Electrosurgical systems with integrated and external power sources

Abstract

The present invention discloses 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 defining a longitudinal axis, an end effector, and an internal charge accumulation device. The housing comprises a motor. The end effector is operable in response to actuation from an electric motor, is capable of transitioning between an open configuration and a closed configuration, and is capable of rotating about an articulation axis transverse to the longitudinal axis. The generator is unable to directly supply sufficient power to the motor to perform the actuation. The internal charge accumulation device is electrically connected to the generator and supplies power to the motor. The internal charge accumulation device can be charged to a threshold by the generator at a charging rate that depends on the charge level of the internal charge accumulation device. The charging rate is independent of the charge consumption of the surgical instrument.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

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

[0003] The present invention relates to surgical instruments designed for treating tissue, including but not limited to surgical instruments configured to cut and fasten tissue. The surgical instrument may include an electrosurgical instrument powered by a generator to achieve tissue dissection, cutting and / or coagulation during a surgical procedure. The surgical instrument may include an instrument configured to cut and staple tissue using surgical staples and / or fasteners. The surgical instrument may be configured for open surgical procedures, but may also be applied to other types of surgical procedures, such as laparoscopic, endoscopic, and robotic-assisted procedures, and may include an end effector capable of articulating relative to a shaft portion of the instrument to facilitate precise positioning within the patient's body. Summary of the Invention

[0004] In various embodiments, a surgical system is disclosed that includes a generator and a surgical instrument configured to receive power from the generator. The surgical instrument includes 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 includes an electric motor. The shaft defines a longitudinal axis. The end effector is operatively responsive to actuation from the electric motor. The end effector is capable of transitioning between an open configuration and a closed configuration. The end effector is rotatable relative to the longitudinal axis about an articulation axis that is transverse to the longitudinal axis. The generator is unable to directly supply sufficient power to the electric motor to cause the electric motor to actuate. 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 value at a charging rate that depends on the charge level of the internal charge accumulation device. The charging rate is independent of charge consumption of the surgical instrument.

[0005] In various embodiments, a surgical system is disclosed that includes a power source and a surgical instrument configured to receive power from the power source. The surgical instrument includes a housing, a shaft extending from the housing, an end effector extending from the shaft, and an internal charge accumulation device. The housing includes 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 electrically connected to the power source. The internal charge accumulation device is configured to supply power to the electric motor. The internal charge accumulation device can be charged to a threshold by the power source at a charging rate that depends on the charge level of the internal charge accumulation device. The internal charge accumulation device can be charged by the power source while the electric motor drives the end effector to perform an end effector function.

[0006] In various embodiments, a surgical system is disclosed that includes a housing, a shaft extending from the housing, an end effector extending from the shaft, and a power source. The housing includes 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 transmit the second power to the internal charge accumulation device. The power source assembly is configured to transmit the first power to the electric motor and the internal charge accumulation device. The power source assembly is configured to simultaneously provide power to the electric motor from the internal charge accumulation device and the first power. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The novel features of the various aspects are set forth with particularity in the appended claims. However, the described aspects, both as to organization and method of operation, may be best understood by reference to the following description taken in conjunction with the accompanying drawings, in which:

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

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

[0010] Figure 3 A schematic diagram illustrating a surgical instrument or tool according to at least one aspect of the present disclosure is shown;

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

[0012] Figure 5 yes Figure 4a side elevational view of the end effector in a closed configuration;

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

[0014] Figure 7 yes Figure 4 a side elevation view of the other jaw of the end effector;

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

[0016] Figure 9 yes Figure 8 An end view of an end effector;

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

[0018] Figure 11 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;

[0019] Figure 12 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;

[0020] Figure 13 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;

[0021] Figure 14 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;

[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 power regimens for coagulating and cutting a tissue treatment area during a treatment cycle applied by an end effector in accordance with 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 yes Figure 20 A partial side elevation view of the flexible wiring assembly in a relaxed configuration;

[0029] Figure 22 yes Figure 20 A partial side elevation view of the flexible wiring assembly in a stretched configuration;

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

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

[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 yes Figure 26 An end cross-sectional view of the manual switching member showing the manual switching member in a rotated position;

