configuration to a closed configuration to grasp tissue positioned between the first jaw and the second jaw. The second jaw includes a second electrode, a monopolar electrode, and a compliant substrate. The second electrode extends longitudinally along a portion of the second jaw. The second electrode is laterally offset from the first electrode. The first electrode and the second electrode are configured to cooperate to deliver bipolar energy to the tissue. The monopolar electrode extends longitudinally along the second electrode. The monopolar electrode is configured to deliver monopolar energy to the tissue. The monopolar electrode and the second electrode are fixedly attached to the compliant substrate in a spaced apart arrangement. The compliant substrate is configured to apply a biasing force to the second electrode and the monopolar electrode toward the first jaw in the closed configuration. BRIEF DESCRIPTION OF DRAWINGS

[0007] The novel features of the various aspects are set forth with particularity in the appended claims. However, a better understanding of the aspects, both as to their organization and their manner of operation, can be obtained by reference to the following description and to the accompanying drawings, to the details of which reference will be made:

[0008] Figure 1 An example of a generator for use with a surgical system is shown in accordance with at least one aspect of the present disclosure;

[0009] Figure 2 One form of a surgical system including a generator and an electrosurgical instrument for use therewith is shown in accordance with at least one aspect of the present disclosure;

[0010] Figure 3 A schematic view of a surgical instrument or tool is shown in accordance with at least one aspect of the present disclosure;

[0011] Figure 4 is a side elevational view of an end effector for use with an electrosurgical instrument in accordance with at least one aspect of the present disclosure;

[0012] Figure 5 is Figure 4 a side elevational view of the end effector of

[0013] Figure 6 is Figure 4 a plan view of one of the jaws of the end effector of

[0014] Figure 7 is Figure 4 a side elevational view of the other of the jaws of the end effector of

[0015] Figure 8 is a side elevational view of an end effector for use with an electrosurgical instrument in accordance with at least one aspect of the present disclosure;

[0016] Figure 9 is Figure 8 an end view of the end effector of

[0017] Figure 10 is Figure 8 an exploded perspective view of one of the jaws of the end effector of

[0018] Figure 11 is a cross-sectional end view of an end effector for use with an electrosurgical instrument in accordance with at least one aspect of the present disclosure;

[0019] Figure 12 is a cross-sectional end view of an end effector for use with an electrosurgical instrument in accordance with at least one aspect of the present disclosure;

[0020] Figure 13 is a cross-sectional end view of an end effector for use with an electrosurgical instrument in accordance with at least one aspect of the present disclosure;

[0021] Figure 14is a cross-sectional end view of an end effector for use with an electrosurgical instrument according to at least one aspect of the present disclosure;

[0022] Figure 15 is a cross-sectional end view of an end effector for use with an electrosurgical instrument according to at least one aspect of the present disclosure;

[0023] Figure 16 is a cross-sectional end view of an end effector for use with an electrosurgical instrument according to at least one aspect of the present disclosure;

[0024] Figure 17 is a cross-sectional end view of an end effector for use with an electrosurgical instrument according to at least one aspect of the present disclosure;

[0025] Figure 18 is a cross-sectional end view of an end effector for use with an electrosurgical instrument according to at least one aspect of the present disclosure;

[0026] Figure 19 is a graph illustrating a power scheme for coagulating and cutting a treatment region of tissue in a treatment cycle applied by an end effector according to at least one aspect of the present disclosure;

[0027] Figure 20 is a perspective view of a surgical instrument including a flexible wiring assembly according to at least one aspect of the present disclosure;

[0028] Figure 21 is a partial side elevational view of the flexible wiring assembly of Figure 20 in a relaxed configuration;

[0029] Figure 22 is a partial side elevational view of the flexible wiring assembly of Figure 20 in a stretched configuration;

[0030] Figure 23 is a perspective view of a wire harness and inductive sensor for use with a surgical instrument according to at least one aspect of the present disclosure;

[0031] Figure 24 is a perspective view of a flexible wire harness and inductive sensor for use with a surgical instrument according to at least one aspect of the present disclosure;

[0032] Figure 25 is an enlarged view of a portion of the flexible wire harness of Figure 24 ;

[0033] Figure 26 is a perspective view of a surgical instrument including a manual switching member according to at least one aspect of the present disclosure;

[0034] Figure 27 is a perspective view of the manual switching member of Figure 26The end section view of the manual switching component shows the manual switching component in the rotated position;

[0035] Figure 28 yes Figure 27 The end section view of the manually switchable component when it is in the centered position;

[0036] Figure 29 yes Figure 26 A schematic diagram of surgical instruments;

[0037] Figure 30 yes Figure 26 An exploded perspective view of a surgical instrument, showing a manual switching component and a slender shaft;

[0038] Figure 31 yes Figure 30 A plan view of the slender shaft shows the position of the slender shaft when the manual crank assembly is in the centered position;

[0039] Figure 32 yes Figure 30 A plan view of the slender shaft shows the position of the slender shaft when the manually switching component is rotated counterclockwise;

[0040] Figure 33 yes Figure 30 A plan view of the slender shaft shows the position of the slender shaft when the manually switching component is rotated clockwise;

[0041] Figure 34 It is a schematic diagram of a surgical system according to at least one aspect of this disclosure;

[0042] Figure 35 yes Figure 34 The graphs showing the changes in battery recharge rate, battery charge percentage, power draw, and motor speed over time for the surgical system.

[0043] Figure 36 This is a side view of a surgical system including surgical instruments, a monopolar power generator, and a bipolar power generator according to at least one aspect of this disclosure; and

[0044] Figure 37 This is a schematic diagram showing the battery charge percentage and motor torque of multiple surgical instrument systems according to at least one aspect of this disclosure over time. Detailed Implementation

[0045] The applicant of this application owns the following U.S. patent applications filed on the same date as this application, each of which is incorporated herein by reference in its entirety:

[0046] • Attorney Docket No. END9234USNP1 / 190717-1M, entitled METHOD FOR AN ELECTROSURGICAL PROCEDURE;

[0047] • Attorney Docket No. END9234USNP2 / 190717-2, entitled ARTICULATABLE SURGICAL INSTRUMENT;

[0048] • Attorney Docket No. END9234USNP3 / 190717-3, entitled SURGICAL INSTRUMENT WITH JAW ALIGNMENT FEATURES;

[0049] • Attorney Docket No. END9234USNP4 / 190717-4, entitled SURGICAL INSTRUMENT WITH ROTATABLE AND ARTICULATABLE SURGICAL END EFFECTOR;

[0050] • Attorney Docket No. END9234USNP5 / 190717-5, entitled ELECTROSURGICAL INSTRUMENT WITH ASYNCHRONOUS ENERGIZING ELECTRODES;

[0051] • Attorney Docket No. END9234USNP7 / 190717-7, entitled ELECTROSURGICAL INSTRUMENT WITH FLEXIBLE WIRING ASSEMBLIES;

[0052] • Attorney Docket No. END9234USNP8 / 190717-8, entitled ELECTROSURGICAL INSTRUMENT WITH VARIABLE CONTROL MECHANISMS;

[0053] • Attorney Docket No. END9234USNP9 / 190717-9, entitled ELECTROSURGICAL SYSTEMS WITH INTEGRATED AND EXTERNAL POWER SOURCES;

[0054] • Attorney Docket No. END9234USNP10 / 190717-10, entitled ELECTROSURGICAL INSTRUMENTS WITH ELECTRODES HAVING ENERGY FOCUSING FEATURES;

[0055] • Attorney Docket No. END9234USNP11 / 190717-11, entitled ELECTROSURGICAL INSTRUMENTS WITH ELECTRODES HAVING VARIABLE ENERGY DENSITIES;

[0056] • Attorney Docket No. END9234USNP12 / 190717-12, entitled ELECTROSURGICAL INSTRUMENT WITH MONOPOLAR AND BIPOLAR ENERGY CAPABILITIES;

[0057] • Attorney Docket No. END9234USNP13 / 190717-13, entitled ELECTROSURGICAL END EFFECTORS WITH THERMALLY INSULATIVE AND THERMALLY CONDUCTIVE PORTIONS;

[0058] • Attorney Docket No. END9234USNP14 / 190717-14, entitled ELECTROSURGICAL INSTRUMENT WITH ELECTRODES OPERABLE IN BIPOLAR AND MONOPOLAR MODES;

[0059] • Attorney Docket No. END9234USNP15 / 190717-15, entitled ELECTROSURGICAL INSTRUMENT FOR DELIVERING BLENDED ENERGY MODALITIES TO TISSUE;

[0060] • Attorney Docket No. END9234USNP16 / 190717-16, entitled CONTROL PROGRAM ADAPTATION BASED ON DEVICE STATUS AND USER INPUT;

[0061] • Attorney Docket No. END9234USNP17 / 190717-17, entitled CONTROL PROGRAM FOR MODULAR COMBINATION ENERGY DEVICE; and

[0062] • Attorney Docket No. END9234USNP18 / 190717-18, entitled SURGICAL SYSTEM COMMUNICATION PATHWAYS.

[0063] Applicant of the present application owns the following U.S. Patent Applications that were filed on December 30, 2019 and which are each herein incorporated by reference in their respective entirety:

[0064] • U.S. Provisional Patent Application Serial No. 62 / 955,294, entitled USER INTERFACE FOR SURGICAL INSTRUMENT WITH COMBINATION ENERGY MODALITY END- EFFECTOR;

[0065] • U.S. Provisional Patent Application Serial No. 62 / 955,292, entitled COMBINATION ENERGY MODALITY END-EFFECTOR; and

[0066] • U.S. Provisional Patent Application Serial No. 62 / 955,306, entitled SURGICAL INSTRUMENT SYSTEMS.

[0067] Applicant of the present application owns the following U.S. Patent Applications that were filed on December 30, 2019 and which are each herein incorporated by reference in their respective entirety:

[0068] • U.S. Patent Application Serial No. 16 / 209,395, entitled METHOD OF HUB COMMUNICATION, now U.S. Patent Application Publication No. 2019 / 0201136;

[0069] • U.S. Patent Application Serial No. 16 / 209,403, entitled METHOD OF CLOUD BASED DATA ANALYTICS FOR USE WITH THE HUB, now U.S. Patent Application Publication No. 2019 / 0206569;

[0070] • U.S. Patent Application Serial No. 16 / 209,407, entitled METHOD OF ROBOTIC HUB COMMUNICATION, DETECTION, AND CONTROL, now U.S. Patent Application Publication No. 2019 / 0201137;

[0071] • U.S. Patent Application Serial No. 16 / 209,416, entitled METHOD OF HUB COMMUNICATION, PROCESSING, DISPLAY, AND CLOUD ANALYTICS, now U.S. Patent Application Publication No. 2019 / 0206562;

[0072] • U.S. Patent Application Serial No. 16 / 209,423, entitled METHOD OF COMPRESSING TISSUE WITHIN A STAPLING DEVICE AND SIMULTANEOUSLY DISPLAYING THE LOCATION OF THE TISSUE WITHIN THE JAWS, now U.S. Patent Application Publication No. 2019 / 0200981;

[0073] • U.S. Patent Application Serial No. 16 / 209,427, entitled METHOD OF USING REINFORCED FLEXIBLE CIRCUITS WITH MULTIPLE SENSORS TO OPTIMIZE PERFORMANCE OF RADIO FREQUENCY DEVICES, now U.S. Patent Application Publication No. 2019 / 0208641;

[0074] • U.S. Patent Application Serial No. 16 / 209,433, entitled METHOD OF SENSING PARTICULATE FROM SMOKE EVACUATED FROM A PATIENT, ADJUSTING THE PUMP SPEED BASED ON THE SENSED INFORMATION, AND COMMUNICATING THE FUNCTIONAL PARAMETERS OF THE SYSTEM TO THE HUB, now U.S. Patent Application Publication No. 2019 / 0201594;

[0075] • U.S. Patent Application Serial No. 16 / 209,447, entitled METHOD FOR SMOKE EVACUATION FOR SURGICAL HUB, now U.S. Patent Application Publication No. 2019 / 0201045;

[0076] • U.S. Patent Application Serial No. 16 / 209,453, entitled METHOD FOR CONTROLLING SMART ENERGY DEVICES, now U.S. Patent Application Publication No. 2019 / 0201046;

[0077] • U.S. Patent Application Serial No. 16 / 209,458, entitled METHOD FOR SMART ENERGY DEVICE INFRASTRUCTURE, now U.S. Patent Application Publication No. 2019 / 0201047;

[0078] • U.S. Patent Application Serial No. 16 / 209,465, entitled METHOD FOR ADAPTIVE CONTROL SCHEMES FOR SURGICAL NETWORK CONTROL AND INTERACTION, now U.S. Patent Application Publication No. 2019 / 0206563;

[0079] • U.S. Patent Application Serial No. 16 / 209,478, entitled METHOD FOR SITUATIONAL AWARENESS FOR SURGICAL NETWORK OR SURGICAL NETWORK CONNECTED DEVICE CAPABLE OF ADJUSTING FUNCTION BASED ON A SENSED SITUATION OR USAGE, now U.S. Patent Application Publication No. 2019 / 0104919;

[0080] • U.S. Patent Application Serial No. 16 / 209,490, entitled METHOD FOR FACILITY DATA COLLECTION AND INTERPRETATION, now U.S. Patent Application Publication No. 2019 / 0206564;

[0081] • U.S. Patent Application Serial No. 16 / 209,491, entitled METHOD FOR CIRCULAR STAPLER CONTROL ALGORITHM ADJUSTMENT BASED ON SITUATIONAL AWARENESS, now U.S. Patent Application Publication No. 2019 / 0200998;

[0082] • U.S. Patent Application Serial No. 16 / 562,123, entitled METHOD FOR CONSTRUCTING AND USING A MODULAR SURGICAL ENERGY SYSTEM WITH MULTIPLE DEVICES;

[0083] • U.S. Patent Application Serial No. 16 / 562,135, entitled METHOD FOR CONTROLLING AN ENERGY MODULE OUTPUT;

[0084] • U.S. Patent Application Serial No. 16 / 562,144, entitled METHOD FOR CONTROLLING A MODULAR ENERGY SYSTEM USER INTERFACE; and

[0085] • U.S. Patent Application Serial No. 16 / 562,125, entitled METHOD FOR COMMUNICATING BETWEEN MODULES AND DEVICES IN A MODULAR SURGICAL SYSTEM.

[0086] Before the various aspects of the electrosurgical system are described in detail, it should be noted that the illustrative examples are not limited in application or use to the details of construction and arrangement of parts illustrated in the drawings and described herein. The illustrative examples can be implemented or incorporated in other aspects, variations and modifications, and can be practiced or carried out in various ways. Further, unless otherwise indicated herein, the terms and expressions employed herein have been chosen for the purpose of describing the illustrative examples and are not to be construed as limiting. Also, it is to be understood that one or more of the following-described aspects, expressions of aspects, and / or examples, can be combined with any one or more of the other following-described aspects, expressions of aspects and / or examples.

[0087] Various aspects relate to an electrosurgical system of an electrosurgical instrument powered by a generator to achieve tissue dissection, cutting, and / or coagulation during a surgical procedure. The electrosurgical instrument can be configured for open surgical procedures, but also finds application in other types of surgical procedures, such as laparoscopic, endoscopic, and robotic-assisted procedures.

[0088] As described in detail below, an electrosurgical instrument generally includes a shaft having a distally mounted end effector (e.g., one or more electrodes). The end effector can be positioned against tissue such that electrical current is introduced into the tissue. Electrosurgical instruments can be configured for bipolar or monopolar operation. During bipolar operation, electrical current is introduced into and returned from tissue by active and return electrodes of the end effector, respectively. During monopolar operation, electrical current is introduced into tissue by an active electrode of the end effector and returned through a separate return electrode (e.g., a grounding pad) positioned on the patient's body. The heat generated by the current flowing through the tissue can create a hemostatic seal within the tissue and / or between tissues, and thus can be particularly useful, for example, in sealing blood vessels.

[0089] Figure 1 An example of a generator 900 configured to deliver multiple energy modalities to a surgical instrument is shown. The generator 900 provides RF signals and / or ultrasonic signals for delivery to a surgical instrument. The generator 900 includes at least one generator output that can deliver multiple energy modalities (e.g., ultrasonic, bipolar or monopolar RF, irreversible and / or reversible electroporation, and / or microwave energy, among others) through a single port, and these signals can be delivered to an end effector separately or simultaneously to treat tissue. The generator 900 includes a processor 902 coupled to a waveform generator 904. The processor 902 and the waveform generator 904 are configured to generate multiple signal waveforms based on information stored in a memory coupled to the processor 902, which is not shown for clarity of the present disclosure. Digital information associated with a waveform is provided to the waveform generator 904, which includes one or more DAC circuits to convert the digital input into an analog output. The analog output is fed to an amplifier 906 for signal conditioning and amplification. The conditioned and amplified output of the amplifier 906 is coupled to a power transformer 908. The signal is coupled through the power transformer 908 to the secondary side in the patient isolation side. A first signal of a first energy modality is provided to a surgical instrument located between terminals labeled ENERGY1 and RETURN. A second signal of a second energy modality is coupled across a capacitor 910 and provided to a surgical instrument located between terminals labeled ENERGY2 and RETURN. It will be appreciated that more than two energy modalities can be output, and thus the subscript "n" can be used to designate that up to n ENERGY n terminals, where n is a positive integer greater than 1. It will also be appreciated that up to "n" return paths RETURN n .

[0090] The first voltage sense circuit 912 is coupled across the terminals labeled ENERGY1 and RETURN path to measure the output voltage therebetween. The second voltage sense circuit 924 is coupled across the terminals labeled ENERGY2 and RETURN path to measure the output voltage therebetween. As shown, the current sense circuit 914 is disposed in series with the RETURN leg of the secondary side of the power transformer 908 to measure the output current for either energy modality. If different return paths are provided for each energy modality, a separate current sense circuit should be provided in each return leg. The outputs of the first and second voltage sense circuits 912, 924 are provided to respective isolation transformers 928, 922, and the output of the current sense circuit 914 is provided to another isolation transformer 916. The outputs of the isolation transformers 916, 928, 922 on the primary side (non-patient isolated side) of the power transformer 908 are provided to one or more ADC circuits 926. The digitized outputs of the ADC circuits 926 are provided to the processor 902 for further processing and computation. The output voltage and current feedback information can be employed to regulate the output voltage and current provided to the surgical instrument, and to compute output impedance and other parameters. Input / output communication between the processor 902 and the patient isolated circuitry is provided through the interface circuit 920. Sensors can also be in electrical communication with the processor 902 through the interface circuit 920.