[0035] Figure 28 yes Figure 27 An end cross-sectional view of the manual switching member when it is in a central position;

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

[0037] Figure 30 yes Figure 26 An exploded perspective view of a surgical instrument showing a manual switching member and an elongated shaft;

[0038] Figure 31 yes Figure 30 A plan view of the elongated shaft of FIG. 1 , showing the position of the elongated shaft when the manual rocker member is in a centered position;

[0039] Figure 32 yes Figure 30 A plan view of the elongated shaft showing the position of the elongated shaft when the manual switching member is rotated counterclockwise;

[0040] Figure 33 yes Figure 30 , showing the position of the elongated shaft when the manual switching member is rotated clockwise;

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

[0042] Figure 35 yes Figure 34 graphs of battery recharge rate, battery charge percentage, power draw, and motor speed versus time for a surgical system;

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

[0044] Figure 37 is a graphical representation of battery charge percentage and motor torque over time for multiple surgical instrument systems according to at least one aspect of the present disclosure. DETAILED DESCRIPTION

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

[0046] Attorney Docket No. END9234USNP1 / 190717-1M, entitled “METHOD FOR ANELECTROSURGICAL PROCEDURE”;

[0047] Attorney Docket No. END9234USNP2 / 190717-2, titled “ARTICULATABLE SURGICALINSTRUMENT”;

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

[0049] Attorney Docket No. END9234USNP4 / 190717-4, entitled “SURGICAL INSTRUMENT WITHROTATABLE AND ARTICULATABLE SURGICAL END EFFECTOR”;

[0050] Attorney Docket No. END9234USNP5 / 190717-5, entitled “ELECTROSURGICAL INSTRUMENTWITH ASYNCHRONOUS ENERGIZING ELECTRODES”;

[0051] Attorney Docket No. END9234USNP6 / 190717-6, entitled “ELECTROSURGICAL INSTRUMENTWITH ELECTRODES BIASING SUPPORT”;

[0052] Attorney Docket No. END9234USNP7 / 190717-7, titled “ELECTROSURGICAL INSTRUMENTWITH FLEXIBLE WIRING ASSEMBLIES”;

[0053] Attorney Docket No. END9234USNP8 / 190717-8, titled “ELECTROSURGICAL INSTRUMENTWITH VARIABLE CONTROL MECHANISMS”;

[0054] Attorney Docket No. END9234USNP10 / 190717-10, entitled “ELECTROSURGICALINSTRUMENTS WITH ELECTRODES HAVING ENERGY-FOCUSING FEATURES”;

[0055] Attorney Docket No. END9234USNP11 / 190717-11, entitled “ELECTROSURGICALINSTRUMENTS WITH ELECTRODES HAVING VARIABLE ENERGY DENSITIES”;

[0056] Attorney Docket No. END9234USNP12 / 190717-12, titled “ELECTROSURGICALINSTRUMENT WITH MONOPOLAR AND BIPOLAR ENERGY CAPABILITIES”;

[0057] Attorney Docket No. END9234USNP13 / 190717-13, entitled “ELECTROSURGICAL ENDEFFECTORS WITH THERMALLY INSULATIVE AND THERMALLY CONDUCTIVE PORTIONS”;

[0058] Attorney Docket No. END9234USNP14 / 190717-14, entitled “ELECTROSURGICALINSTRUMENT WITH ELECTRODES OPERABLE IN BIPOLAR AND MONOPOLAR MODES”;

[0059] Attorney Docket No. END9234USNP15 / 190717-15, entitled “ELECTROSURGICALINSTRUMENT FOR DELIVERING BLENDED ENERGY MODALITIES TO TISSUE”;

[0060] Attorney Docket No. END9234USNP16 / 190717-16, titled “CONTROL PROGRAMADAPTATION BASED ON DEVICE STATUS AND USER INPUT”;

[0061] Attorney Docket No. END9234USNP17 / 190717-17, entitled “CONTROL PROGRAM FORMODULAR COMBINATION ENERGY DEVICE”; and

[0062] Attorney Docket No. END9234USNP18 / 190717-18, titled “SURGICAL SYSTEM COMMUNICATION PATHWAYS.”