[0091] In one aspect, the impedance can be determined by the processor 902 by dividing the output of the first voltage sense circuit 912 coupled across the terminals labeled ENERGY1 / RETURN or the second voltage sense circuit 924 coupled across the terminals labeled ENERGY2 / RETURN by the output of the current sense circuit 914 disposed in series with the RETURN leg of the secondary side of the power transformer 908. The outputs of the first and second voltage sense circuits 912, 924 are provided to separate isolation transformers 928, 922, and the output of the current sense circuit 914 is provided to another isolation transformer 916. The digitized voltage and current sense measurements from the ADC circuits 926 are provided to the processor 902 for computation of impedance. For example, the first energy modality ENERGY1 can be RF monopolar energy, and the second energy modality ENERGY2 can be RF bipolar energy. However, other energy modalities include ultrasound energy, irreversible and / or reversible electroporation, and / or microwave energy, among others, in addition to bipolar and monopolar RF energy modalities. Also, while the illustrated example shows that a single return path RETURN can be provided for two or more energy modalities, in other aspects, multiple return paths RETURN can be provided for each energy modality ENERGY Figure 1 The illustrated example shows that a single return path RETURN can be provided for two or more energy modalities, but in other aspects, multiple return paths RETURN can be provided for each energy modality ENERGY n The illustrated example shows that a single return path RETURN can be provided for two or more energy modalities, but in other aspects, multiple return paths RETURN can be provided for each energy modality ENERGY n .

[0092] like Figure 1 As shown, a generator 900 including at least one output port may include a power transformer 908 having a single output and multiple taps to provide power to the end effector in one or more energy modes (such as ultrasound, bipolar or monopolar RF, irreversible and / or reversible electroporation and / or microwave energy, etc.) depending on the type of tissue treatment being performed. For example, the generator 900 may deliver energy with higher voltage and lower current to drive an ultrasound transducer, with lower voltage and higher current to drive an RF electrode for sealing tissue, or with a coagulation waveform for point coagulation using a monopolar or bipolar RF electrosurgical electrode. The output waveform from the generator 900 may be manipulated, switched, or filtered to provide a frequency to the end effector of a surgical instrument. In one example, the connection between the RF bipolar electrode and the output of the generator 900 would preferably be located between the outputs labeled ENERGY2 and RETURN. In the case of a monopolar output, the preferred connection would be the active electrode (e.g., a pencil or other probe) at the ENERGY2 output and a suitable return pad connected to the RETURN output.

[0093] Additional details are disclosed in U.S. Patent Application Publication 2017 / 0086914, entitled “TECHNIQUES FOR OPERATING GENERATOR FOR DIGITALLY GENERATING ELECTRICAL SIGNAL WAVEFORMS AND SURGICALINSTRUMENTS”, published on March 30, 2017, the entire contents of which are incorporated herein by reference.

[0094] Figure 2 A form of a surgical system 1000 is shown, comprising a generator 1100 and various surgical instruments 1104, 1106, 1108 for use therewith, wherein surgical instrument 1104 is an ultrasonic surgical instrument, surgical instrument 1106 is an RF electrosurgical instrument, and multifunctional surgical instrument 1108 is a combination of ultrasonic / RF electrosurgical instruments. The generator 1100 can be configured for use with a variety of surgical devices. Depending on the form, the generator 1100 can be configured for use with different types of surgical instruments, including, for example, ultrasonic surgical instruments 1104, RF electrosurgical instruments 1106, and multifunctional surgical instruments 1108 integrating RF energy and ultrasonic energy simultaneously delivered from the generator 1100. Although in Figure 2In the form shown, the generator 1100 is shown as being separate from the surgical instruments 1104, 1106, 1108, but in one form, the generator 1100 can be integrally formed with any of the surgical instruments 1104, 1106, 1108 to form an all-in-one surgical system. The generator 1100 includes input devices 1110 on the front panel of the generator 1100 console. The input devices 1110 can include any suitable device for generating signals appropriate for programming operation of the generator 1100. The generator 1100 can be configured for wired or wireless communication.

[0095] The generator 1100 is configured to drive multiple surgical instruments 1104, 1106, 1108. The first surgical instrument is an ultrasonic surgical instrument 1104 and includes a hand piece 1105 (HP), an ultrasonic transducer 1120, a shaft 1126, and an end effector 1122. The end effector 1122 includes an ultrasonic blade 1128 and clamp arm 1140 acoustically coupled to the ultrasonic transducer 1120. The hand piece 1105 includes a trigger 1143 for operating the clamp arm 1140 and a combination of switch buttons 1137, 1134b, 1134c for energizing the ultrasonic blade 1128 and driving the ultrasonic blade or other functions. The switch buttons 1137, 1134b, 1134c can be configured to energize the ultrasonic transducer 1120 with the generator 1100.

[0096] The generator 1100 is also configured to drive a second surgical instrument 1106. The second surgical instrument 1106 is an RF electrosurgical instrument and includes a hand piece 1107 (HP), a shaft 1127, and an end effector 1124. The end effector 1124 includes electrodes in clamp arms 1145, 1142b and returns through an electrical conductor portion of the shaft 1127. The electrodes are coupled to and energized by a bipolar energy source within the generator 1100. The hand piece 1107 includes a trigger 1145 for operating the clamp arms 1145, 1142b and an energy button 1135 for actuating an energy switch to energize the electrodes in the end effector 1124. The second surgical instrument 1106 can also be used with a return pad for monopolar energy delivery to tissue.

[0097] The generator 1100 is also configured to drive a multi-functional surgical instrument 1108. The multi-functional surgical instrument 1108 includes a handheld component 1109 (HP), a shaft 1129, and an end effector 1125. The end effector 1125 includes an ultrasonic scalpel 1149 and a clamping arm 1146. The ultrasonic scalpel 1149 is acoustically coupled to an ultrasonic transducer 1120. The handheld component 1109 includes a combination of a trigger 1147 for operating the clamping arm 1146 and switching buttons 11310, 1137b, 1137c for powering the ultrasonic scalpel 1149 and driving the ultrasonic scalpel or other functions. The switching buttons 11310, 1137b, 1137c can be configured to power the ultrasonic transducer 1120 using the generator 1100 and to power the ultrasonic scalpel 1149 using a bipolar energy source also housed within the generator 1100. Monopolar energy can be delivered to the tissue in combination with or separately from bipolar energy.

[0098] Generator 1100 can be configured for use with a variety of surgical devices. Depending on the configuration, generator 1100 can be configured for use with different types of surgical instruments, including, for example, ultrasonic surgical instruments 1104, RF electrosurgical instruments 1106, and multifunctional surgical instruments 1108 that integrate RF energy and ultrasonic energy simultaneously delivered from generator 1100. Although in Figure 2 In one embodiment, generator 1100 is shown as independent of surgical instruments 1104, 1106, and 1108; however, in another embodiment, generator 1100 may be integrally formed with any of surgical instruments 1104, 1106, and 1108 to form an integrated surgical system. As discussed above, generator 1100 includes an input device 1110 located on the front panel of the generator 1100 control panel. Input device 1110 may include any suitable means for generating signals suitable for programming the operation of generator 1100. Generator 1100 may also include one or more output devices 1112. Further aspects of generators and surgical instruments for digitally generating electrical signal waveforms are described in U.S. Patent Application Publication US-2017-0086914-A1, the entire contents of which are incorporated herein by reference.

[0099] Figure 3 A schematic diagram of a surgical instrument or tool 600 is shown, comprising multiple motor assemblies actuated to perform various functions. In the illustrated example, a closing motor assembly 610 is operable to switch an end effector between an open and closed configuration, and a joint motion motor assembly 620 is operable to articulate the end effector relative to a shaft assembly. In some cases, multiple motor assemblies may be activated individually to trigger firing movements, closing movements, and / or joint movements in the end effector. Firing movements, closing movements, and / or joint movements may be transmitted to the end effector, for example, via the shaft assembly.

[0100] In certain instances, the closure motor assembly 610 includes a closure motor. The closure 603 is operably coupled to a closure motor drive assembly 612, which can be configured to transmit closure motions generated by the motor to the end effector, specifically to displace the closure member to close, thereby transitioning the end effector to a closed configuration. The closure motions can transition the end effector from an open configuration to a closed configuration, for example, to capture tissue. The end effector can be transitioned to an open position by reversing the direction of the motor.

[0101] In certain instances, the articulation motor assembly 620 includes an articulation motor operably coupled to an articulation drive assembly 622, which can be configured to transmit articulation motions generated by the motor to the end effector. In certain instances, the articulation motions can articulate the end effector relative to the shaft, for example.

[0102] One or more of the motors of the surgical instrument 600 can include a torque sensor to measure the output torque on the motor shaft. The force on the end effector can be sensed in any conventional manner, such as by a force sensor on the outside of the jaws or by a torque sensor of the motor used to actuate the jaws.

[0103] In various instances, the motor assemblies 610, 620 include one or more motor drivers, which can include one or more H-bridge FETs. The motor drivers can regulate the power transmitted from the power source 630 to the motor, for example, based on input from a microcontroller 640 (“controller”) of the control circuit 601. In certain instances, for example, the microcontroller 640 can be used to determine the current drawn by the motor.

[0104] In certain instances, the microcontroller 640 can include a microprocessor 642 (“processor”) and one or more non-transitory computer-readable media or memory units 644 (“memory”). In certain instances, the memory 644 can store various program instructions, which, when executed, can cause the processor 642 to perform a number of functions and / or calculations described herein. In certain instances, one or more of the memory units 644 can be coupled to the processor 642, for example. In various aspects, the microcontroller 640 can communicate over wired or wireless channels, or a combination thereof.

[0105] In certain instances, power source 630 can be used, for example, to supply power to microcontroller 640. In certain instances, power source 630 can comprise a battery (or "battery pack" or "power pack"), such as, for example, a lithium ion battery. In certain instances, the battery pack can be configured to be releasably mounted to the handle for supplying power to surgical instrument 600. A plurality of series-connected battery cells can be used as power source 630. In certain instances, power source 630 can be, for example, replaceable and / or rechargeable.

[0106] In various instances, processor 642 can control the motor drives to control the position, rotation direction, and / or speed of the motors of assemblies 610, 620. In certain instances, processor 642 can signal the motor drives to stop and / or disable the motors. It will be appreciated that the term "processor" as used herein includes any suitable microprocessor, microcontroller, or other base computing device that incorporates the functions of a computer's central processing unit (CPU) onto one integrated circuit or up to several integrated circuits. Processor 642 is a multi-purpose, programmable device that receives digital data as input, processes it according to instructions stored in its memory, and then provides results as output. Because the processor has internal memory, it is an example of sequential digital logic. The object of the processor is to carry out arithmetic and logical operations on data and to move that data— locations in memory it receives from the outside, its operation code it receives from the outside, and its results it sends to the outside.

[0107] In one instance, processor 642 can be any single core or multi-core processor, such as those known under the trade name ARM Cortex produced by Texas Instruments. In certain instances, microcontroller 620 can be, for example, an LM 4F230H5QR available from Texas Instruments. In at least one example, the Texas Instruments LM4F230H5QR is an ARM Cortex-M4F processor core that includes: 256 KB single-cycle flash memory or other non-volatile memory (up to 40 MHz) of on-chip memory, a prefetch buffer for improved performance above 40 MHz, 32 KB single-cycle SRAM, an internal ROM loaded with software including drivers for easy implementation, 2 KB EEPROM, one or more PWM modules, one or more QEI analogs, one or more 12-bit ADCs with 12 analog input channels, and other features readily available. Other microcontrollers can be readily substituted for use with surgical instrument 600. Thus, the present disclosure should not be limited to this context.

[0108] ​In certain circumstances, the memory 644 can include program instructions for controlling each of the motors of the surgical instrument 600. For example, the memory 644 can include program instructions for controlling the closure motor and the articulation motor. Such program instructions can cause the processor 642 to control the closure and articulation functions in accordance with inputs from the algorithm or control program of the surgical instrument 600.

[0109] In certain circumstances, one or more mechanisms and / or sensors, such as the sensor 645, can alert the processor 642 as to which program instructions the processor 642 should use in a particular setting. For example, the sensor 645 can alert the processor 642 to use program instructions associated with a closure and articulating end effector. In certain circumstances, the sensor 645 can include, for example, a position sensor that can be used to sense the position of a closure actuator. Thus, if the processor 642 receives a signal from the sensor 630 indicating the actuation of the closure actuator, the processor 642 can use program instructions associated with a closure end effector to actuate the motor of the closure drive assembly 620.

[0110] In some examples, the motor can be a brushless DC electric motor, and the respective motor drive signals can comprise PWM signals provided to one or more stator windings of the motor. Also, in some examples, the motor drive can be omitted, and the control circuit 601 can directly generate the motor drive signals.

[0111] During various laparoscopic surgical procedures, it is common practice to insert the surgical end effector portion of a surgical instrument through a trocar needle that has been installed in the abdominal wall of the patient to access a surgical site located within the abdomen of the patient. The simplest form of trocar needle is a pen-like instrument having a sharp triangular point at one end that is typically used inside a hollow tube known as a cannula or sleeve to form an opening into the body through which the surgical end effector can be introduced. This arrangement forms an access port into a body cavity through which the surgical end effector can be inserted. The inner diameter of the trocar cannula necessarily limits the size of the end effector and drive support shaft of a surgical instrument that can be inserted through the trocar.

[0112] Regardless of the specific type of surgical procedure being performed, once the surgical end effector has been inserted into the patient through the trocar cannula, it is usually necessary to move the surgical end effector relative to the shaft assembly positioned within the trocar cannula in order to properly position the surgical end effector relative to the tissue or organ to be treated. This movement or positioning of the surgical end effector relative to the shaft portion held within the trocar cannula is commonly referred to as the "articulation" of the surgical end effector. A variety of articulation joints have been developed to attach the surgical end effector to the associated shaft to facilitate such articulation of the surgical end effector. It is anticipated that in many surgical procedures it would be desirable to employ a surgical end effector having as large an articulation range as possible.

[0113] Due to the size constraints imposed by the dimensions of the trocar cannula, the dimensions of the articulation joint components must be such as to be freely insertable through the trocar cannula. These size constraints also limit the size and composition of various drive members and components that operatively interact with motors and / or other control systems supported in a housing that can be hand-held or part of a larger automated system. In many cases, these drive members must operatively pass through the articulation joint to operatively couple to or interact with the surgical end effector. For example, one such drive member is typically used to apply articulation control motions to the surgical end effector. During use, the articulation drive member can not be actuated to position the surgical end effector in a non-articulated position to facilitate insertion of the surgical end effector through the trocar, and then once the surgical end effector is within the patient, be actuated to articulate the surgical end effector to a desired position.

[0114] Accordingly, the aforementioned size constraints present many challenges to developing an articulation system that can achieve the desired range of articulation and also accommodate the various different drive systems needed to operate the various features of the surgical end effector. Moreover, once the surgical end effector has been positioned in a desired articulated position, the articulation system and articulation joint must be able to hold the surgical end effector in that position during actuation of the end effector and completion of the surgical procedure. Such articulation joint arrangements must also be able to withstand the external forces experienced by the end effector during use.

[0115] Figures 4 to 7 An electrosurgical instrument 30100 is shown that includes a first jaw 30110, a second jaw 30120, and a monopolar wedge electrode 30130. The first jaw 30110 and the second jaw 30120 are movable between an open position and a closed position and are configured to grasp tissue T positioned between the first jaw and the second jaw. Each of the first jaw 30110 and the second jaw 30120 includes an electrode that is electrically coupled to a power generator. The above is described in connection with Figure 1 and Figure 2 An exemplary suitable power generator 900, 1100 is described. The power generator is configured to supply power to cause the electrodes of the first jaw 30110 and the second jaw 30120 to cooperatively deliver bipolar energy to the grasped tissue to seal, coagulate, and / or burn the tissue in a bipolar tissue treatment cycle.

[0116] In use, when tissue T is grasped between the first jaw 30110 and the second jaw 30120, the first jaw and the second jaw can deflect away from each other at their distal ends. When tissue T is grasped, the tissue T exerts a force on the first jaw 30110 and the second jaw 30120, causing the jaws to deflect away from each other. More specifically, when tissue T is grasped between the first jaw 30110 and the second jaw 30120, the gap B between the first jaw 30110 and the second jaw 30120 toward the distal ends of the jaws can be greater than the gap A between the first jaw 30110 and the second jaw 30120 toward the proximal ends of the jaws.

[0117] In addition to the above, the end effector 30100 of the electrosurgical instrument 30100 further comprises a monopolar wedge electrode 30130 that is electrically connected to a power generator (e.g., power generator 900, 1100) and is configured to cut tissue T positioned between the first jaw 30110 and the second jaw 30120 when energized by the power generator. In the illustrated embodiment, the monopolar wedge electrode 30130 is attached to the second jaw 30120; however, other embodiments are envisioned in which the monopolar wedge electrode 30130 is attached to the first jaw 30110. The monopolar wedge electrode 30130 is thinner at its proximal end and thicker at its distal end (see FIG. 31) to compensate for the variable gap defined between the first jaw 30110 and the second jaw 30120. In other words, the monopolar wedge electrode 30130 has a wedge shape. As previously mentioned, the variable gap defined between the jaws 30110, 30120 is due, at least in part, to the deflection of the jaws 30110, 30120 when tissue is grasped therebetween. In at least one embodiment, the monopolar wedge electrode 30130 comprises a compliant flex circuit substrate 30132. The compliant flex circuit substrate 30132 is configured to bend and / or flex longitudinally to compensate for the flexing of the first jaw 30110 and the second jaw 30120 when tissue is grasped therebetween. Figure 7 ), to compensate for the variable gap defined between the first jaw 30110 and the second jaw 30120. In other words, the monopolar wedge electrode 30130 has a wedge shape. As previously mentioned, the variable gap defined between the jaws 30110, 30120 is due, at least in part, to the deflection of the jaws 30110, 30120 when tissue is grasped therebetween. In at least one embodiment, the monopolar wedge electrode 30130 comprises a compliant flex circuit substrate 30132. The compliant flex circuit substrate 30132 is configured to bend and / or flex longitudinally to compensate for the flexing of the first jaw 30110 and the second jaw 30120 when tissue is grasped therebetween.