[0063] The applicant of this application owns the following U.S. provisional patent applications filed on December 30, 2019, the disclosures of each of which are incorporated herein by reference in their entirety:

[0064] U.S. Provisional Patent Application Serial No. 62 / 955,294, entitled “USER INTERFACE FOR SURGICALINSTRUMENT 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] The applicant of the present application owns the following U.S. patent applications, the disclosure of each of which is incorporated herein by reference in its entirety:

[0068] U.S. patent application serial number 16 / 209,395, entitled “METHOD OF HUB COMMUNICATION,” now U.S. Patent Application Publication No. 2019 / 0201136;

[0069] U.S. patent application serial number 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 number 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 number 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 Ser. 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 Ser. No. 16 / 209,427, entitled “METHOD OF USING REINFORCED FLEXIBLE CIRCUITS WITH MULTIPLE SENSORS TO OPTIMIZE PERFORMANCE OF RADIOFREQUENCY DEVICES,” now U.S. Patent Application Publication No. 2019 / 0208641;

[0074] U.S. patent application Ser. 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 number 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 number 16 / 209,453, entitled “METHOD FOR CONTROLLING SMARTENERGY DEVICES,” now U.S. Patent Application Publication No. 2019 / 0201046;

[0077] U.S. patent application serial number 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 number 16 / 209,465, entitled “METHOD FOR ADAPTIVE CONTROLSCHEMES FOR SURGICAL NETWORK CONTROL AND INTERACTION,” now U.S. Patent Application Publication No. 2019 / 0206563;

[0079] U.S. patent application Ser. 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 number 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 number 16 / 209,491, entitled “METHOD FOR CIRCULAR STAPLERCONTROL ALGORITHM ADJUSTMENT BASED ON SITUATIONAL AWARENESS,” now U.S. Patent Application Publication No. 2019 / 0200998;

[0082] U.S. patent application Ser. No. 16 / 562,123, entitled “METHOD FOR CONSTRUCTING ANDUSING A MODULAR SURGICAL ENERGY SYSTEM WITH MULTIPLE DEVICES”

[0083] U.S. patent application serial number 16 / 562,135, entitled “METHOD FOR CONTROLLING ANENERGY MODULE OUTPUT”;

[0084] U.S. patent application Ser. No. 16 / 562,144, entitled “METHOD FOR CONTROLLING AMODULAR ENERGY SYSTEM USER INTERFACE”; and

[0085] U.S. patent application serial number 16 / 562,125, entitled “METHOD FOR COMMUNICATING BETWEEN MODULES AND DEVICES IN A MODULAR SURGICAL SYSTEM.”

[0086] Before describing various aspects of the electrosurgical system 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 components shown in the drawings and the description. The illustrative examples may be implemented or incorporated in other aspects, variations, and modifications, and may be practiced or carried out in various ways. Furthermore, unless otherwise indicated, the terms and expressions used herein are selected for the convenience of the reader and are not intended to be limiting. Furthermore, it should be understood that one or more of the aspects, expressions of aspects, and / or examples described below may be combined with any one or more of the other aspects, expressions of aspects, and / or examples described below.

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

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

[0089] Figure 1An example of a generator 900 configured to deliver multiple energy modalities to a surgical instrument is shown. Generator 900 provides RF and / or ultrasonic signals for delivering energy to the surgical instrument. Generator 900 includes at least one generator output that can deliver multiple energy modalities (e.g., ultrasound, bipolar or monopolar RF, irreversible and / or reversible electroporation, and / or microwave energy, etc.) through a single port, and these signals can be delivered separately or simultaneously to an end effector to treat tissue. Generator 900 includes a processor 902 coupled to a waveform generator 904. Processor 902 and waveform generator 904 are configured to generate multiple signal waveforms based on information stored in a memory coupled to processor 902, which is not shown for clarity of this disclosure. Digital information associated with the waveform is provided to 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 amplifier 906 for signal conditioning and amplification. The conditioned and amplified output of amplifier 906 is coupled to a power transformer 908. The signal is coupled to a secondary side in the patient isolation side through power transformer 908. A first signal of a first energy mode is provided to a surgical instrument between terminals labeled ENERGY1 and RETURN. A second signal of a second energy mode is coupled across capacitor 910 and provided to a surgical instrument between terminals labeled ENERGY2 and RETURN. It should be understood that more than two energy modes can be output, and thus the subscript "n" can be used to specify that up to n ENERGY modes can be provided. n terminals, where n is a positive integer greater than 1. It should also be understood that up to "n" return paths RETURN may be provided without departing from the scope of the present disclosure. n .

[0090] A first voltage sensing circuit 912 is coupled to terminals labeled ENERGY1 and the RETURN path to measure the output voltage therebetween. A second voltage sensing circuit 924 is coupled to terminals labeled ENERGY2 and the RETURN path to measure the output voltage therebetween. As shown, a current sensing circuit 914 is placed in series with the RETURN branch on the secondary side of the power transformer 908 to measure the output current of any energy mode. If a different return path is provided for each energy mode, a separate current sensing circuit should be provided in each return branch. The outputs of the first and second voltage sensing circuits 912 and 924 are provided to respective isolation transformers 928 and 922, and the output of the current sensing circuit 914 is provided to another isolation transformer 916. The outputs of the isolation transformers 916, 928, and 922 on the primary side (non-patient isolation 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 calculation. Output voltage and output current feedback information can be used to adjust the output voltage and current provided to the surgical instrument and to calculate parameters such as output impedance. Input / output communication between the processor 902 and the patient isolation circuit 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 a first voltage sensing circuit 912 coupled across terminals labeled ENERGY1 / RETURN or a second voltage sensing circuit 924 coupled across terminals labeled ENERGY2 / RETURN by the output of a current sensing circuit 914 arranged in series with the RETURN branch on the secondary side of the power transformer 908. The outputs of the first voltage sensing circuit 912 and the second voltage sensing circuit 924 are provided to separate isolation transformers 928, 922, and the output of the current sensing circuit 914 is provided to another isolation transformer 916. The digitized voltage and current sense measurements from the ADC circuit 926 are provided to the processor 902 for use in calculating the 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, in addition to bipolar and monopolar RF energy modalities, other energy modalities include ultrasonic energy, irreversible and / or reversible electroporation and / or microwave energy, etc. Moreover, although Figure 1 The illustrated example shows that a single return path RETURN may be provided for two or more energy modes, but in other aspects, a single return path RETURN may be provided for each energy mode ENERGY n Provide multiple return paths RETURN n .

[0092] like Figure 1 As shown in FIG, 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 an end effector in the form of one or more energy modalities (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 at a higher voltage and lower current to drive an ultrasonic transducer, at a lower voltage and higher current to drive an RF electrode for sealing tissue, or with a coagulation waveform for spot coagulation using monopolar or bipolar RF electrosurgical electrodes. The output waveform from the generator 900 may be manipulated, switched, or filtered to provide a frequency to the end effector of the surgical instrument. In one example, the connection of the RF bipolar electrode to 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 an 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 No. 2017 / 0086914, entitled “TECHNIQUES FOR OPERATING GENERATOR FOR DIGITALLY GENERATING ELECTRICAL SIGNAL WAVEFORMS AND SURGICALINSTRUMENTS,” published on March 30, 2017, which is incorporated herein by reference in its entirety.

[0094] Figure 2 One form of a surgical system 1000 is shown including a generator 1100 and various surgical instruments 1104, 1106, 1108 usable therewith, wherein the surgical instrument 1104 is an ultrasonic surgical instrument, the surgical instrument 1106 is an RF electrosurgical instrument, and the multifunctional surgical instrument 1108 is a combination ultrasonic / RF electrosurgical instrument. The generator 1100 may be configurable for use with a variety of surgical devices. According to various forms, the generator 1100 may be configurable for use with different surgical instruments of different types, including, for example, an ultrasonic surgical instrument 1104, an RF electrosurgical instrument 1106, and a multifunctional surgical instrument 1108 that integrates simultaneous delivery of RF energy and ultrasonic energy from the generator 1100. Although Figure 2In one embodiment, the generator 1100 is shown as being separate from the surgical instruments 1104, 1106, 1108, but in one embodiment, the generator 1100 may be integrally formed with any of the surgical instruments 1104, 1106, 1108 to form an integrated surgical system. The generator 1100 includes an input device 1110 located on a front panel of the generator 1100 console. The input device 1110 may include any suitable device that generates signals suitable for programming the operation of the generator 1100. The generator 1100 may be configured for wired or wireless communication.