[0118] In various examples, the monopolar wedge electrode 30130 comprises a conductive member 30134 disposed centrally along the length of the compliant flex circuit substrate 30132. In the illustrated example, the conductive member 30134 is disposed onto the compliant flex circuit substrate 30132, with at least a portion of the conductive member exposed through the top surface of the compliant flex circuit substrate 30132. In certain examples, portions of the conductive member 30134 are exposed, while other portions are covered by the compliant flex circuit substrate 30132.

[0119] In examples in which the jaws 30110, 30120 include a curved shape, the monopolar wedge electrode 30130 extends longitudinally with a similar curved profile. Further, the monopolar wedge electrode 30130 tapers from a greater width to a lesser width as it extends longitudinally. Thus, a first width of the monopolar wedge electrode 30130 proximate a proximal end thereof is greater than a second width proximate a distal end thereof, as shown. Figure 6 In other examples, the first width of the monopolar wedge electrode proximate the proximal end thereof can be less than the second width proximate the distal end thereof.

[0120] In the illustrated example, the distal end of the conductive element 30134 is proximal to the distal end of the compliant flex circuit substrate 30132, and the distal end of the compliant flex circuit substrate 30132 is proximal to the distal end of the jaw 30130. However, in other examples, the distal ends of the jaw 30130, the conductive member 30134, and the compliant flex circuit substrate 30132 are joined at one location.

[0121] Figures 8 to 10 An electrosurgical instrument 30200 is shown that includes a first jaw 30210, a second jaw 30220, and a monopolar electrode 30230. The first jaw 30210 and the second jaw 30220 are movable between an open position and a closed position with tissue configured to be positioned therebetween. The first jaw 30210 and the second jaw 30220 are composed of metal and can be coated with a dielectric material. In at least one embodiment, the first jaw 30210 and the second jaw 30220 are composed of stainless steel and coated with shrink tubing. In various aspects, the jaws 30210, 30220 define a bipolar electrode that is electrically isolated from the monopolar electrode 30230.

[0122] The first jaw 30210 includes a first compliant member 30240 positioned about the first jaw 30210, and the second jaw 30220 includes a second compliant member 30250 positioned about the second jaw 30220. The compliant members 30240, 30250 include a deformable dielectric material that is compressible to enhance contact with tissue when the tissue is positioned between the first jaw 30210 and the second jaw 30220. In at least one embodiment, the compliant members 30240, 30250 include silicone and / or rubber.

[0123] In addition to the above, when monopolar electrode 30230 is energized by a power generator (e.g., generator 1100, 900), monopolar electrode 30230 functions to cut tissue positioned between first jaw 30210 and second jaw 30220. Monopolar electrode 30230 comprises a wire that extends along first jaw 30210 and into first compliant member 30240. Monopolar electrode 30230 exits first compliant member 20140 through a proximal opening 30242 in first compliant member 30240, extends along the exterior of first compliant member 30240, and then re-enters first compliant member 20140 through a distal opening 30244 in first compliant member 30240. This arrangement allows a central portion 30232 of monopolar electrode 30230 to bend and / or flex when tissue is grasped between first jaw 30210 and second jaw 30220. Moreover, first compliant member 30240 reinforces central portion 30232 of monopolar electrode 30230 along its length. In other words, first compliant member 30240 applies a biasing force to central portion 30232 of monopolar electrode 30230 toward second jaw 30220. When first jaw 30210 and second jaw 30220 grasp tissue positioned between the first and second jaws, first compliant member 30240 increases the pressure that monopolar electrode 30230 exerts on the tissue to improve the cutting ability of monopolar electrode 30230.

[0124] In various aspects, monopolar electrode 30230 can be composed of a metal such as, for example, stainless steel, titanium, or any other suitable metal. The exposed surface of monopolar electrode 30230 can have a bare metal appearance or can be coated with a thin dielectric material such as, for example, PTFE. In various aspects, the coating can be shaved to reveal thin bands of metal that define the conductive surface.

[0125] Figure 11 A surgical instrument 30300 is shown that includes a first jaw 30310, a second jaw 30320, and a monopolar electrode 30330. First jaw 30310 and second jaw 30320 are movable between an open position and a closed position to grasp tissue T positioned between the first and second jaws. First jaw 30310 includes a first bipolar electrode and second jaw 30320 includes a second bipolar electrode. In a bipolar tissue treatment cycle, the first and second bipolar electrodes cooperatively deliver bipolar energy to cauterize and / or seal tissue grasped between first jaw 30310 and second jaw 30320.

[0126] In addition to the above, the first jaw 30310 includes a first tissue contact surface 30314 and the second jaw 30320 includes a second tissue contact surface 30324. The first jaw 30310 includes a first recess 30312 configured to receive a first compliance or biasing member 30340 therein. The first biasing member 30340 is configured to bias tissue T toward the second jaw 30320 when tissue T is grasped between the first jaw 30310 and the second jaw 30320. The second jaw includes a second recess 30322 configured to receive a second compliance or biasing member 30350 and a monopolar electrode 30330 therein. The second biasing member 30350 is configured to bias the monopolar electrode 30330 and tissue T toward the first jaw 30310 when tissue T is grasped between the first jaw 30310 and the second jaw 30320.

[0127] In addition to the above, the first recess 30312 and the second recess 30322 are sized and shaped to receive the first biasing member 30340, the second biasing member 30350, and the monopolar electrode 30330 to ensure that the first jaw 30310 and the second jaw 30320 can be fully closed. In other words, the first tissue contact surface 30314 and the second tissue contact surface 30324 contact each other when the first jaw 30310 and the second jaw 30320 are in the closed position without tissue T positioned therebetween. However, other embodiments are envisioned in which a gap is defined between the first tissue contact surface 30314 and the second tissue contact surface 30324 when the first jaw 30310 and the second jaw 30320 are in the closed position, when tissue T is positioned therebetween, and / or when tissue T is not positioned therebetween. In any event, the first recess 30312 and the second recess 30322 are sized and / or shaped such that the monopolar electrode 30330 extends over the second tissue contact surface 30324 and into the first recess 30312 of the first jaw 30310 to improve the ability of the first jaw 30310 and the second jaw 30320 to fully close. The first recess 30312 and the second recess 30322 comprise an electrically isolating material to electrically isolate the monopolar electrode 30330 from the first jaw 30310 and the second jaw 30320. However, other embodiments are envisioned in which the first recess 30312 and the second recess 30322 do not electrically isolate the monopolar electrode 30330 from the first jaw 30310 and the second jaw 30320. The monopolar electrode 30330 comprises a separate wiring connection from the control housing of the surgical instrument 30300. This separate wiring connection allows the monopolar electrode 30330 to be energized independently from the first electrode and the second electrode of the first jaw 30310 and the second jaw 30320, thereby enabling the cutting and / or sealing operations to be performed independently from each other. In at least one embodiment, the control housing of the surgical instrument 30300 prevents the monopolar electrode 30330 from being energized until the first electrode and the second electrode of the first jaw 30310 and the second jaw 30320 are energized to prevent cutting of uncauterized and / or sealed tissue T.

[0128] Figure 12A surgical end effector 30400 is shown for use with an electrosurgical instrument. The end effector 30400 includes a first jaw having a first bipolar electrode 30410, a second jaw having a second bipolar electrode 30420, and a monopolar electrode 30430. The first bipolar electrode 30410 and the second bipolar electrode 30420 are at least partially encircled by a compliant member and / or a compliant insulator 30440. The compliant insulator 30440 can include rubber, silicone, polytetrafluoroethylene (PTFE) tubing, and / or combinations thereof. The monopolar electrode 30430 is attached to the compliant insulator 30440 of the first bipolar electrode 30410. As such, the monopolar electrode 30430 is electrically insulated from the first bipolar electrode 30410. In at least one embodiment, the compliant insulator 30440 encircling the first electrode 30410 includes a rigid or at least substantially rigid PTFE tube, and the second compliant insulator 30440 encircling the second electrode 30420 includes a silicone and / or rubber material. Other embodiments are envisioned with different combinations of PTFE tubing, rubber, and / or silicone positioned at least partially around the first bipolar electrode 30410 and the second bipolar electrode 30420.

[0129] Figure 13A surgical end effector 30500 is shown for use with an electrosurgical instrument. The surgical end effector includes a first jaw 30510 and a second jaw 30520 that are movable between an open position and a closed position to grasp tissue positioned between the first jaw and the second jaw. The first jaw 30510 is at least partially encircled by a first compliant member 30514, and the second jaw 30520 is at least partially encircled by a second compliant member 30524. The first compliant member 30514 is almost entirely encircled by a first bipolar electrode 30512, and the second compliant member 30524 is almost entirely encircled by a second bipolar electrode 30522. More specifically, the first bipolar electrode 30512 encircles the first compliant member 30514 except for a gap portion 30516, where a monopolar electrode 30530 is attached to the first compliant member 30514. Further, the second bipolar electrode 30522 encircles the second compliant member 30524 except for a gap portion 30526 facing the first jaw 30510. When the first jaw 30510 and the second jaw 30520 grasp tissue in the closed position, the gap portion 30526 in the second jaw 30520 allows the monopolar electrode 30530 extending from the first compliant member 30514 to be subjected to a biasing force from the first compliant member 30514 and the second compliant member 30524. The first compliant member 30514 and the second compliant member 30524 include an electrically insulating material to electrically isolate the monopolar electrode 30530 from the first bipolar electrode 30512 and the second bipolar electrode 30522. The first compliant member 30514 and the second compliant member 30524 can include rubber, silicone, PTFE tubing, and / or combinations thereof.

[0130] Figure 14 A surgical end effector 30600 is shown for use with an electrosurgical instrument. The surgical end effector 30600 includes a first jaw 30610 and a second jaw 30620 that are movable between an open position and a closed position to grasp tissue positioned between the first jaw and the second jaw. The first jaw 30610 is at least partially encircled by a first compliant member 30614, and the second jaw 30620 is at least partially encircled by a second compliant member 30624. The first compliant member 30614 is almost entirely encircled by a first bipolar electrode 30612, and the second compliant member 30624 is almost entirely encircled by a second bipolar electrode 30622. In other words, the first bipolar electrode 30612 encircles the first compliant member 30614 except for a gap portion 30616, where a monopolar electrode 30630 is attached to the first compliant member 30614. Further, the second bipolar electrode 30622 encircles the second compliant member 30624 except for a gap portion 30626.

[0131] In addition to the above, when the first jaw 30610 and the second jaw 30620 are in the closed position, the gap portions 30616, 30626 in the first and second bipolar electrodes 30612, 30622 allow the monopolar electrode 30630 extending from the first compliant member 30614 to contact the second compliant member 30624. Moreover, when the jaws 30610, 30620 are closed without tissue positioned therebetween, the gap portions 30616, 30626 are offset to allow the first bipolar electrode 30612 to contact the second compliant member 30624 and the second bipolar electrode 30622 to contact the first compliant member 30614. Unlike the electrodes 30512, 30533, the electrodes 30612, 30622 are not mirror images of one another. Rather, the electrode 30612 is offset from the electrode 30622, resulting in the gap portions 30616, 30610 also being offset from one another. This arrangement prevents a short circuit in the electrical circuit.

[0132] In any event, when the first jaw 30610 and the second jaw 30620 are closed, the monopolar electrode 30630 is positioned between the first compliant member 30614 and the second compliant member 30624 to provide a spring bias or biasing force to the monopolar electrode 30630 when tissue is grasped between the jaws 30610, 30620. In other words, when the first jaw 30610 and the second jaw 30620 are closed about tissue, the monopolar electrode 30630 is subjected to a biasing force from the first compliant member 30614 and the second compliant member 30624. When the monopolar electrode 30630 is energized, the biasing force from the compliant members 30614, 30624 facilitates tissue cutting.

[0133] In addition to the above, in at least one embodiment, the first compliant member 30614 and the second compliant member 30624 include an electrically insulative material to electrically isolate the monopolar electrode 30630 from the first and second bipolar electrodes 30612, 30622. In at least one embodiment, the first compliant member 30614 and the second compliant member 30624 can include rubber, silicone, PTFE tubing, and / or combinations thereof.

[0134] Figure 15A surgical end effector 30700 is shown for use with an electrosurgical instrument. The end effector 30700 includes a first jaw 30710 and a second jaw 30720 that are movable between an open position and a closed position to grasp tissue positioned between the first jaw and the second jaw. The first jaw 30710 defines a first bipolar electrode and the second jaw 30720 defines a second bipolar electrode that are configured to cooperate to deliver bipolar energy to cauterize and / or seal tissue grasped between the first jaw 30710 and the second jaw 30720. In addition, the first jaw 30710 includes a first longitudinal recess 30712 that includes a first compliant member 30714 attached therein. The second jaw 30720 includes a second longitudinal recess 30722 that includes a second compliant member 30724 attached therein. The surgical end effector 30700 further includes a monopolar electrode 30730 attached to the first compliant member 30714. When the first jaw 30710 and the second jaw 30720 grasp tissue in the closed position, a gap in the second compliant member 30724 allows the monopolar electrode 30730 extending from the first compliant member 30714 to be subjected to a biasing force from the first compliant member 30714 and the second compliant member 30724. The first compliant member 30714 and the second compliant member 30724 include an electrically insulating material to electrically isolate the monopolar electrode 30730 from the first electrode of the first jaw 30710 and the second electrode of the second jaw 30720. The first compliant member 30714 and the second compliant member 30724 can include rubber, silicone, PTFE tubing, and / or combinations thereof.

[0135] Figure 16A surgical end effector is shown for use with an electrosurgical instrument. The end effector 30800 includes a first jaw 30810 and a second jaw 30820 that are movable between open and closed positions to grasp tissue positioned between the first jaw and the second jaw. The first jaw 30810 defines a first bipolar electrode and the second jaw 30820 defines a second bipolar electrode. As described above, the first bipolar electrode and the second bipolar electrode are configured to cooperate to deliver bipolar energy to cauterize and / or seal tissue positioned between the first jaw 30810 and the second jaw 30820. In addition, the first jaw 30810 includes a longitudinal recess 30812 that includes a compliant member 30814 affixed therein. In at least one embodiment, the second jaw 30820 includes stainless steel coated with PTFE shrink tubing. The surgical end effector 30800 further includes a monopolar electrode 30830 affixed to the compliant member 30814 of the first jaw 30810. When the first jaw 30810 and the second jaw 30820 grasp tissue positioned between the first jaw and the second jaw, the compliant member 30814 provides a biasing force to the monopolar electrode 30830. The biasing force of the compliant member 30814 enhances contact between the monopolar electrode 30830 and the tissue during a cutting operation. The compliant member 30814 includes an electrically insulative material to electrically isolate the monopolar electrode 30830 from the first electrode of the first jaw 30810. The compliant member 30814 can include rubber, silicone, PTFE tubing, and / or combinations thereof.

[0136] Figure 17 An alternative surgical end effector 30800' to the surgical end effector 30800 is shown. The end effector 30800' is similar to the end effector 30800; however, the monopolar electrode 30830 is affixed to the second jaw 30820. When tissue is positioned between the first jaw 30810 and the second jaw 30820, the compliant member 30814 applies a biasing force to the monopolar electrode 30830 affixed to the second jaw 30820 through the tissue.

[0137] Figure 18A surgical end effector 30900 is shown for use with an electrosurgical instrument. The surgical end effector 30900 defines an end effector axis EA that extends longitudinally along a length of the end effector 30900. The surgical end effector 30900 includes a first jaw 30910 and a second jaw 30920 that are movable between open and closed positions to grasp tissue positioned between the first and second jaws. The first jaw 30910 includes a first honeycomb lattice structure 30912 that is surrounded by a first diamond-like coating 30914. The second jaw 30920 includes a second honeycomb lattice structure 30922 that is surrounded by a second diamond-like coating 30924. The diamond-like coatings 30914, 30924 can be, for example, any of the diamond-like coatings described herein. The first and second honeycomb lattice structures 30912, 30922 include the same geometric array and material. However, other embodiments are envisioned in which the first and second honeycomb lattice structures 30912, 30922 include different geometric arrays and materials, including more or fewer air pockets, as described herein. The first and second diamond-like coatings 30914, 30924 include the same material. However, other embodiments are envisioned in which the first and second diamond-like coatings 30914, 30924 include different materials.

[0138] In addition to the above, the end effector 30900 includes a first bipolar electrode 30940 attached to the first diamond-like coating 30914 on a first lateral side of the end effector axis EA to the first jaw 30910. The first bipolar electrode 30940 extends longitudinally along the length of the end effector 30900. The second jaw 30920 includes a compliant member 30960 attached within a cutout portion 30926 defined in the second jaw 30920. The end effector 30900 further includes a second bipolar electrode 30950 attached to the compliant member 30960 on a second lateral side of the end effector axis EA. The second bipolar electrode 30950 extends longitudinally along the length of the end effector 30900. The electrodes 30940, 30950 cooperate to deliver bipolar energy to tissue grasped between the jaws 30910, 30920. Moreover, the electrodes 30940, 30950 are offset from one another to prevent inadvertent contact therebetween in the closed position, which can create a short circuit.