[0095] The generator 1100 is configured to drive a plurality of surgical instruments 1104, 1106, and 1108. The first surgical instrument is an ultrasonic surgical instrument 1104 and includes a handpiece 1105 (HP), an ultrasonic transducer 1120, a shaft 1126, and an end effector 1122. The end effector 1122 includes an ultrasonic blade 1128 acoustically coupled to the ultrasonic transducer 1120 and a clamp arm 1140. The handpiece 1105 includes a trigger 1143 for operating the clamp arm 1140 and a combination of toggle buttons 1137, 1134b, and 1134c for energizing the ultrasonic blade 1128 and activating the ultrasonic blade or other functions. The toggle buttons 1137, 1134b, and 1134c can be configured to energize the ultrasonic transducer 1120 using 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 handpiece 1107 (HP), a shaft 1127, and an end effector 1124. The end effector 1124 includes electrodes in the clamping arms 1145, 1142b and a return conductor portion extending through the shaft 1127. These electrodes are coupled to and powered by a bipolar energy source within the generator 1100. The handpiece 1107 includes a trigger 1145 for operating the clamping 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 to deliver monopolar energy to tissue.

[0097] Generator 1100 is also configured to drive multifunctional surgical instrument 1108. Multifunctional surgical instrument 1108 includes a handpiece 1109 (HP), a shaft 1129, and an end effector 1125. End effector 1125 includes an ultrasonic blade 1149 and a clamping arm 1146. Ultrasonic blade 1149 is acoustically coupled to ultrasonic transducer 1120. Handpiece 1109 includes a trigger 1147 for operating clamping arm 1146 and a combination of toggle buttons 11310, 1137b, and 1137c for energizing ultrasonic blade 1149 and activating the blade or other functions. Toggle buttons 11310, 1137b, and 1137c can be configured to energize ultrasonic transducer 1120 using generator 1100 and energize ultrasonic blade 1149 using a bipolar energy source also housed within generator 1100. Monopolar energy can be delivered to tissue in combination with or separately from bipolar energy.

[0098] The generator 1100 may be configured for use with a variety of surgical devices. According to various forms, the generator 1100 may be configurable for use with different surgical instruments of different types, including, for example, an ultrasonic surgical instrument 1104, an RF electrosurgical instrument 1106, and a multifunctional surgical instrument 1108 that integrates simultaneous delivery of RF energy and ultrasonic energy from the generator 1100. Figure 2 In one embodiment, the generator 1100 is shown as being separate from the surgical instruments 1104, 1106, 1108, but in another embodiment, the generator 1100 may be integrally formed with any of the surgical instruments 1104, 1106, 1108 to form an integrated surgical system. As discussed above, the generator 1100 includes an input device 1110 located on the front panel of the generator 1100 console. The input device 1110 may include any suitable device that generates signals suitable for programming the operation of the generator 1100. The 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 No. US-2017-0086914-A1, which is incorporated herein by reference in its entirety.

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

[0100] In some cases, the closure motor assembly 610 includes a closure motor. The closure member 603 is operably coupled to a closure motor drive assembly 612, which can be configured to transmit a closing motion generated by the motor to the end effector, specifically displacing the closure member to close, thereby transitioning the end effector to a closed configuration. The closing motion 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 the open position by reversing the direction of the motor.

[0101] In some cases, the articulation motor assembly 620 includes an articulation motor operably coupled to an articulation drive assembly 622, which can be configured to transmit articulation generated by the motor to the end effector. In some cases, the articulation can cause the end effector to articulate relative to an axis, for example.

[0102] One or more of the motors of surgical instrument 600 may include a torque sensor to measure the output torque on the motor shaft. The force on the end effector may 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 cases, the motor assemblies 610, 620 include one or more motor drivers, which may include one or more H-bridge FETs. The motor drivers can regulate the power delivered to the motors from the power source 630, for example, based on input from a microcontroller 640 ("controller"), such as the control circuit 601. In some cases, for example, the microcontroller 640 can be used to determine the current drawn by the motors.