[0139] In addition to the above, the end effector 30900 includes a first bipolar electrode 30940 attached to the first diamond-like coating 30914 on a first lateral side of the end effector axis EA to the first jaw 30910. The first bipolar electrode 30940 extends longitudinally along the length of the end effector 30900. The second jaw 30920 includes a compliant member 30960 attached within a cutout portion 30926 defined in the second jaw 30920. The end effector 30900 further includes a second bipolar electrode 30950 attached to the compliant member 30960 on a second lateral side of the end effector axis EA. The second bipolar electrode 30950 extends longitudinally along the length of the end effector 30900. The electrodes 30940, 30950 cooperate to deliver bipolar energy to tissue grasped between the jaws 30910, 30920. Moreover, the electrodes 30940, 30950 are offset from one another to prevent inadvertent contact therebetween in the closed position, which can create a short circuit.

[0140] As described herein, the first bipolar electrode 30940 and the second bipolar electrode 30950 are configured to cauterize and / or seal tissue by delivering bipolar energy to the tissue in a bipolar energy cycle when the tissue is positioned between the first jaw 30910 and the second jaw 30920. Additionally, the monopolar electrode 30930 is configured to cut tissue by delivering monopolar energy to the tissue in a monopolar energy cycle.

[0141] In addition to the above, the compliant member 30960 is compressible and exerts pressure on tissue positioned between the first jaw 30910 and the second jaw 30920. More specifically, the pressure exerted by the jaws 30910, 30920 on tissue in the area directly above the compliant member 30960 is greater than the pressure exerted on tissue in areas adjacent to the compliant member 30960 (i.e., areas where the compliant member 30960 is not present). In at least one embodiment, the compliant member 30960 includes a resilient and / or plastic honeycomb structure that insulates the second bipolar electrode 30950 and the monopolar electrode 30930 from the second diamond-like coating 30924 and the honeycomb lattice structure 30922 of the second jaw 30920. The compliant member 30960 holds the second bipolar electrode 30950 and the monopolar electrode 30930 in place and provides a biasing force toward the first jaw 30910 to the monopolar electrode 30930 and the second bipolar electrode 30950 when tissue is grasped between the first jaw 30910 and the second jaw 30920.

[0142] In addition to the above, the first diamond-like coating 30914 and the second diamond-like coating 30924 are electrically conductive and thermally insulating. However, other embodiments are envisioned in which the first diamond-like coating 30914 and the second diamond-like coating 30924 are electrically insulating and / or thermally insulating. The first honeycomb lattice structure 30912 and the second honeycomb lattice structure 30922 include air pockets that provide thermal insulation for the first jaw 30910 and the second jaw 30920. The first honeycomb lattice structure 30912 and the second honeycomb lattice structure 30922 provide additional spring biasing for tissue when the tissue is positioned between the first jaw 30910 and the second jaw 30920. In at least one embodiment, the first honeycomb lattice structure 30912 and the second honeycomb lattice structure 30922 allow the first jaw 30910 and the second jaw 30920 to flex and / or bend when tissue is grasped therebetween. In any event, the spring force of the first honeycomb lattice structure 30912 and the second honeycomb lattice structure 30922 and the compliant member 30960 provide a consistent pressure to tissue when the tissue is grasped between the first jaw 30910 and the second jaw 30920.

[0143] In various aspects, one or more of the diamond-like coatings (DLC) 30914, 30924 are composed of an amorphous carbon-hydrogen network with both graphite and diamond bonding between carbon atoms. The DLC coatings 30914, 30924 can form a film around the first and second honeycomb lattice structures 30912, 30922 with low friction and high hardness properties. The DLC coatings 30914, 30924 can be doped or undoped, and are generally in the form of amorphous carbon (a-C) or hydrogenated amorphous carbon (a-C:H) that includes a high amount of sp3bonds. Various surface coating techniques can be used to form the DLC coatings 30914, 30924, such as the surface coating technology developed by Oerlikon Balzers. In at least one example, the DLC coatings 30914, 30924 are generated using plasma-assisted chemical vapor deposition (PACVD).

[0144] In various aspects, one or both of the DLC coatings can be replaced with a coating that includes titanium nitride, chromium nitride, Graphit iC TM or any other suitable coating.

[0145] Still referring to Figure 18 , the electrodes 30940, 30950 are offset such that a plane extending along the axis EA and transverse to the monopolar electrode 30930 extends between the electrodes 30940, 30950. Further, in the illustrated example, the electrodes 30930, 30940, 30950 protrude from the outer surfaces of the jaws 30910, 30920. However, in other examples, one or more of the electrodes 30930, 30940, 30950 can be embedded in the jaws 30910, 30920 such that their outer surfaces are flush with the outer surfaces of the jaws 30910, 30920.

[0146] In conjunction with Figures 4 to 18 The various end effectors described are configured to coagulate, cauterize, seal, and / or cut tissue grasped by the end effector in a tissue treatment cycle that includes delivery of bipolar energy and / or monopolar energy to the tissue. The bipolar energy and the monopolar energy can be delivered to the tissue separately or in combination. In one example, the monopolar energy is delivered to the tissue after the delivery of the bipolar energy to the tissue is terminated.

[0147] Figure 19is a graph depicting an alternative example of a tissue treatment cycle 31000 that delivers bipolar energy (in bipolar energy periods) and monopolar energy (in monopolar energy periods) to tissue. The tissue treatment cycle 31000 includes a bipolar-only phase 31002, a mixed energy phase 31004, and a monopolar-only phase 31006. The tissue treatment cycle 31000 can be implemented by an electrosurgical system that includes a generator (e.g., the generators 1100, 900) coupled to an electrosurgical instrument, such as an end effector (e.g., the end effector of Figures 4 to 18 ).

[0148] Figure 19 The graph depicts bipolar power curve 31010 and monopolar power curve 31014. In addition, mixed power curve 31012 represents the simultaneous application of monopolar energy and bipolar energy to tissue.

[0149] Still referring to Figure 19 , an initial tissue contact phase is shown between to and ti, which occurs before any energy is applied to the tissue. The jaws of the end effector are positioned on opposite sides of the tissue to be treated. Bipolar energy is then applied to the tissue in an entire tissue coagulation phase that begins at ti and ends at t4. During the feathering segment (ti-t2), the bipolar energy application increases to a predetermined power value (e.g., 100 W) and is maintained at that predetermined power value for the remainder of the feathering segment (ti-t2) and during the tissue warming segment (t2-t3). During the sealing segment (t3-t4), the bipolar energy application gradually decreases. The bipolar energy application terminates at the end of the sealing segment (t3-t4) and before the cutting / transsection phase begins.

[0150] In addition to the above, monopolar energy application to the tissue is activated during the tissue coagulation phase. In the example shown, Figure 19 at time t2, the activation of monopolar energy begins at the end of the feathering segment and at the beginning of the tissue warming segment. Like the bipolar energy, the monopolar energy applied to the tissue gradually increases to a predetermined power level (e.g., 75 W) that is maintained for the remainder of the tissue warming segment and the initial portion of the sealing segment.

[0151] During the sealing segment (t3-t4) of the tissue coagulation phase, the monopolar energy power applied to the tissue gradually increases as the bipolar energy power applied to the tissue is gradually decreased. In the illustrated example, the bipolar energy is stopped from being applied to the tissue at the end of the tissue coagulation cycle (t4). The start of the tissue transection phase is guided by the inflection point in the monopolar power curve 31014 at t4, at which time the previous gradual increase in monopolar energy experienced during the sealing segment (t3-t4) is followed by a step to a predetermined maximum threshold power level (e.g., 150 W) sufficient to transect the coagulated tissue. The maximum power threshold is maintained for a predetermined period of time, which ends when the monopolar power level returns to zero.

[0152] Thus, the tissue treatment cycle 31000 is configured to deliver three different energy modalities to the tissue treatment region over three successive time periods. The first energy modality, which includes bipolar energy but not monopolar energy, is applied to the tissue treatment region from ti to t2 during the feathering segment. The second energy modality, which is a hybrid energy modality including a combination of monopolar energy and bipolar energy, is applied to the tissue treatment region from t2 to t4 during the tissue warming segment and the tissue sealing segment. Finally, the third energy modality, which includes monopolar energy but not bipolar energy, is applied to the tissue from t4 to t5 during the cutting segment. Moreover, the second energy modality includes a power level that is the sum of the power levels of the monopolar energy and the bipolar energy. In at least one example, the power level of the second energy modality includes a maximum threshold (e.g., 120 W). In various aspects, the monopolar energy and the bipolar energy can be delivered to the end effector from two different power generators.

[0153] The hybrid power curve 31012 applied during the hybrid energy phase 31004 represents the combination of bipolar energy and monopolar energy applied to the tissue. During the tissue warming segment (t2-t3), the hybrid power curve 31012 rises and increases at t2 as the monopolar power is activated, while the bipolar power remains at a constant or at least substantially constant level during the remainder of the tissue warming segment (t2, t3) and at the beginning of the tissue sealing segment (t3-t4). During the sealing segment (t3-t4), the hybrid power curve 31012 remains at a constant or at least substantially constant level by gradually decreasing the bipolar power level as the monopolar power level increases.

[0154] In various aspects, the bipolar and / or monopolar power levels of the tissue treatment cycle 31000 can be adjusted based on one or more measured parameters, including tissue impedance, jaw motor speed, jaw motor force, jaw aperture of the end effector, and / or current draw of the motor affecting closure of the end effector.

[0155] According to at least one embodiment, a monopolar electrode for cutting patient tissue includes a monopolar camming horn electrode and a wire attached thereto. The monopolar camming horn electrode is initially positioned at a distal end of an end effector of an electrosurgical instrument. When the clinician desires to cut patient tissue, the monopolar camming horn electrode is energized (i.e., via a power generator, as described herein) and pulled by the wire attached thereto. The wire first directs the camming horn electrode to rotate up along a centerline of the end effector into a tissue gap and then is pulled from the distal end to the proximal end to cut the patient tissue. In other words, if a pivoting cutting blade is positioned at the distal end and then pulled proximally, the camming horn electrode acts like the pivoting cutting blade of the surgical instrument. Moreover, in at least one embodiment, the wire attached to the camming horn electrode is offset from the center of rotation of the camming horn electrode such that when the wire is pulled proximally, the camming horn electrode initially rotates to a vertical position. The camming horn electrode applies force perpendicularly to an opposite side of the end effector jaw from which the camming horn electrode is positioned. In this arrangement, the camming horn electrode can initially be hidden from the tissue gap between the jaws of the end effector until the wire initially pulls the camming horn electrode to rotate the camming horn electrode to its vertical position. Because the camming horn electrode is initially hidden, the load applied by the camming horn electrode on the other jaw of the end effector is independent of the tissue gap. In other words, the camming horn electrode will be substantially upright before the distal to proximal motion is initiated, or the camming horn electrode will be partially upright before the distal to proximal motion is initiated. The amount of rotation of the camming horn electrode toward its vertical position depends on the amount of tissue positioned between the jaws of the end effector and the stiffness of the tissue. For example, stiffer tissue resists the rotation of the camming horn electrode to its vertical position more than softer tissue before the camming horn electrode begins to move from the distal end toward the proximal end.

[0156] Figure 20An electrosurgical instrument 40100 is shown that includes a housing, a shaft 40110 extending from the housing, and an end effector 40120 extending from the shaft 40110. An articulation joint 40130 rotatably connects the shaft 40110 and the end effector 40120 to facilitate articulation of the end effector 40120 relative to the shaft 40110. A circuit board 40140 is located in the housing of the instrument 40100. However, other embodiments are envisioned in which the circuit board 40140 is positioned in any suitable location. In at least one example, the circuit board 40140 is a printed circuit board. The printed circuit board 40140 includes a connection plug 40142 for connecting the printed circuit board 40140 to a wiring assembly 40150. The wiring assembly 40150 extends from the printed circuit board 40140 through the shaft 40110 and into the end effector 40120. The wiring assembly 40150 is configured to monitor at least one function of the end effector 40120 and relay the monitored information to the printed circuit board 40140. The wiring assembly 40150 can monitor a function of the end effector, such as including a compression rate of the jaws of the end effector 40120 and / or a thermal cycle of the end effector 40120. In the illustrated example, the wiring assembly 40150 includes a sensor 40122 positioned in the end effector 40120. The sensor 40122 monitors at least one function of the end effector 40120.

[0157] In various aspects, the sensor 40122 can include any suitable sensor, such as, for example, a magnetic sensor (such as a Hall effect sensor), a strain gauge, a pressure sensor, an inductive sensor (such as an eddy current sensor), a resistive sensor, a capacitive sensor, an optical sensor, and / or any other suitable sensor. In various aspects, the circuit board 40140 includes a control circuit that includes a microcontroller having a processor and a memory unit. The memory unit can store one or more algorithms and / or lookup tables to identify certain parameters of the end effector 40120 and / or tissue grasped by the end effector 40120 based on measurements provided by the sensor 40122.

[0158] In addition to the above, the wiring assembly 40150 can include several flexible, rigid, and / or stretchable portions as part of the flexible circuit to allow the wiring assembly 40150 to flex, bend, and / or stretch across various component boundaries and / or joints of the surgical instrument 40100. For example, as the wiring assembly 40150 passes through a component boundary or joint, a flexible plastic substrate that cannot stretch (i.e., polyimide, peek, clear conductive polyester film) transitions to a flexible silicone or elastomer substrate and then back to a flexible substrate that cannot stretch on the other side of the joint. The metal conductor within the wiring assembly 40150 remains continuous but can stretch over the component boundary and / or joint. This arrangement makes the entire circuit flexible with local portions being flexible in at least two planes. Thus, the portions of the wiring assembly 40150 that span the component boundaries and / or joints allow for local relative motion without tearing or losing its continuity of the wiring assembly 40150. The wiring assembly 40150 is secured around the local areas of movement to protect the wiring assembly 40150 from excessive strain and / or deformation.

[0159] In addition to the above, in the present embodiment, the wiring assembly 40150 includes a first elastic portion 40152, a proximal rigid portion 40154, a second elastic portion 40156, and a distal rigid portion 40158. The proximal rigid portion 40154 is positioned in the elongate shaft 40110 and the distal rigid portion 40158 is positioned in the end effector 40120. The first elastic portion 40152 is positioned between the printed circuit board 40140 and the proximal rigid portion 40154. The second elastic portion 40156 is positioned between the proximal rigid portion 40154 and the distal rigid portion 40158. Other embodiments are envisioned in which the wiring assembly 40150 includes more or less than two elastic portions. The rigid portions 40154, 40158 can be secured to the shaft 40110 and the end effector 40120, respectively, with, for example, an adhesive 40105. However, any suitable attachment means can be used. The elastic portions 40152, 40156 also include portions that are resilient (i.e., for bending and / or flexing) and stretchable (i.e., for stretching). In at least one embodiment, the resilient portions include a first substrate or layer and the stretchable portions include a second substrate or layer. The first substrate and the second substrate include different materials. However, other embodiments are envisioned in which the first substrate and the second substrate include the same material in different structures.

[0160] In addition to the above, the wiring assembly 40150 also includes an electrical trace or conductor 40160 that spans the entire length of the wiring assembly 40150 and is configured to carry electrical energy between the printed circuit board 40140 and the end effector 40120. See primarily FIGS. 4A and 4B. Figure 21 and Figure 22Conductor 40160 includes a stretchable portion 40162 spanning the elastic portions 40152, 40156. Stretchable portion 40162 includes a serpentine, oscillating, and / or zigzag pattern, which allows the stretchable portion 40162 to stretch when the elastic portions 40152, 40156 extend as shown Figure 22 When the elastic portions 40152, 40156 return to their relaxed and / or natural state, the stretchable portion 40162 returns to its serpentine, oscillating, and / or zigzag pattern as shown Figure 21

[0161] In addition to the above, in at least one embodiment, conductor 40160 can be used in high current applications, such as RF treatment energy, where the conductor 40160 includes a copper conductor printed in a serpentine, oscillating, and / or zigzag pattern into the wiring assembly 40150. Other embodiments are contemplated where the stretchable portion 40162 of the conductor 40160 spanning the elastic portions 40152, 40156 includes electrically conductive couplings that interlock to allow the stretchable portion 40162 to stretch across the joint.

[0162] Figure 23 An electrosurgical instrument 40200 is shown that includes a shaft 40210, a translating member 40220, and a flexible circuit and / or wire bundle 40230. Wire bundle 40230 can be similar to wiring assembly 40150. Translating member 40220 can be, for example, a knife drive bar for cutting open patient tissue, an articulation cable, and / or a rigid articulation member of instrument 40200. However, translating member 40220 can be any translating member described herein. In any event, translating member 40220 is configured to translate relative to shaft 40210 and includes a ferrous element 40222 that translates with translating member 40220. For example, ferrous element 40222 can be attached to or housed within translating member 40220. Wire bundle 40230 is fixed within shaft 40210 and includes a linear inductive sensor 40232 that is configured to detect the linear position of ferrous element 40222 and, thus, the linear position of translating member 40220. More specifically, linear inductive sensor 40232 is configured to generate an electric field that is disrupted by ferrous element 40222. Linear inductive sensor 40232 is integrated into wire bundle 40230 to provide robust protection from external elements and fluids.

[0163] ​In various aspects, the sensor 40232 can be a magnetic sensor such as a Hall effect sensor, a strain gauge, a pressure sensor, an inductive sensor such as an eddy current sensor, a resistive sensor, a capacitive sensor, an optical sensor, and / or any other suitable sensor. In various aspects, the control circuit includes a microcontroller having a processor and a memory unit that stores one or more algorithms and / or lookup tables to identify certain parameters of the surgical instrument 40200 and / or tissue treated by the surgical instrument 40200 based on measurements provided by the sensor 40232.

[0164] Figure 24 and Figure 25 An electrosurgical instrument 40300 is shown that includes a shaft 40310, a translating member 40320, and a flexible circuit or wire bundle 40330. The translating member 40320 is configured to translate relative to the shaft 40310 to perform an end effector function. The translating member 40320 can be, for example, a knife drive bar for cutting patient tissue, an articulation cable, and / or a rigid articulation member of the instrument 40300. However, the translating member can be, for example, any of the translating members described herein. In any event, the wire bundle 40330 includes a conductor 40331, a body portion 40332, and a resilient portion 40334 extending from the body portion 40332. The body portion 40332 is secured to the shaft 40310 and includes a first sensor 40340 configured to measure a function of an end effector of the electrosurgical instrument 40300. The resilient portion 40334 is attached to the translating member 40320 and includes a second sensor 40350. The second sensor 40350 is positioned at an end of the resilient portion 40334 where the resilient portion 40334 is attached to the translating member 40320. Thus, the second sensor 40350 translates with the translating member 40320. The second sensor 40350 is configured to measure a stress and / or strain within the translating member 40320. However, other embodiments are envisioned in which the second sensor is configured to measure a position, velocity, and / or acceleration of the translating member 40320.