[0104] In some cases, the microcontroller 640 may include a microprocessor 642 ("processor") and one or more non-transitory computer-readable media or storage units 644 ("memory"). In some cases, the memory 644 may store various program instructions that, when executed, may cause the processor 642 to perform the various functions and / or calculations described herein. In some cases, one or more of the memory units 644 may be coupled to the processor 642, for example. In various aspects, the microcontroller 640 may communicate via wired or wireless channels, or a combination thereof.

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

[0106] In various cases, the processor 642 can control the motor driver to control the position, rotation direction and / or speed of the motors of the components 610 and 620. In some cases, the processor 642 can send a signal to the motor driver to stop and / or disable the motor. It should be understood that the term "processor" as used herein includes any suitable microprocessor, microcontroller, or other basic computing device that combines the functions of the central processing unit (CPU) of a computer on one integrated circuit or at most several integrated circuits. The processor 642 is a multi-purpose programmable device that receives digital data as input, processes the input according to instructions stored in its memory, and then provides a result as output. Because the processor has internal memory, it is an example of sequential digital logic. The operating objects of the processor are numbers and symbols represented in the binary number system.

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

[0108] In some cases, the memory 644 may include program instructions for controlling each of the motors of the surgical instrument 600. For example, the memory 644 may include program instructions for controlling the closure motor and the articulation motor. Such program instructions may enable the processor 642 to control the closure and articulation functions based on input from an algorithm or control program of the surgical instrument 600.

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

[0110] In some examples, the motor may be a brushless DC electric motor, and the corresponding motor drive signal may include a PWM signal provided to one or more stator windings of the motor. Furthermore, in some examples, the motor driver may be omitted, and the control circuit 601 may directly generate the motor drive signal.

[0111] During various laparoscopic surgical procedures, it is common practice to insert the surgical end effector portion of a surgical instrument through a trocar that has been installed in the patient's abdominal wall to access a surgical site located within the patient's abdomen. In its simplest form, a trocar is a pencil-shaped instrument with a sharp triangular point at one end that is typically used inside a hollow tube called a cannula or sleeve to form an opening into the body through which a surgical end effector can be introduced. This arrangement forms a portal into the 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 the surgical instrument that can be inserted through the trocar.

[0112] Regardless of the specific type of surgical procedure being performed, once a surgical end effector has been inserted into a patient's body through a trocar cannula, it is typically necessary to move the surgical end effector relative to a 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 retained within the trocar cannula is generally referred to as "articulation" of the surgical end effector. A variety of articulation joints have been developed to attach surgical end effectors to associated shafts to facilitate this articulation of the surgical end effector. It is anticipated that in many surgical procedures, it is desirable to employ a surgical end effector having as wide a range of articulation as possible.

[0113] Due to the dimensional constraints imposed by the size of the trocar conduit, the size of the articulation joint component must be convenient for free insertion through the trocar conduit. These dimensional constraints also limit the size and composition of the various drive members and components that operatively interact with the motor and / or other control systems, which are supported in a housing that may be handheld or include part of a larger automated system. In many cases, these drive members must be operatively passed through the articulation joint to operatively couple to or operatively interact with the surgical end effector. For example, one such drive member is typically used to apply articulation control motion to the surgical end effector. During use, the articulation drive member may not be actuated to position the surgical end effector in a non-articulation position to facilitate insertion of the surgical end effector through the trocar, and then, once the surgical end effector enters the patient's body, it is actuated to articulate the surgical end effector to the desired position.

[0114] Therefore, the aforementioned dimensional constraints present numerous challenges in developing an articulation system that can achieve the desired range of articulation and also accommodate the various different drive systems required to operate the various features of a surgical end effector. Furthermore, once the surgical end effector has been positioned in the desired articulation position, the articulation system and articulation joint must be able to maintain the surgical end effector in that position during actuation of the end effector and completion of the surgical procedure. This articulation joint arrangement 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 located between the first jaw and the second jaw. Each of the first jaw 30110 and the second jaw 30120 includes an electrode electrically coupled to a power generator. Figure 1 and Figure 2 Exemplary suitable power generators 900, 1100 are 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 grasped tissue to seal, coagulate, and / or cauterize 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 30110 and the second jaw 30120 may deflect away from each other at their distal ends. When grasping tissue T, the tissue T applies a force to 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, a gap B between the first jaw 30110 and the second jaw 30120 toward the distal ends of the jaws may be larger than a 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 also includes a monopolar wedge electrode 30130 that is electrically connected to a power generator (e.g., power generators 900, 1100) and is configured to be capable of cutting 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 contemplated 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 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 described, the variable gap defined between the jaws 30110, 30120 is at least partially due to the deflection of the jaws 30110, 30120 when tissue is grasped therebetween. In at least one embodiment, the monopolar wedge electrode 30130 includes 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 includes a conductive member 30134 centrally disposed 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, wherein at least a portion of the conductive member is exposed through a top surface of the compliant flex circuit substrate 30132. In some examples, portions of the conductive member 30134 are exposed while other portions are covered by the compliant flex circuit substrate 30132.

[0119] In the example where the jaws 30110, 30120 include a curved shape, the monopolar wedge electrode 30130 extends longitudinally with a similar curved profile. In addition, the monopolar wedge electrode 30130 gradually changes from a larger width to a smaller width as it extends longitudinally. Thus, the monopolar wedge electrode 30130 has a first width near its proximal end that is greater than a second width near its distal end, as shown in FIG. Figure 6 In other examples, the first width of the monopolar wedge electrode near its proximal end may be smaller than the second width near its distal end.

[0120] In the illustrated example, the distal end of the conductive member 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 jaw 30130, the conductive member 30134, and the distal end of 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 constructed of metal and may be coated with a dielectric material. In at least one embodiment, the first jaw 30210 and the second jaw 30220 are constructed 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 around the first jaw 30210, and the second jaw 30220 includes a second compliant member 30250 positioned around the second jaw 30220. The compliant members 30240, 30250 comprise a deformable dielectric material that is compressible to enhance contact with tissue when tissue is positioned between the first jaw 30210 and the second jaw 30220. In at least one embodiment, the compliant members 30240, 30250 comprise silicone and / or rubber.

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

[0124] In various aspects, the monopolar electrode 30230 can be constructed of a metal such as, for example, stainless steel, titanium, or any other suitable metal. The exposed surface of the 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 scraped to expose a thin metal strip that defines a 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. The first jaw 30310 and the second jaw 30320 are movable between an open position and a closed position to grasp tissue T located between the first jaw and the second jaw. The first jaw 30310 includes a first bipolar electrode, and the second jaw 30320 includes a second bipolar electrode. During a bipolar tissue therapy cycle, the first and second bipolar electrodes cooperatively deliver bipolar energy to cauterize and / or seal tissue grasped between the first jaw 30310 and the second jaw 30320.

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

[0127] In addition to the above, the first and second recesses 30312, 30322 are sized and shaped to accommodate the first biasing member 30340, the second biasing member 30350, and the monopolar electrode 30330 to ensure that the first and second jaws 30310, 30320 can be fully closed. In other words, when the first and second jaws 30310, 30320 are in a closed position, the first and second tissue-contacting surfaces 30314, 30324 contact each other when no tissue T is positioned therebetween. However, other embodiments are contemplated in which a gap is defined between the first and second tissue-contacting surfaces 30314, 30324 when the first and second jaws 30310, 30320 are in a closed position, when tissue T is positioned therebetween, and / or when tissue T is not positioned therebetween. In any event, the size and / or shape of the first recess 30312 and the second recess 30322 enable the monopolar electrode 30330 to extend above the second tissue-contacting surface 30324 and into the first recess 30312 of the first jaw 30310 to enhance 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 electrically isolating material to electrically isolate the monopolar electrode 30330 from the first jaw 30310 and the second jaw 30320. However, other embodiments are contemplated 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 an independent wiring connection to the control housing of the surgical instrument 30300. This independent wiring connection allows the monopolar electrode 30330 to be energized independently of the first and second electrodes of the first and second jaws 30310, 30320, thereby enabling cutting and / or sealing operations to be performed independently of each other. In at least one embodiment, the control housing of the surgical instrument 30300 prevents energization of the monopolar electrode 30330 until the first and second electrodes of the first and second jaws 30310, 30320 are energized to prevent cutting of tissue T that has not been cauterized and / or sealed.