[0165] In various aspects, the control circuit includes a microcontroller having a processor and a memory unit that stores one or more algorithms and / or lookup tables to identify certain parameters of the surgical instrument 40300 and / or tissue treated by the surgical instrument 40300 based on measurements provided by the sensors 40340, 40350.

[0166] In addition to the above, the resilient portion 40334 is similar to the resilient portion 40334 described herein with respect to Figures 20 to 22The elastic portions 40152, 40156. More specifically, the elastic portions 40334 include portions that are resilient and / or stretchable, which allows the elastic portions 40334 to bend, flex, and / or stretch relative to the body portion 40332 of the wiring harness 40330. This arrangement allows the second sensor 40350 to be integrated into the wiring harness 40330 without the detected measurements of the second sensor 40350 being affected by movement of the translating member 40320 relative to the wiring harness 40330.

[0167] Figures 26 to 33 An electrosurgical instrument 40400 is shown that includes a handle 40410, a shaft 40420 extending from the handle 40410, and a distal head or end effector 40430 extending from the shaft 40420. The handle 40410 includes a trigger 40412 and an electric motor assembly 40411 that includes a motor 40411a driven by a motor driver / controller 40422b that is configured to drive the motor 40411a in accordance with each input from a control circuit 40413 and in response to actuation motions of the trigger 40412. In various aspects, the control circuit 40413 includes a microcontroller 40414 having a processor 40415 and a memory unit 40417. A power source 40418 is coupled to the motor controller 40411b for providing power to the motor and to the microcontroller 40414.

[0168] The shaft 40420 defines a shaft axis SA and includes an end effector drive member, such as an end effector drive member 40419. The end effector drive member 40419 is operably responsive to the electric motor 40411a in the handle 40410 and is configured to perform at least two end effector functions. The end effector 40430 is configured to be selectively locked and unlocked from the shaft 40420, as described herein. More specifically, when the end effector 40430 is locked to the shaft 40420, the end effector 40430 cannot rotate and / or articulate relative to the shaft 40420, and the end effector drive member 40419 is configured to open and close jaws of the end effector 40430. Further, when the end effector 40430 is unlocked from the shaft 40420, the end effector can rotate and / or articulate relative to the shaft 40420, and the end effector drive member 40419 rotates the end effector 40430 about the shaft axis SA when the end effector drive member 40419 is actuated by the electric motor.

[0169] The instrument 40400 also includes a hand switch member or rocker member 40440, an elongated shaft 40450, and a pull wire 40460. The elongated shaft 40450 is crimped onto the pull wire 40460 such that the elongated shaft 40450 and the pull wire 40460 move together along the shaft axis SA. The rocker member 40440 includes a slot 40442 defined therein that is configured to receive the elongated shaft 40450. The rocker member 40440 and the elongated shaft 40450 are mounted within the handle 40410 and the portions of the rocker member 40440 that extend laterally beyond each side of the handle 40410 to allow a clinician to manually actuate the rocker member 40440. The rocker member 40440 also includes a pin 40444 that extends into the slot 40442. The pin 40444 extends into a V-shaped groove 40452 defined in the outer diameter of the elongated shaft 40450. The elongated shaft 40450 is biased away from the rocker member 40440 (i.e., distally biased) such as by a spring.

[0170] In use, as the rocker member 40440 is rotated in the clockwise direction CW, the pin 40444 slides within the first side of the V-shaped groove 40452 and retracts the elongated shaft 40450 toward the rocker member 40440 (i.e., proximally). As the rocker member 40440 is rotated in the counterclockwise direction CCW, the pin 40444 slides within the second side of the V-shaped groove 40452 opposite the first side and retracts the elongated shaft 40450 toward the rocker member 40440 (i.e., proximally). See Figure 31 When the rocker member 40440 is centered, the elongated shaft 40450 is in its most distal position (i.e., farthest from the rocker member 40440). See Figure 32 and Figure 33 As the rocker member 40440 is rotated in the clockwise direction CW or the counterclockwise direction CCW, the elongated shaft 40450 is retracted toward the rocker member 40440 (i.e., proximally).

[0171] As noted above, the elongated shaft 40450 is crimped onto the pull wire 40460. Thus, as the rocker member 40440 is rotated in the clockwise direction CW or the counterclockwise direction CCW, the pull wire 40460 is retracted. The pull wire 40460 can be similar to the unlock cable 11342 shown in FIG. 54 of U.S. Patent Application Docket No. END9234USNP2 / 190717-2. More specifically, the pull wire 40460, when retracted (i.e., moved proximally), unlocks the end effector 40430 to allow the end effector 40430 to rotate and / or articulate relative to the shaft 40420. Thus, as the rocker member 40440 is rotated in the clockwise direction CW or the counterclockwise direction CCW, the end effector 40430 is unlocked to allow the end effector 40430 to rotate and / or articulate.

[0172] In addition to the above, the rocker member 40440 further includes a downwardly extending post 40446 that is configured to engage a first switch 40447 and a second switch 40448 positioned on either side of the downwardly extending post 40446. The first and second switches 40447, 40448 are configured to activate an articulation motor positioned within the handle 40410. More specifically, when the rocker member 40440 is rotated in the clockwise direction CW, the pull wire 40460 retracts to unlock the end effector 40430 and the post 40446 engages the first switch 40447, causing the motor 4041 la to rotate in a first direction, which causes the articulation drive assembly 40417 to, for example, articulate the end effector 40430 to the right. When the rocker member 40440 is rotated in the counter-clockwise direction CCW, the pull wire 40460 retracts to unlock the end effector 40430. The post 40446 engages the second switch 40448, causing the motor 4041 la to rotate in a second direction opposite the first direction, thereby causing the articulation drive assembly 40417 to articulate the end effector 40430 to the left.

[0173] In addition to the above, when the rocker member 40440 is centered, as shown, Figure 28 the first and second switches 40447, 40448 are not activated. The pull wire 40460 is in its most distal position corresponding to the end effector 40430 being locked, as described above. In various aspects, any suitable shift or clutch mechanism can be configured to shift the drive member 40419 between operable engagement with the articulation drive assembly 40417 and operable engagement with the closure / firing assembly 40421. The shift mechanism can be actuated by the rocker member 40440 such that when the rocker member 40440 is centered, the drive member 40419 is operably coupled to the closure / firing drive assembly 40421 and when the rocker member 40440 is rotated in the clockwise direction CW or the counter-clockwise direction CCW from the centered position, the drive member is operably coupled to the articulation drive assembly 40417.

[0174] When the end effector 40430 is locked, rotation of the electric motor in the handle 40410 causes rotation of the end effector drive member 40419 to cause the closure / firing drive assembly 40421 to move the pair of jaws of the end effector 40430 between the open and closed positions. However, other embodiments are envisioned in which rotation of the end effector drive member 40419 translates the firing member through the end effector 40430 when the end effector 40430 is locked. In any event, when the rocker member 40440 is rotated in the clockwise direction CW or the counterclockwise direction CCW, the end effector 40430 is unlocked, which allows the end effector 40430 to rotate about the shaft axis SA. More specifically, when the end effector 40430 is unlocked and the end effector drive member 40419 is actuated by the electric motor 4041 la in the handle 40410, the end effector 40430 rotates about the shaft axis SA relative to the shaft 40420.

[0175] In addition to the above, other embodiments are envisioned with multiple articulation motors that are operably responsive to the first switch 40447 and the second switch 40448. For example, if a double articulation joint is employed between the end effector 40430 and the shaft 40420, such an arrangement facilitates articulation of the end effector 40430 about multiple axes. Other embodiments are also envisioned with separate motors dedicated to closure, firing, and / or articulation.

[0176] In various aspects, the motor driver 4041 lb is configured to operate the electric motor 4041 la in a plurality of operating states based on input from the processor 40416. For example, when the end effector drive member 40419 is opening and closing the jaws of the end effector 40430 (i.e., the distal head or end effector 40430 is locked), the electric motor is in a first operating mode. When the electric motor 4041 la is in the first operating mode, the end effector drive member 40419 is operated at a first speed, at a first rate, with a first amount of torque, and / or with a first amount of acceleration to open and close the jaws of the end effector 40430. When the end effector drive member 40419 is rotating the end effector 40430 about the shaft axis SA (i.e., the distal head or end effector 40430 is unlocked), the electric motor 4041 la is in a second operating mode. When the electric motor 4041 la is in the second operating mode, the end effector drive member 40419 is operated at a second speed, at a second rate, with a second amount of torque, and / or with a second amount of acceleration to rotate the end effector 40430.

[0177] In at least one embodiment, the first and second operating modes are different and include different combinations of control parameters to drive the end effector drive member 40419, for example, at different speeds, torques, and / or accelerations. In at least one embodiment, the second operating mode (i.e., distal head rotation) includes, for example, a lower maximum torque limit, an acceleration gradient that allows for fine adjustments, and / or a lower maximum torque velocity than the first operating mode. Conversely, in the first operating mode, the end effector drive member 40419 includes, for example, a higher torque limit, no or limited acceleration gradient, and / or rotates at a faster velocity.

[0178] In various aspects, the memory 40415 stores program instructions that, when executed by the processor 40416, cause the processor 40416 to select one of the first or second operating modes. The processor 40416 can select various combinations of control parameters to drive the end effector drive member 40419, for example, at different speeds, torques, and / or accelerations, from a lookup table, algorithm, and / or formula stored in the memory 40415.

[0179] In addition to the above, see Figure 29 In addition to the above, see

[0180] As Figure 29As shown, various embodiments are contemplated in which the surgical instrument 40400 includes a transmission, a variable gear motor drive, and / or a gear shifter 40427 to lock two drive mechanisms (such as, for example, the end effector drive shaft 40419 and the articulation drive assembly 40417 that drives articulation of the end effector 40430) together, or the end effector drive shaft 40419 and the closure / firing drive assembly 40421. In such arrangements, the surgical instrument 40400 includes a single electric motor 4041 la to drive articulation of the end effector 40430, to rotate the end effector 40430 about the shaft axis SA, and to open and close the jaws of the end effector 40430. More specifically, the gear shifter 40427 shifts the single electric motor between engagement with the articulation drive assembly 40417 and engagement with the closure / firing drive assembly 40421.

[0181] According to at least one embodiment, the handle user controls of the motor and / or end effector motion of the surgical instrument are in signal communication with a control system of the surgical instrument. The control system is housed within the handle and couples user trigger feedback to motor drive feedback of the end effector to provide proportional but indirect control of the end effector. In at least one embodiment, the control system provides indirect open loop control of the end effector with an alternative means for providing clamped level feedback to the user. The surgical instrument includes haptic feedback and trigger sweep correlation. Further, the surgical instrument includes a feedback system to the control system for monitoring alternating compression or pressure in the jaws to compensate for the elimination of haptic feedback. In such an arrangement, the manual user input drives the jaws independent of the travel of the trigger. In at least one embodiment, a small trigger with spring return of a finger size is utilized to improve the operability of the manual controls and the handle. Further, in at least one embodiment, a modular connection of the power backbone to the surgical instrument is employed when a new disposable shaft is introduced.

[0182] Figure 35 A surgical system 40550 is shown that includes an electrosurgical instrument 40551 and a power source (e.g., a power generator) 40552 configured to supply power to the electrosurgical instrument 40551 Figure 34) of the power schematic. The electrosurgical instrument 40551 includes an integrated or independent power source that works in conjunction with a separate power generator 40552 to provide power to the motor and other components of the electrosurgical instrument 40551. The integrated power source includes a charge accumulation device, such as a rechargeable, non-removable battery 40553. The battery 40553 is configured to begin recharging once the battery 40553 is attached to the power output of the generator 40552. The integrated power source can begin recharging, for example, during use within a procedure. The integrated power source or rechargeable battery draws a constant power level from the power output generator 40552 regardless of the power consumed by the motor, controller, and / or sensors until the rechargeable battery 40553 charges to a highest predetermined level. The battery 40553 can simultaneously discharge to operate the controller or motor of the electrosurgical instrument 40551 and charge via the power output generator 40552. The battery 40553 continues to charge until it reaches a predetermined level in a standby state between user requested operations during generator initialization or between uses. If the battery 40553 depletes to a lowest predetermined level, the user is notified that they must wait a period of time before the electrosurgical instrument 40551 can be used again until the battery 40553 charges above the lowest threshold level.

[0183] In addition to the above, Figure 35 The graph 40500 of the power schematic includes graphs 40502, 40504, 40506, 40508 that include a Y-axis representing various parameters of the surgical system 40550 plotted against an X-axis of time, t. The graph 40502 depicts on the Y-axis the power supplied in Watts (W) by the generator 40552 to the power source of the electrosurgical instrument, for example, an internal charge accumulation device such as the rechargeable battery 40553. The graph 40504 depicts on the Y-axis the charge level of the battery 40553 represented as a percentage of a highest charge level threshold. The graph 40506 depicts on the Y-axis the power drawn in Watts (W) from the battery 40553 by components of the electrosurgical instrument 40551 such as, for example, the motor 40554. The graph 40508 depicts on the Y-axis the motor speed limit represented as a percentage of a maximum motor speed threshold.

[0184] In the illustrated example, the electrosurgical instrument 40551 is connected to the generator 40552 at time to. The generator 40552 charges the rechargeable battery 40553 at a constant recharge rate (SI) until the charge level of the battery 40553 reaches a maximum threshold of 100% that is reached at ti. The power source of the generator 40552 is automatically started when the surgical instrument 40551 is connected to the generator 40552 and automatically stopped once the charge level reaches the maximum threshold. In various examples, the surgical system 40550 includes a control circuit 40555 with a charge meter 40556 for detecting the charge level of the battery 40553, and a switching mechanism for deactivating the power source to the surgical instrument 40551 when the charge level reaches the maximum threshold. In at least one example, the battery can be charged at a constant rate of 15W. When the battery charge level reaches 100%, the generator will automatically stop charging the battery 40553.

[0185] Further, at time t2, the motor 40554 is activated to cause the end effector 40557 of the surgical instrument 40551 to perform one or more functions. The motor 40554 draws power from the battery 40553, causing the battery 40553 to discharge at a rate S2. The battery 40553 continues to charge while discharging to the motor 40554. Thus, the discharge rate S2 is derived from the combination of the discharge rate of the battery 40553 caused by the motor drawing power from the battery and the charge rate of the battery 40553 caused by the power supplied to the battery 40553 by the generator 40552, both of which occur in parallel or concurrently, until the motor 40554 is deactivated. Once the power draw of the motor 40554 stops, the battery 40553 returns to recharge at the constant rate SI.

[0186] In the illustrated example, the motor 40553 is activated in a first instance 40501 and a second instance 40503, as shown by the plot 40506, to open and close the jaws of the end effector 40557 to, for example, grasp tissue. The clinician can open and close the jaws multiple times to achieve a good grasp of the tissue. At the end of the second instance 40503 of motor activation, the battery 40553 returns to recharge at the constant rate SI until the 100% charge level is reached at t3, at which time the generator 40552 stops supplying power to the battery 40553. Further, a third instance 40505 of motor activation to articulate the end effector 40557 causes the battery 40553 to discharge at a rate S3 from time t4 to time t5. The end effector closing / opening and articulation can be driven by the same or different motors drawing power from the battery 40553.

[0187] Furthermore, as shown in graphs 40504 and 40506, the fourth instance 40507, the fifth instance 40509, the sixth instance 40511, and the seventh instance 40513 of motor activation cause the charge level of battery 40553 to reach and exceed a first predetermined minimum threshold (e.g., 40%) and a second predetermined minimum threshold (e.g., 20%). The motor driver / controller 40558 of the electrosurgical instrument 40551, which communicates with the generator 40552 and the battery 40553, maintains the motor speed limit at 100% until the battery charge level drops to the first predetermined threshold level. When the charge level of battery 40553 drops to the first predetermined level (e.g., 40%) at time t6, the motor controller 40558 reduces the motor speed limit (e.g., to 50%) to conserve battery power. Therefore, when the battery charge level is 40% and the jaws of the end effector 40557 are actuated, the instrument will first close the jaws of the end effector 40557 at a first decreasing speed, which results in the motor activating instance 40509 for a period of time t. b The time period t is longer than that of motor activation instance 40507. a Furthermore, when the charge level drops to a second predetermined level (e.g., 20%) at time t7, the motor controller 40558 reduces the motor speed limit to 25% to further conserve battery power. When the battery charge level is 20% and the jaws of the end effector 40557 are actuated, the instrument will clamp the jaws of the end effector 40557 at a second decreasing speed less than the first decreasing speed, resulting in a motor activation time period t of instance 40513. c The time period t is longer than that of motor activation instance 40509. b Therefore, the motor controller 40558 enables the motor to perform similar functions at different speeds based on the corresponding charge level of the battery 40553 that supplies power to the motor 40554.

[0188] Furthermore, when the charge level of battery 40553 drops to a predetermined minimum level (e.g., 10%) at time t8, the motor speed limit drops to zero, and the surgical instrument warns the clinician to wait until battery 40553 is charged to above the predetermined minimum level (e.g., 40%) at time t9. When battery 40553 is recharged from 10% to 40% and the jaws of end effector 40557 are actuated in motor activation instance 40515, surgical instrument 40551 will move the jaws of end effector 40557 at a first reduced speed for a time period t shorter than time period ta. d Activating instance 40515 during time period t d When the end is completed, battery 40553 begins to recharge at a constant recharge rate S1 until it reaches t. 10 When the charge level reaches its maximum, the generator 40552 stops supplying power to the battery 40553.

[0189] Figure 34 is a simplified schematic of a surgical system 40550 including a control circuit 40550 having a microcontroller 40560 including a processor 40561 and a memory 40562 storing program instructions. When the program instructions are executed, the program instructions cause the processor 40561 to detect a charge level of a battery 40553. In at least one example, the processor 40561 is in communication with a charge meter 40556 configured to measure the charge level of the battery 40553. Further, detection that the charge level of the battery 40553 is equal to or less than a first minimum charge level threshold (e.g., 40%) while the motor 40554 is running causes the processor to reduce a maximum speed limit of the motor 40554 to a first maximum threshold. In at least one example, the processor 4056 is in communication with a motor driver 40558 configured to control the speed of the motor 40554. In such examples, the processor 40561 signals the motor driver 40558 to reduce the motor speed limit of the motor 40554 to the first maximum threshold. Alternatively, in other examples, the processor 40561 can directly control the maximum motor speed limit.

[0190] Further, detection that the charge level of the battery 40561 is equal to or less than a second minimum charge level threshold (e.g., 20%) while the motor 40554 is running causes the processor to reduce the maximum speed limit of the motor 40554 to a second maximum threshold that is less than the first maximum threshold. Further, detection that the charge level of the battery 40553 is equal to or less than a third minimum charge level threshold (e.g., 10%) while the motor 40554 is running causes the processor to reduce the maximum speed limit of the motor 40554 to zero or to stop the motor 40554. The processor 40561 can prevent the motor 40554 from restarting until the minimum charge level is equal to or greater than a predetermined threshold, such as, for example, the second minimum charge level threshold (e.g., 20%).

[0191] In certain examples, the processor 40561 can also employ one or more feedback systems 40563 to alert a clinician. In certain instances, the feedback systems 40563 can include, for example, one or more visual feedback systems, such as a display screen, a backlight, and / or an LED. In certain instances, the feedback systems 40563 can include, for example, one or more audio feedback systems, such as a speaker and / or a buzzer. In certain instances, the feedback systems 40563 can include, for example, one or more haptic feedback systems. In certain instances, the feedback systems 40563 can include, for example, a combination of visual, audio, and / or haptic feedback systems.

[0192] In addition to the above, in at least one embodiment, an internal battery is charged by an external charge accumulation device or by an external battery attached to the surgical instrument between surgical procedures and / or during a surgical procedure. In at least one embodiment, the external battery comprises a disposable battery that is introduced to the sterile field in a sterile package and attached to the surgical instrument to, for example, supplement and / or replace the internal battery. In at least one embodiment, the external battery is the sole operational power source for controlling the mechanical operating system, while radio frequency (RF) power for therapeutic treatment of tissue is supplied, for example, by a power generator. In such an arrangement, the external battery is connected to the surgical instrument when the internal battery is insufficient to power the device. More specifically, the external battery is used in conjunction with the internal battery rather than replacing the internal battery. Further, in at least one embodiment, the external battery comprises a disposable battery that is connected to the internal battery of the surgical instrument to charge the internal battery when the surgical instrument is not performing a surgical procedure. The external battery is subsequently disconnected from the surgical instrument for subsequent use by the clinician when supplemental power is needed.

[0193] Figure 36 A surgical system 40600 is shown that includes a surgical instrument 40610, a monopolar power generator 40620, and a bipolar power generator 40630. In the illustrated embodiment, the monopolar power generator 40620 is directly electrically coupled to the motor 40650 of the surgical instrument 40610, and the bipolar power generator 40630 is directly electrically coupled to the battery 40640. The bipolar power generator 40630 is configured to charge the battery 40640, which in turn supplies power to the motor 40650. The monopolar power generator 40620 is configured to directly supply power to the motor 40650 and to charge the battery 40640. More specifically, an additional electrical connection 40660 is supplied between the monopolar power generator 40620 and the battery to allow the monopolar power generator 40620 to supply power to the motor 40650 while also supplying power to the battery 40640 to charge the battery 40640. The monopolar power generator 40620 and the bipolar power generator 40630 are configured to output DC power to the battery 40640 and the motor 40650.

[0194] In various aspects, the surgical instrument 40610 includes an end effector 40611. The motor 40650 is operably coupled to the end effector 40611 and can be activated to cause the end effector 40611 to perform a variety of functions, such as, for example, moving at least one of the jaws 40613, 40614 of the end effector 40611 to cause the end effector 40611 to clamp tissue, apply energy to tissue, cut tissue, etc. Figure 36The illustrated transition between the open and closed configurations to grasp tissue positioned between the jaws. In addition, the end effector 4061 1 extends distally from the shaft 40615 and is articulatable relative to the shaft 4061 1 about a longitudinal axis extending centrally through the shaft 40615 by actuation motions generated by the motor 40650.

[0195] In addition, the surgical instrument 40610 further includes a power source assembly 40616 that transmits power from the generators 40620 and 40630 to the motor 40650 and / or the battery 40640. In at least one example, the power source assembly 40616 separately receives first power from the generator 40620 and second power from the generator 40630. The power source assembly 40616 is configured to transmit the second power to the battery 40640 to charge the battery to a highest predetermined charge level at a constant rate (SI). The power source assembly 40616 is further configured to transmit the first power to the electric motor 40650 and the battery 40650. In the illustrated example, the motor 40650 is powered by the battery 40640 and the generator 40620 in parallel or simultaneously.

[0196] Figure 37 A graph 40700 illustrating the battery charge percentage and motor torque of the surgical system 40600 is shown. Line 40710 represents the battery charge percentage of the battery 40640 when only the bipolar power generator 40630 is used with the surgical instrument 40610. Line 40720 represents the combined battery charge percentage when the monopolar power generator 40620 and the bipolar power generator 40630 are used with the surgical instrument 40610. The battery 40640 charges more quickly when both the monopolar power generator 40620 and the bipolar power generator 40630 are used to charge the battery 40640 compared to when only one of the monopolar power generator 40620 and the bipolar power generator 40630 is used to charge the battery 40640. In addition, line 40730 represents the battery charge percentage of the battery 40650 when only the bipolar power generator 40630 is used with the surgical instrument 40610. Line 40740 represents the motor torque of the motor 40650 when the monopolar power generator 40620 and the bipolar power generator 40630 are used with the surgical instrument 40610. The motor 40650 can produce more torque when both the monopolar power generator 40620 and the bipolar power generator 40630 are used to power the motor 40650 compared to when only one of the monopolar power generator 40620 and the bipolar power generator 40630 is used to power the motor 40650.

[0197] In addition to the above, other embodiments are contemplated in which the monopolar power generator 40620 is configured to supply power to the motor 40650 only, and the bipolar power generator 40630 is configured to charge the battery 40640, which in turn supplies additional power to the motor 40650 (i.e., the monopolar power generator 40620 does not charge the battery 40640). Further, other embodiments are contemplated in which both the monopolar power generator 40620 and the bipolar power generator 40630 are used to charge the battery 40640, which in turn supplies power to, for example, the motor 40650. In such an arrangement, both the monopolar power generator 40620 and the bipolar power generator 40630 can be synchronized to uniformly charge the battery 40640, which in turn is used to operate the motor 40650. In at least one embodiment, more than one motor can be utilized to drive the end effector 40611 of the surgical instrument 40610. In such an arrangement, the monopolar power generator 40620 can supply power to one of the motors, and the bipolar power generator 40630 can supply power to another one of the motors. Further, both the monopolar power generator 40620 and the bipolar power generator 40630 are used to charge the battery 40640, which in turn can be used to provide power to the motors. However, other embodiments are contemplated in which only one of the monopolar power generator 40620 and the bipolar power generator 40630 is used to charge the battery 40640.

[0198] Various aspects of the subject matter described herein are set out in the following numbered clauses.

[0199] Example Set 1

[0200] Example 1 - A surgical instrument comprising an end effector. The end effector comprises a proximal end, a distal end, a first jaw, and a second jaw. The first jaw comprises a first electrode. One of the first jaw and the second jaw is movable relative to the other of the first jaw and the second jaw from an open position to a closed position to grasp tissue located between the first jaw and the second jaw. The second jaw comprises a second electrode and a monopolar electrode centrally disposed down a length of the end effector. The first electrode and the second electrode cooperate to deliver bipolar energy to the tissue in a bipolar cycle. The monopolar electrode has a wedge shape. The wedge shape tapers in width along the length of the end effector. The monopolar electrode is electrically isolated from the first electrode and the second electrode. The monopolar electrode is configured to cut tissue using monopolar energy in a monopolar cycle.

[0201] Example 2 - The surgical instrument of Example 1, wherein the first jaw and the second jaw are laterally curved.

[0202] Example 3 - The surgical instrument of Examples 1 or 2, wherein the monopolar cycle is performed after the bipolar cycle.

[0203] Example 4 - The surgical instrument of Examples 1, 2, or 3, wherein the monopolar cycle is performed independently of the bipolar cycle.

[0204] Example 5 - The surgical instrument of Examples 1 or 2, wherein the monopolar cycle and the bipolar cycle are activated asynchronously in the tissue treatment cycle.

[0205] Example 6 - The surgical instrument of Examples 1, 2, 3, or 4, wherein, in the tissue treatment cycle, the monopolar cycle begins after the bipolar cycle begins and before the bipolar cycle terminates.

[0206] Example 7 - A surgical instrument comprising an end effector. The end effector comprises a proximal end, a distal end, a first jaw, and a second jaw. The first jaw comprises a first electrode. One of the first jaw and the second jaw is movable relative to the other of the first jaw and the second jaw from an open position to a closed position to grasp tissue positioned between the first jaw and the second jaw. The second jaw comprises a second electrode and a monopolar electrode electrically isolated from the first electrode and the second electrode. The first electrode and the second electrode cooperate to deliver bipolar energy to the tissue in a bipolar cycle. The monopolar electrode comprises a compliant flex circuit substrate centrally disposed down a length of the end effector and a conductive member disposed onto the compliant flex circuit substrate. The monopolar electrode is configured to cut tissue using monopolar energy in a monopolar cycle.

[0207] Example 8 - The surgical instrument of Example 7, wherein the first jaw and the second jaw are laterally curved.

[0208] Example 9 - The surgical instrument of Examples 7 or 8, wherein the monopolar cycle is performed after the bipolar cycle.

[0209] Example 10 - The surgical instrument of Examples 7, 8, or 9, wherein the monopolar cycle is performed independently of the bipolar cycle.

[0210] Example 11 - The surgical instrument of Examples 7 or 8, wherein the monopolar cycle and the bipolar cycle are activated asynchronously.

[0211] Example 12 - The surgical instrument of Examples 7, 8, 9, or 10, wherein, in the tissue treatment cycle, the monopolar cycle begins after the bipolar cycle begins and before the bipolar cycle terminates.

[0212] Example 13 - a surgical instrument comprising an end effector. The end effector comprises a proximal end, a distal end, a first jaw, and a second jaw. The first jaw comprises a first electrode. One of the first jaw and the second jaw is movable relative to the other of the first jaw and the second jaw from an open position to a closed position to grasp tissue positioned between the first jaw and the second jaw. The second jaw comprises a second electrode and a monopolar electrode centrally disposed down a length of the end effector. The first electrode and the second electrode cooperate to deliver bipolar energy to the tissue in a bipolar cycle. The monopolar electrode comprises an electrically conductive wire electrically isolated from the first electrode and the second electrode. The monopolar electrode is configured to cut tissue using monopolar energy in a monopolar cycle.

[0213] Example 14 - the surgical instrument of Example 13, wherein the monopolar cycle is performed after the bipolar cycle.

[0214] Example 15 - the surgical instrument of Example 13 or 14, wherein the monopolar cycle is performed independently of the bipolar cycle.

[0215] Example 16 - the surgical instrument of Example 13, 14, or 15, wherein the electrically conductive wire comprises a flexible central portion.

[0216] Example 17 - the surgical instrument of Example 13, 14, 15, or 16, further comprising a compliant member, wherein the electrically conductive wire is electrically isolated from the second jaw by the compliant member.

[0217] Example 18 - the surgical instrument of Example 17, wherein the compliant member comprises a deformable dielectric material.

[0218] Example 19 - the surgical instrument of Example 17 or 18, wherein the compliant member is compressible.

[0219] Example 20 - the surgical instrument of Example 17, 18, or 19, wherein the compliant member comprises a first compliant member, wherein the first jaw comprises a second compliant member, and wherein the first compliant member and the second compliant member electrically isolate the electrically conductive wire from the first jaw and the second jaw.

[0220] Example Set 2

[0221] Example 1 - A surgical end effector for use with an electrosurgical instrument. The end effector includes a proximal end, a distal end, a first jaw, and a second jaw. A central plane of the surgical end effector extends through the proximal end and the distal end. The first jaw is bisected by the central plane in a longitudinal direction. The first jaw includes a first electrode extending along a portion of the first jaw. The first electrode is positioned on a first side of the central plane. The second jaw is bisected by the central plane in the longitudinal direction. At least one of the first jaw and the second jaw is movable to transition the end effector from an open configuration to a closed configuration to grasp tissue positioned between the first jaw and the second jaw. The second jaw includes a second electrode and a compliant substrate. The second electrode extends along a portion of the second jaw. The second electrode is positioned on a second side of the central plane. The first electrode and the second electrode are configured to cooperate to deliver bipolar energy to the tissue. The compliant substrate extends along a length of the second jaw. The compliant substrate includes a first compliant portion on the first side of the central plane, a second compliant portion on the second side of the central plane, and a monopolar electrode extending along the central plane. The second electrode is mounted to the second compliant portion. The monopolar electrode is mounted to the compliant substrate. The monopolar electrode is configured to deliver monopolar energy to the tissue. The compliant substrate is configured to apply a biasing force to the second electrode and the monopolar electrode toward the first jaw in the closed configuration.

[0222] Example 2 - The surgical end effector of Example 1, wherein the first compliant portion is smaller than the second compliant portion.

[0223] Example 3 - The surgical end effector of Examples 1 or 2, wherein the second jaw includes a dielectric coating.

[0224] Example 4 - The surgical end effector of Example 3, wherein the compliant substrate and the dielectric coating define a flush tissue contact surface.

[0225] Example 5 - The surgical end effector of Examples 3 or 4, wherein the compliant substrate separates the dielectric coating from the monopolar electrode and the second electrode.

[0226] Example 6 - The surgical end effector of Examples 1, 2, 3, 4, or 5, wherein the compliant substrate includes a porous structure.

[0227] Example 7 - The surgical end effector of Examples 1, 2, 3, 4, 5, or 6, wherein the compliant substrate includes a resilient honeycomb structure.

[0228] Example 8 - The surgical end effector of Examples 1, 2, 3, 4, 5, 6, or 7, wherein the first jaw further comprises a first porous frame and a first diamond-like coating at least partially covering the first porous frame, wherein the first electrode is disposed on the first diamond-like coating.

[0229] Example 9 - The surgical end effector of Examples 1, 2, 3, 4, 5, 6, 7, or 8, wherein the second jaw further comprises a second porous frame and a second diamond-like coating at least partially covering the second porous frame, wherein the compliant substrate is disposed on the second diamond-like coating.

[0230] Example 10 - A surgical instrument comprising a shaft and an end effector extending from the shaft. The end effector comprises a proximal end, a distal end, a first jaw, and a second jaw. A central plane of the end effector extends through the proximal end and the distal end. The first jaw is bisected by the central plane in a longitudinal direction. The first jaw comprises a first electrode extending along a portion of the first jaw. The first electrode is positioned on a first side of the central plane. The second jaw is bisected by the central plane in the longitudinal direction. At least one of the first jaw and the second jaw is movable to transition the end effector from an open configuration to a closed configuration to grasp tissue positioned between the first jaw and the second jaw. The second jaw comprises a second electrode and a compressible support. The second electrode extends along a portion of the second jaw. The second electrode is positioned on a second side of the central plane. The first electrode and the second electrode are configured to cooperate to deliver bipolar energy to the tissue. The compressible support extends along a length of the second jaw. The compressible support comprises a first compressible portion on the first side of the central plane, a second compressible portion on the second side of the central plane, and a monopolar electrode extending along the central plane. The second electrode is mounted to the second compressible portion. The monopolar electrode is mounted to the compressible support. The monopolar electrode is configured to deliver monopolar energy to the tissue. The compressible support is configured to apply a spring bias to the second electrode and the monopolar electrode against the first jaw in the closed configuration.

[0231] Example 11 - The surgical instrument of Example 10, wherein the first compressible portion is smaller than the second compressible portion.

[0232] Example 12 - The surgical instrument of Examples 10 or 11, wherein the second jaw comprises a dielectric coating.

[0233] Example 13 - The surgical instrument of Example 12, wherein the compressible support and the dielectric coating define a flush tissue contact surface.

[0234] Example 14 - The surgical instrument of Examples 12 or 13, wherein the compressible support separates the dielectric coating from the monopolar electrode and the second electrode.

[0235] Example 15 - The surgical instrument of Examples 10, 11, 12, 13, or 14, wherein the compressible support comprises a porous structure.

[0236] Example 16 - The surgical instrument of Examples 10, 11, 12, 13, 14, or 15, wherein the compressible support comprises a resilient honeycomb structure.

[0237] Example 17 - The surgical instrument of Examples 10, 11, 12, 13, 14, 15, or 16, wherein the first jaw further comprises a first porous frame and a first diamond-like coating at least partially covering the first porous frame, wherein the first electrode is disposed on the first diamond-like coating.

[0238] Example 18 - The surgical instrument of Examples 10, 11, 12, 13, 14, 15, 16, or 17, wherein the second jaw further comprises a second porous frame and a second diamond-like coating at least partially covering the second porous frame, wherein the compressible support is disposed on the second diamond-like coating.

[0239] Example 19 - A surgical end effector for use with an electrosurgical instrument. The end effector comprises a proximal end, a distal end, a first jaw, and a second jaw. The first jaw extends longitudinally between the proximal end and the distal end. The first jaw comprises a first electrode extending longitudinally along a portion of the first jaw. The second jaw extends longitudinally between the proximal end and the distal end. At least one of the first jaw and the second jaw is movable to transition the end effector from an open configuration to a closed configuration to grasp tissue positioned between the first jaw and the second jaw. The second jaw comprises a second electrode, a monopolar electrode, and a compliant substrate. The second electrode extends longitudinally along a portion of the second jaw. The second electrode is laterally offset from the first electrode. The first electrode and the second electrode are configured to cooperate to deliver bipolar energy to the tissue. The monopolar electrode extends longitudinally along the second electrode. The monopolar electrode is configured to deliver monopolar energy to the tissue. The monopolar electrode and the second electrode are fixedly attached to the compliant substrate in a spaced apart arrangement. The compliant substrate is configured to apply a biasing force to the second electrode and the monopolar electrode toward the first jaw in the closed configuration.

[0240] Example 20 - The surgical end effector of Example 19, wherein at least one of the first jaw and the second jaw comprises a dielectric coating.

[0241] Example Set 3

[0242] Example 1 - 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. The housing comprises a printed circuit control board. The wiring circuit extends from the printed circuit 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 circuit 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.

[0243] Example 2 - The electrosurgical instrument of Example 1, wherein the resilient portion comprises a first substrate and the stretchable portion comprises a second substrate, and wherein the first substrate and the second substrate are different.

[0244] Example 3 - The electrosurgical instrument of Example 1 or 2, wherein the stretchable portion comprises a conductor in a zig-zag configuration, and wherein the conductor is made of a non-stretchable metallic material.

[0245] Example 4 - The electrosurgical instrument of Example 1, 2, or 3, wherein the stretchable portion comprises a conductor having an accordion shape, and wherein the conductor is made of a non-stretchable metallic material.

[0246] Example 5 - The electrosurgical instrument of Example 1, 2, 3, or 4, wherein the resilient portion comprises a laminate portion comprising a substrate.

[0247] Example 6 - 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. The housing comprises a printed circuit control board. The wiring circuit extends from the printed circuit 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 circuit control board. The wiring circuit comprises a rigid portion, a resilient portion transitionable between a relaxed configuration and a non-relaxed configuration, and a conductor extending through the resilient portion. The conductor comprises a stretchable portion. The conductor is configured to elongate when the resilient portion transitions from the relaxed configuration to the non-relaxed configuration.

[0248] Example 7 - The electrosurgical instrument of Example 6, wherein the stretchable portion comprises a zig-zag pattern.

[0249] Example 8 - The electrosurgical instrument of Example 6 or 7, wherein the stretchable portion comprises an oscillating pattern.

[0250] Example 9 - The electrosurgical instrument of Examples 6, 7, or 8, wherein the stretchable portion has an accordion shape.

[0251] Example 10 - The electrosurgical instrument of Examples 6, 7, 8, or 9, wherein the resilient portion comprises a laminated portion comprising a substrate.

[0252] Example 11 - An electrosurgical instrument comprising a housing, a shaft extending from the housing, an end effector extending from the shaft, a translation member configured to translate relative to the shaft to perform a function of the end effector, and a wire bundle. The housing comprises a printed circuit control board. The wire bundle extends from the printed circuit control board into the shaft. The wire bundle comprises a rigid body portion secured to the shaft, a resilient portion extending from the rigid body portion, and a wire extending through the rigid body portion and the resilient portion. One end of the resilient portion is attached to the translation member. The end of the resilient portion attached to the translation member comprises a sensor configured to measure a property of the translation member.

[0253] Example 12 - The electrosurgical instrument of Example 11, wherein the property of the translation member comprises a stress within the translation member.

[0254] Example 13 - The electrosurgical instrument of Example 11, wherein the property of the translation member comprises a strain within the translation member.

[0255] Example 14 - The electrosurgical instrument of Example 11, wherein the property of the translation member comprises a stress and a strain within the translation member.

[0256] Example 15 - The electrosurgical instrument of Examples 11, 12, 13, or 14, wherein the property of the translation member comprises one of a group consisting of a position of the translation member, a velocity of the translation member, and an acceleration of the translation member.

[0257] Example 16 - The electrosurgical instrument of Examples 11, 12, 13, 14, or 15, wherein the portion of the wire positioned within the resilient portion of the wire bundle comprises a stretchable portion.

[0258] Example 17 - The electrosurgical instrument of Example 16, wherein the stretchable portion comprises a zig-zag pattern.

[0259] Example 18 - The electrosurgical instrument of Examples 16 or 17, wherein the stretchable portion comprises an oscillating pattern.

[0260] Example 19 - The electrosurgical instrument of Examples 16, 17, or 18, wherein the stretchable portion has an accordion shape.

[0261] Example 20 - The electrosurgical instrument of Examples 11, 12, 13, 14, 15, 16, 17, 18, or 19, wherein the wire bundle extends into the end effector and includes a second sensor configured to measure a function of the end effector.

[0262] Example Set 4

[0263] Example 1 - A surgical instrument comprising a motor assembly, a shaft defining a shaft axis, a distal head extending from the shaft, a rotary drive member, and a distal head lock member. The distal head is rotatable about the shaft axis. The motor assembly comprises a motor and a motor controller. The motor controller is configured to operate the motor in a first operating mode and a second operating mode. The distal head comprises an end effector movable between an open configuration and a closed configuration. The rotary drive member is operable in response to the motor. The rotary drive member is in operable engagement with the distal head. The distal head lock member is manually movable between a first position in which the distal head is unlocked from the shaft and a second position in which the distal head is locked to the shaft. When the distal head lock member is in the first position and the rotary drive member is actuated, the distal head rotates about the shaft axis relative to the shaft. When the distal head lock member is in the second position and the rotary drive member is actuated, the end effector moves from the open configuration toward the closed configuration.

[0264] Example 2 - The surgical instrument of Example 1, wherein the motor assembly is configured to operate in the first operating mode when the distal head lock member is in the first position, and wherein the motor is configured to operate in the second operating mode when the distal head lock member is in the second position.

[0265] Example 3 - The surgical instrument of Examples 1 or 2, wherein the motor is configured to rotate the rotary drive member at a first speed when the motor is in the first operating mode, wherein the motor is configured to rotate the rotary drive member at a second speed when the motor is in the second operating mode, and wherein the first speed and the second speed are different.

[0266] Example 4 - The surgical instrument of Examples 1, 2, or 3, wherein the motor is configured to produce a first amount of torque when the motor is in the first operating mode, wherein the motor is configured to produce a second amount of torque when the motor is in the second operating mode, and wherein the first amount of torque and the second amount of torque are different.

[0267] Example 5 - The surgical instrument of Examples 1, 2, 3, or 4, wherein the rotary drive member accelerates at a first rate when the motor is in the first operating mode, wherein the rotary drive member accelerates at a second rate when the motor is in the second operating mode, and wherein the first rate and the second rate are different.

[0268] Example 6 - The surgical instrument of Examples 1, 2, 3, 4, or 5, further comprising a pull wire in operable engagement with the distal head lock member, wherein the pull wire is in operable engagement with the distal head to transition the distal head between a first configuration in which the distal head is unlocked from the shaft and a second configuration in which the distal head is locked to the shaft.

[0269] Example 7 - A surgical instrument comprising a motor assembly, a shaft defining a shaft axis, an end effector extending from the shaft, a rotary drive member, and a mode selector member. The motor assembly comprises a motor and a motor controller. The motor controller is configured to operate the motor in a first operating mode and a second operating mode. The end effector is configured to perform a first end effector function and a second end effector function different than the first end effector function. The rotary drive member is operably responsive to the motor. The rotary drive member is in operable engagement with the end effector and is configured to selectively perform the first end effector function and the second end effector function. The mode selector member is in operable engagement with the end effector and the rotary drive member. The mode selector member is manually movable between a first position in which the end effector performs the first end effector function when the rotary drive member is actuated by the motor and a second position in which the end effector performs the second end effector function when the rotary drive member is actuated by the motor. The motor is configured to operate in the first operating mode when the mode selector member is in the first position. The motor is configured to operate in the second operating mode when the mode selector member is in the second position.

[0270] Example 8 - The surgical instrument of Example 7, wherein the motor is configured to rotate the rotary drive member at a first speed when the motor is in the first operating mode, wherein the motor is configured to rotate the rotary drive member at a second speed when the motor is in the second operating mode, and wherein the first speed and the second speed are different.

[0271] Example 9 - The surgical instrument of Examples 7 or 8, wherein the motor is configured to produce a first amount of torque when the motor is in the first operating mode, wherein the motor is configured to produce a second amount of torque when the motor is in the second operating mode, and wherein the first amount of torque and the second amount of torque are different.

[0272] Example 10 - The surgical instrument of Examples 7, 8, or 9, wherein the rotary drive member accelerates at a first rate when the motor is in the first operating mode, wherein the rotary drive member accelerates at a second rate when the motor is in the second operating mode, and wherein the first rate and the second rate are different.

[0273] Embodiment 11 - A surgical instrument comprising a motor, a shaft defining a shaft axis, an end effector extending from the shaft, a rotary drive member operable in response to the motor, a lock member in operable engagement with the rotary drive member, and a switch member in operable engagement with the lock member. The rotary drive member is in operable engagement with the end effector and is configured to selectively perform a first end effector function and a second end effector function different from the first end effector function. The lock member is movable between a first position in which the end effector is locked to the shaft and a second position in which the end effector is unlocked from the shaft. The switch member is rotatable about the shaft axis to move the lock member between the first position and the second position. The rotary drive member is configured to perform the first end effector function when the lock member is in the first position. The rotary drive member is configured to perform the second end effector function when the lock member is in the second position.

[0274] Embodiment 12 - The surgical instrument of Embodiment 11, wherein the first end effector function comprises rotation of the end effector about the shaft axis, and wherein the second end effector function comprises actuation of a pair of jaws of the end effector.

[0275] Embodiment 13 - The surgical instrument of Embodiment 11, wherein the first end effector function comprises translation of a firing member through the end effector, and wherein the second end effector function comprises actuation of a pair of jaws of the end effector.

[0276] Embodiment 14 - The surgical instrument of Embodiment 11, further comprising an articulation joint, wherein the second end effector function comprises articulation of the end effector relative to the shaft about an articulation axis.

[0277] Embodiment 15 - The surgical instrument of Embodiments 11, 12, 13, or 14, further comprising a motor controller configured to operate the motor in a first operating mode and a second operating mode different from the first operating mode.

[0278] Embodiment 16 - The surgical instrument of Embodiment 15, wherein the motor controller is configured to operate the motor in the first operating mode when the lock member is in the first position and to operate the motor in the second operating mode when the lock member is in the second position.

[0279] Embodiment 17 - The surgical instrument of Embodiment 16, wherein the motor is configured to rotate the rotary drive member at a first speed when the motor is in the first operating mode, wherein the motor is configured to rotate the rotary drive member at a second speed when the motor is in the second operating mode, and wherein the first speed and the second speed are different.

[0280] Example 18 - The surgical instrument of Examples 16 or 17, wherein the motor is configured to produce a first amount of torque when the motor is in the first operating mode, wherein the motor is configured to produce a second amount of torque when the motor is in the second operating mode, and wherein the first amount of torque and the second amount of torque are different.

[0281] Example 19 - The surgical instrument of Examples 16, 17, or 18, wherein the rotary drive member accelerates at a first rate when the motor is in the first operating mode, wherein the rotary drive member accelerates at a second rate when the motor is in the second operating mode, and wherein the first rate and the second rate are different.

[0282] Example 20 - The surgical instrument of Examples 11, 12, 13, 14, 15, 16, 17, 18, or 19, further comprising a pull wire in operable engagement with the locking member and the end effector, wherein the pull wire is configured to transition the end effector between a first configuration in which the end effector is unlocked from the shaft and a second configuration in which the end effector is locked to the shaft.

[0283] Example Set 5

[0284] Example 1 - A surgical system comprising a generator and a surgical instrument configured to receive power from the generator. The surgical instrument comprises a housing, a shaft extending from the housing, an end effector extending from the shaft, and an internal charge accumulation device in electrical communication with the generator. The housing comprises an electric motor. The shaft defines a longitudinal shaft axis. The end effector is operably responsive to an actuation from the electric motor. The end effector is transitionable between an open configuration and a closed configuration. The end effector is rotatable relative to the longitudinal shaft axis about an articulation axis transverse to the longitudinal shaft axis. The generator is unable to directly supply power to the electric motor sufficient to cause the electric motor to perform the actuation. The internal charge accumulation device is configured to supply power to the electric motor. The internal charge accumulation device is chargeable by the generator to a threshold at a charge rate dependent on a charge level of the internal charge accumulation device. The charge rate is independent of a charge consumption of the surgical instrument.

[0285] Example 2 - The surgical system of Example 1, wherein the generator is configured to charge the internal charge accumulation device during the charge consumption.

[0286] Example 3 - The surgical system of Examples 1 or 2, wherein, when the charge level of the internal charge accumulation device is below the threshold, the generator supplies power to the internal charge accumulation device at a constant rate while the electric motor draws power from the internal charge accumulation device.

[0287] Example 4 - The surgical system of Examples 1, 2, or 3, wherein the speed of the electric motor is allowed to reach the maximum speed when the charge level of the internal charge accumulation device is above a predetermined minimum level.

[0288] Example 5 - The surgical system of Example 4, wherein the speed of the electric motor is limited to a reduced speed when the charge level of the internal charge accumulation device is below the predetermined minimum level.

[0289] Example 6 - The surgical instrument of Examples 1, 2, 3, 4, or 5, wherein the end effector comprises a first jaw and a second jaw, the first jaw comprising an electrode, and wherein the generator is configured to supply a first power to the surgical instrument to cause the electrode to cauterize tissue captured between the first jaw and the second jaw while supplying a second power to the surgical instrument to charge the internal charge accumulation device.

[0290] Example 7 - The surgical instrument of Examples 1, 2, 3, 4, 5, or 6, wherein the internal charge accumulation device comprises a rechargeable battery.

[0291] Example 8 - The surgical instrument of Example 7, wherein the rechargeable battery is integrated with the housing.

[0292] Example 9 - A surgical system comprising a power source and a surgical instrument configured to receive power from the power source. The surgical instrument comprises a housing, a shaft extending from the housing, an end effector extending from the shaft, and an internal charge accumulation device. The housing comprises an electric motor. The end effector is operably coupled to the electric motor. The electric motor is configured to drive the end effector to perform an end effector function. The internal charge accumulation device is in electrical communication with the power source. The internal charge accumulation device is configured to supply power to the electric motor. The internal charge accumulation device is chargeable by the power source to a threshold at a charge rate dependent on a charge level of the internal charge accumulation device. The internal charge accumulation device is chargeable by the power source while the electric motor drives the end effector to perform the end effector function.

[0293] Example 10 - The surgical system of Example 9, further comprising a control circuit configured to detect the charge level of the internal charge accumulation device, wherein detection of the charge level decreasing to a first minimum charge level or decreasing below the first minimum charge level causes the control circuit to decrease a maximum speed limit of the electric motor to a first minimum speed limit threshold.

[0294] Example 11 - The surgical system of Example 10, wherein detection of the charge level decreasing to a second minimum charge level less than the first minimum charge level or decreasing below the second minimum charge level causes the control circuit to decrease the maximum speed limit of the electric motor to a second minimum speed limit threshold less than the first minimum speed limit threshold.

[0295] Example 12 - The surgical system of Example 11, wherein detection of the charge level decreasing to a third minimum charge level less than the second minimum charge level or decreasing below the third minimum charge level causes the control circuit to stop the electric motor.

[0296] Example 13 - The surgical system of Example 12, wherein the control circuit is configured to prevent the electric motor from being reactivated until the charge level of the internal charge accumulation device is at or above the third minimum charge level.

[0297] Example 14 - The surgical system of Example 9, 10, 11, 12, or 13, wherein the power source supplies power to the internal charge accumulation device at a constant rate while the electric motor draws power from the internal charge accumulation device when the charge level of the internal charge accumulation device is below the threshold.

[0298] Example 15 - The surgical instrument of Example 9, 10, 11, 12, 13, or 14, wherein the end effector comprises a first jaw and a second jaw, the first jaw comprising an electrode, and wherein the power source is configured to supply a first power to the surgical instrument to cause the electrode to cauterize tissue captured between the first jaw and the second jaw while supplying a second power to the surgical instrument to charge the internal charge accumulation device.

[0299] Example 16 - The surgical instrument of Example 9, 10, 11, 12, 13, 14, or 15, wherein the internal charge accumulation device comprises a rechargeable battery.

[0300] Example 17 - The surgical instrument of Example 9, 10, 11, 12, 13, 14, 15, or 16, wherein the power source is a disposable battery.

[0301] Example 18 - A surgical system comprising a housing, a shaft extending from the housing, an end effector extending from the shaft, and a power source. The housing comprises an electric motor and an internal charge accumulation device connected to the electric motor. The electric motor is configured to cause the end effector to perform an end effector function. The power source assembly is connectable to two separate power sources. The power source assembly is configured to receive a first power and a second power from the power sources, respectively. The power source assembly is configured to transfer the second power to the internal charge accumulation device. The power source assembly is configured to transfer the first power to the electric motor and the internal charge accumulation device. The power source assembly is configured to provide power to the electric motor simultaneously from the internal charge accumulation device and the first power.

[0302] Example 19 - The surgical instrument of Example 18, wherein the internal charge accumulation device and the first power are configured to cause the electric motor to produce a first motor torque that is greater than a second motor torque caused by either of the internal charge accumulation device and the first power alone.

[0303] Example 20 - The surgical instrument of Example 18 or 19, wherein the internal charge accumulation device comprises a rechargeable battery.

[0304] While a number of forms have been illustrated and described, it is not the intention of the Applicant to restrict or limit the scope of the appended claims to such detail. Numerous modifications, alterations, variations, combinations, and equivalents will become apparent to those skilled in the art in view of the foregoing description, and it is contemplated that such modifications, alterations, variations, combinations, and equivalents are within the scope of the disclosure. Moreover, other structures associated with the forms described can be described in terms of structural components and their function. Additionally, in disclosing forms wherein the structural components are described in terms of performing certain functions, it will be recognized that structural equivalents of the same form and function can be substituted for the structural components as long as the structural equivalents perform the same function. Furthermore, although individual elements of the described forms can be established as claimed apparatus, alternative forms can be established using just components among the structures and functions established. Therefore, it is contemplated that the above description and associated drawings merely explain and illustrate the embodiments of the present disclosure, and claims are to be afforded the full scope inherent to their equivalents. The appended claims are intended to cover all such modifications, alterations, variations, combinations, and equivalents.

[0305] The detailed description set forth above describes various forms of the application in connection with the illustrative embodiments. It is to be understood that the terms "example," "exemplary," "for example," or the like are not used to mean that a particular aspect or aspect only is desired or essential. Rather, these terms are used to indicate that an aspect described in connection therewith is one among possibly many alternative aspects. It is to be understood that the foregoing description and specific examples, while indicating certain aspects of the application, are given by way of illustration and example only, since various changes and modifications within the spirit and scope of the application can become apparent to those skilled in the art from this detailed description. Accordingly, the actual scope of the application is to be determined by reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.

[0306] Instructions used to program logic to perform various disclosed aspects can be stored within a memory in the system, such as dynamic random access memory (DRAM), cache, flash memory, or other memory. Furthermore, instructions can be distributed via a network or by way of other computer readable media. Thus, a machine-readable medium can include any mechanism for storing or transmitting information in a form readable by a machine (e.g., a computer), but is not limited to, soft disks, optical disks, magnetic disks or tapes, ROM, RAM, EPROM, EEPROM, flash memory, optical storage, magneto-optical storage, or a tangible, machine-readable storage, etc. Thus, a non-transitory machine-readable medium includes any type of mechanical or electrical non-transitory machine-readable medium that is suitable for storing or transmitting electronic instructions or information in a form readable by a machine (e.g., a computer).

[0307] As used in any aspect of this document, the term "control circuitry" may refer to, for example, hardwired circuitry systems, programmable circuitry systems (e.g., computer processors including one or more individual instruction processing cores, processing units, processors, microcontrollers, microcontroller units, controllers, digital signal processors (DSPs), programmable logic devices (PLDs), programmable logic arrays (PLAs), field-programmable gate arrays (FPGAs)), state machine circuitry systems, firmware storing instructions executed by the programmable circuitry system, and any combination thereof. Control circuitry can be implemented collectively or individually as part of a larger system, such as integrated circuits (ICs), application-specific integrated circuits (ASICs), system-on-a-chip (SoCs), desktop computers, laptop computers, tablet computers, servers, smartphones, etc. Therefore, as used herein, "control circuit" includes, but is not limited to, electronic circuits having at least one discrete circuit, electronic circuits having at least one integrated circuit, electronic circuits having at least one application-specific integrated circuit, electronic circuits forming a general-purpose computing device constructed by a computer program (e.g., a general-purpose computer constructed by a computer program that at least partially implements the methods and / or devices described herein, or a microprocessor constructed by a computer program that at least partially implements the methods and / or devices described herein), electronic circuits forming a memory device (e.g., forming a random access memory), and / or electronic circuits forming a communication device (e.g., a modem, a communication switch, or an optoelectronic device). Those skilled in the art will recognize that the subject matter described herein can be implemented in analog or digital modes, or some combination thereof.

[0308] As used anywhere in this document, the term "logic" can refer to an application, software, firmware, and / or circuit system configured to perform any of the foregoing operations. Software can be embodied as a software package, code, instructions, instruction sets, and / or data recorded on a non-transitory computer-readable storage medium. Firmware can be embodied as hard-coded (e.g., non-volatile) code, instructions, or instruction sets and / or data in a memory device.

[0309] As used in any part of this document, the terms “component,” “system,” “module,” etc., can refer to computer-related entities, hardware, combinations of hardware and software, software, or software in execution.

[0310] As used in any aspect herein, an “algorithm” refers to a self-consistent sequence of steps leading to a desired result, where a “step” refers to a manipulation of physical quantities and / or logic states, which may, but need not, take the form of electrical or magnetic signals, that may, but need not, be stored, transferred, combined, compared, and otherwise manipulated in a computer system or similar electronic computing device. Commonly used terms such as bits, values, elements, symbols, characters, terms, numbers, and the like, can be associated with the appropriate physical quantities and are merely convenient labels applied to these quantities.

[0311] The network can include a packet-switched network. The communication devices can be capable of communicating with each other using a selected packet-switched network communication protocol. One example communication protocol can include an Ethernet communication protocol that can be capable of allowing communication using the Transmission Control Protocol / Internet Protocol (TCP / IP). The Ethernet protocol can conform to or be compatible with the Ethernet standard entitled “IEEE 802.3 Standard” published by the Institute of Electrical and Electronics Engineers (IEEE) in December 2008 and / or a later version of this standard. Alternatively or additionally, the communication devices can be capable of communicating with each other using an X.25 communication protocol. The X.25 communication protocol can conform to or be compatible with a standard published by the International Telecommunication Union Telecommunication Standardization Sector (ITU-T). Alternatively or additionally, the communication devices can be capable of communicating with each other using a Frame Relay communication protocol. The Frame Relay communication protocol can conform to or be compatible with a standard published by the Consultative Committee International Telegraph and Telephone (CCITT) and / or the American National Standards Institute (ANSI). Alternatively or additionally, the transceivers can be capable of communicating with each other using an Asynchronous Transfer Mode (ATM) communication protocol. The ATM communication protocol can conform to or be compatible with the ATM standard entitled “ATM-MPLS Network Interworking 2.0” published by the ATM Forum in August 2001 and / or a later version of this standard. Of course, different and / or later developed connection-oriented network communication protocols are likewise contemplated herein.

[0312] Unless specifically stated otherwise as apparent from the above disclosure, it is appreciated that, throughout described disclosure, discussions using terms such as “processing,” “computing,” “calculating,” “determining,” “displaying,” or the like, can refer to the action and processes of a computer system, or similar electronic

[0313] One or more components can be referred to herein as being“configured to,”“configurable to,”“operable to,”“adapted to,”“able to,”“adaptable to,” etc. Those skilled in the art will realize that, in many embodiments, such terms are descriptive, and are not intended to convey a meaning that the device, system or article is actually“configured to” in an absolute sense. Rather, such terms are intended to convey that the device, system or article is adapted or able to operate in a particular manner, which is described in the specification, but not necessarily in an actual or absolute sense.

[0314] The terms“proximal” and“distal” are used herein with respect to a clinician manipulating a handle portion of a surgical instrument. The term“proximal” refers to the portion closest to the clinician, and the term“distal” refers to the portion positioned away from the clinician. It will also be understood that, for the sake of brevity and clarity, spatial terms such as“vertical,”“horizontal,”“up,” and“down” can be used herein with respect to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not limiting and / or absolute.

[0315] Those skilled in the art will recognize that, in general, the terms used herein, and particularly in the appended claims (for example, the text of the appended claims) are intended to be“open” terms (for example, the terms“comprising,”“including,”“carrying” should be interpreted as“including but not limited to,” the term“having” should be interpreted as“having at least,” the term“includes” should be interpreted as“includes but is not limited to,” etc.). Those skilled in the art will also recognize that, where specific numbers can be mentioned in the claim language introduced by the phrase“at least one,” such intent will be expressly recited in the claim, and in the absence of such recitation, no such intent exists. For example, to aid in understanding, the following appended claims can contain the use of the introductory phrases“at least one” and“one or more” to introduce claim language. However, the use of such phrases should not be taken to imply that the use of indefinite articles“a” or“an” to introduce claim language will limit any particular claim to contain only one such expression, even when the same claim includes the introductory phrases“one or more” or“at least one” and the indefinite articles such as“a” or“an” (for example, “a” and / or “an” should generally be interpreted to mean“at least one” or“one or more”); this also applies to the use of the definite article.

[0316] Furthermore, even when a specific number of claims is explicitly stated, those skilled in the art should recognize that such a statement should generally be interpreted as referring to at least the number stated (e.g., in the absence of other modifiers, a bare statement of "two statements" generally means at least two statements, or two or more statements). Moreover, in cases where conventions such as "at least one of A, B, and C" are used, such constructions are generally intended to have a meaning that those skilled in the art will understand (e.g., "a system having at least one of A, B, and C" will include, but is not limited to, systems having only A, only B, only C, A and B together, A and C together, B and C together, and / or A, B, and C together, etc.). In cases where conventions such as "at least one of A, B, or C" are used, such constructions are generally intended to have a meaning that those skilled in the art will understand (e.g., "a system having at least one of A, B, or C" should include, but is not limited to, systems having only A, only B, only C, A and B together, A and C together, B and C together, and / or A, B, and C together, etc.). Those skilled in the art should also understand that, generally, unless the context otherwise indicates, any transitional words and / or phrases presenting two or more alternative terms in the detailed description, claims, or drawings should be understood to cover the possibility of including one of the terms, any one of the terms, or both of the terms. For example, the phrase "A or B" will generally be understood to include the possibility of "A" or "B" or "A and B".

[0317] With respect to the appended claims, those skilled in the art will understand that the operations described herein can generally be performed in any order. Furthermore, although various operation flowcharts are shown in one or more sequences, it should be understood that the various operations may be performed in other orders than those shown, or may be performed simultaneously. Unless the context otherwise requires, examples of such alternative orderings may include overlapping, interleaving, interruption, reordering, incremental, preparatory, supplementary, simultaneous, reverse, or other altered orderings. Moreover, unless the context otherwise requires, terms such as “in response to,” “related,” or other past tense adjectives are generally not intended to exclude such variations.

[0318] It is worth noting that any reference to "one aspect," "one aspect," "one example," or "one example" means that the specific feature, structure, or characteristic described in connection with said aspect is included in at least one aspect. Therefore, the phrases "in one aspect," "in one aspect," "in one example," and "in one example" appearing in various places throughout the specification do not necessarily refer to the same aspect. Furthermore, specific features, structures, or characteristics may be combined in one or more aspects in any suitable manner.

[0319] In this specification, unless otherwise specified, the terms "about" or "approximately" as used herein refer to an acceptable error in a particular value as determined by one of ordinary skill in the art, the acceptable error being partly dependent on the method of measurement or determination of that value. In some embodiments, the terms "about" or "approximately" mean within 1, 2, 3, or 4 standard deviations. In some embodiments, the terms "about" or "approximately" mean within 50%, 20%, 15%, 10%, 9%, 8%, 7%, 6%, 5%, 4%, 3%, 2%, 1%, 0.5%, or 0.05% of a given value or range.

[0320] In this specification, unless otherwise specified, all numerical parameters should in all cases be understood to be referred to by or modified by the term "about," whereby the numerical parameters have inherent differences in the underlying measurement techniques used to determine the parameter values. To a minimum, and without attempting to limit the application of the doctrine of equivalents to the scope of the claims, each numerical parameter described herein should be interpreted at least according to the significant digits of the reported value and by applying customary rounding methods.

[0321] Any numerical ranges listed herein include all subranges covered by the listed range. For example, the range “1 to 10” includes all subranges between the listed minimum value 1 and the listed maximum value 10 (inclusive), that is, a minimum value equal to or greater than 1 and a maximum value equal to or less than 10. Furthermore, all ranges listed herein include the endpoints of the listed range. For example, the range “1 to 10” includes the endpoints 1 and 10. Any upper limit value listed in this specification is intended to include all smaller limits covered therein, and any lower limit value listed in this specification is intended to include all larger limits covered therein. Therefore, the applicant reserves the right to amend this specification (including the claims) to expressly list any subranges covered by the expressly listed ranges. All such ranges are inherently described in this specification.

[0322] Any patent application, patent, non-patent publication, or other public material mentioned in this specification and / or listed in any application data sheet is incorporated herein by reference, provided that the incorporated material is inconsistent with this specification. Therefore, and to the extent necessary, the disclosures expressly listed herein replace any conflicting material incorporated herein by reference. Any material or portion thereof allegedly incorporated herein by reference that conflicts with existing definitions, statements, or other public materials listed herein will be incorporated only to the extent that the incorporated material does not conflict with existing public materials.

[0323] In general, numerous benefits have been described which result from the techniques described herein. The foregoing specific embodiments have been presented for purposes of illustration and description. They are not intended to be exhaustive of or to limit the application to the precise forms disclosed. Modifications and variations are possible in light of the above teachings or can be acquired from practice of the application. One or more forms have been chosen and described expressed in one or more specific forms chosen for the convenience of the reader. The one or more forms are not intended to limit the scope of the application which is defined by the claims submitted herewith.

Claims

1. A surgical end effector for use with an electrosurgical instrument, the end effector comprising: Proximal end; The distal end, wherein the central plane of the surgical end effector extends through the proximal end and the distal end; A first jaw, the first jaw being bisected by the central plane along a longitudinal direction, wherein the first jaw includes a first electrode extending along a portion of the first jaw, and wherein the first electrode is positioned on a first side of the central plane; as well as A second jaw, bisected longitudinally by the central plane, wherein at least one of the first and second jaws is movable to change the end effector from an open configuration to a closed configuration, thereby gripping tissue located between the first and second jaws, and wherein the second jaw includes: A second electrode extending along a portion of the second jaw, wherein the second electrode is positioned on a second side of the central plane, and wherein the first electrode and the second electrode are configured to cooperate to deliver bipolar energy to the tissue; and A compliant substrate extending along the length of the second jaw, wherein the compliant substrate comprises: The first compliant portion located on the first side of the central plane; A second compliant portion located on the second side of the central plane, wherein the second electrode is mounted to the second compliant portion; and A monopolar electrode extending along the central plane, wherein the monopolar electrode is mounted on the compliant substrate, wherein the monopolar electrode is configured to deliver monopolar energy to the tissue, and wherein the compliant substrate is configured to apply bias force to the second electrode and the monopolar electrode toward the first jaw in the closed configuration.

2. The surgical end effector according to claim 1, wherein, The first compliant portion is smaller than the second compliant portion.

3. The surgical end effector according to claim 1, wherein, The second jaw includes a dielectric coating.

4. The surgical end effector according to claim 3, wherein, The flexible substrate and the dielectric coating define flush tissue contact surfaces.

5. The surgical end effector according to claim 4, wherein, The flexible substrate separates the dielectric coating from the unipolar electrode and the second electrode.

6. The surgical end effector according to claim 1, wherein, The flexible substrate includes a porous structure.

7. The surgical end effector according to claim 1, wherein, The flexible substrate includes an elastic honeycomb structure.

8. The surgical end effector according to claim 1, wherein, The first jaw also includes: First porous frame; and A first type of diamond coating at least partially covers the first porous framework, wherein the first electrode is disposed on the first type of diamond coating.

9. The surgical end effector according to claim 8, wherein, The second jaw also includes: The second porous frame; and A second type of diamond coating at least partially covers the second porous framework, wherein the flexible substrate is disposed on the second type of diamond coating.

10. A surgical instrument comprising: axis; as well as An end effector extending from the axis, the end effector comprising: Proximal end; The distal end, wherein the central plane of the end effector extends through the proximal end and the distal end; A first jaw, the first jaw being bisected longitudinally by the central plane, wherein the first jaw includes a first electrode extending along a portion of the first jaw, and wherein the first electrode is positioned on a first side of the central plane; and A second jaw, bisected longitudinally by the central plane, wherein at least one of the first and second jaws is movable to change the end effector from an open configuration to a closed configuration, thereby gripping tissue located between the first and second jaws, and wherein the second jaw includes: A second electrode extending along a portion of the second jaw, wherein the second electrode is positioned on a second side of the central plane, and wherein the first electrode and the second electrode are configured to cooperate to deliver bipolar energy to the tissue; and A compressible support extending along the length of the second jaw, wherein the compressible support comprises: The first compressible portion located on the first side of the central plane; A second compressible portion located on the second side of the central plane, wherein the second electrode is mounted to the second compressible portion; and A monopolar electrode extending along the central plane, wherein the monopolar electrode is mounted on the compressible support, wherein the monopolar electrode is configured to deliver monopolar energy to the tissue, and wherein the compressible support is configured to apply spring bias to the second electrode and the monopolar electrode against the first jaw in the closed configuration.

11. The surgical instrument according to claim 10, wherein, The first compressible portion is smaller than the second compressible portion.

12. The surgical instrument according to claim 10, wherein, The second jaw includes a dielectric coating.

13. The surgical instrument according to claim 12, wherein, The compressible support and the dielectric coating define flush tissue contact surfaces.

14. The surgical instrument according to claim 13, wherein, The compressible support separates the dielectric coating from the unipolar electrode and the second electrode.

15. The surgical instrument according to claim 10, wherein, The compressible support includes a porous structure.

16. The surgical instrument according to claim 10, wherein, The compressible support includes an elastic honeycomb structure.

17. The surgical instrument according to claim 10, wherein, The first jaw also includes: First porous frame; and A first type of diamond coating at least partially covers the first porous framework, wherein the first electrode is disposed on the first type of diamond coating.

18. The surgical instrument according to claim 17, wherein, The second jaw also includes: The second porous frame; and A second type of diamond coating at least partially covers the second porous frame, wherein the compressible support is disposed on the second type of diamond coating.

19. A surgical end effector for use with an electrosurgical instrument, the end effector comprising: Proximal end; distal end; A first jaw, the first jaw extending longitudinally between the proximal end and the distal end, wherein the first jaw includes a first electrode extending longitudinally along a portion of the first jaw; as well as A second jaw, extending longitudinally between the proximal end and the distal end, wherein at least one of the first jaw and the second jaw is movable to change the end effector from an open configuration to a closed configuration, thereby grasping tissue located between the first jaw and the second jaw, and wherein the second jaw includes: A second electrode extending longitudinally along a portion of the second jaw, wherein the second electrode is laterally offset from the first electrode, and wherein the first electrode and the second electrode are configured to cooperate to deliver bipolar energy to the tissue; A monopolar electrode extending longitudinally along the second electrode, wherein the monopolar electrode is configured to deliver monopolar energy to the tissue; and A compliant substrate, wherein the unipolar electrode and the second electrode are fixedly attached to the compliant substrate in a spaced-apart arrangement, and wherein the compliant substrate is configured to apply a bias force to the second electrode and the unipolar electrode toward the first jaw in the closed configuration.

20. The surgical end effector according to claim 19, wherein, At least one of the first jaws and the second jaws includes a dielectric coating.

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