[0128] Figure 12A surgical end effector 30400 for use with an electrosurgical instrument is shown. 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 surrounded by a compliant member and / or a compliant insulator 30440. The compliant insulator 30440 may 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. Thus, the monopolar electrode 30430 is electrically insulated from the first bipolar electrode 30410. In at least one embodiment, the compliant insulator 30440 surrounding the first electrode 30410 comprises a rigid, or at least substantially rigid, PTFE tubing, and the second compliant insulator 30440 surrounding the second electrode 30420 comprises a silicone and / or rubber material. For example, other embodiments are contemplated having 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 for use with an electrosurgical instrument is shown. 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 located therebetween. The first jaw 30510 is at least partially surrounded by a first compliant member 30514, and the second jaw 30520 is at least partially surrounded by a second compliant member 30524. The first compliant member 30514 is almost completely surrounded by a first bipolar electrode 30512, and the second compliant member 30524 is almost completely surrounded by a second bipolar electrode 30522. More specifically, the first bipolar electrode 30512 surrounds the first compliant member 30514, except for a gap portion 30516, wherein the monopolar electrode 30530 is attached to the first compliant member 30514. In addition, the second bipolar electrode 30522 surrounds 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 are in a closed position to grasp tissue, 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 and second compliant members 30514, 30524. The first and second compliant members 30514, 30524 include an electrically insulating material to electrically isolate the monopolar electrode 30530 from the first and second bipolar electrodes 30512, 30522. The first and second compliant members 30514, 30524 may 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 located therebetween. The first jaw 30610 is at least partially surrounded by a first compliant member 30614, and the second jaw 30620 is at least partially surrounded by a second compliant member 30624. The first compliant member 30614 is almost completely surrounded by the first bipolar electrode 30612, and the second compliant member 30624 is almost completely surrounded by the second bipolar electrode 30622. In other words, the first bipolar electrode 30612 surrounds the first compliant member 30614, except for a gap portion 30616, where the monopolar electrode 30630 is attached to the first compliant member 30614. Additionally, the second bipolar electrode 30622 surrounds the second compliant member 30624 , except for the gap portion 30626 .

[0131] Further to the above, when the first jaw 30610 and the second jaw 30620 are in a closed position, gap portions 30616, 30626 in the first bipolar electrode 30612 and the second bipolar electrode 30622 allow the monopolar electrode 30630 extending from the first compliant member 30614 to contact the second compliant member 30624. Furthermore, when the jaws 30610, 30620 are closed without tissue positioned therebetween, the gap portions 30616, 30626 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 each other. In contrast, electrode 30612 is offset from electrode 30622, causing gap portions 30616, 30610 to also be offset from one another. This arrangement prevents electrical shorting.

[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 and second compliant members 30614, 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 subject to the biasing force from the first and second compliant members 30614, 30624. When the monopolar electrode 30630 is energized, the biasing force from the compliant members 30614, 30624 facilitates tissue cutting.

[0133] Further to the above, in at least one embodiment, the first and second compliant members 30614, 30624 comprise an electrically insulating material to electrically isolate the monopolar electrode 30630 from the first and second bipolar electrodes 30612, 30622. In at least one embodiment, the first and second compliant members 30614, 30624 can comprise 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 located therebetween. 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 therebetween. Furthermore, the first jaw 30710 includes a first longitudinal recess 30712 that includes a first compliant member 30714 attached thereto. The second jaw 30720 includes a second longitudinal recess 30722 that includes a second compliant member 30724 attached thereto. The surgical end effector 30700 also includes a monopolar electrode 30730 attached to the first flexible member 30714. When the first jaw 30710 and the second jaw 30720 are in a closed position to grasp tissue, a gap portion 30714 in the second flexible member 30724 allows the monopolar electrode 30730 extending from the first flexible member 30714 to be subjected to a biasing force from the first and second flexible members 30714, 30724. The first and second flexible members 30714, 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 and second flexible members 30714, 30724 may include rubber, silicone, PTFE tubing, and / or combinations thereof.

[0135] Figure 16A surgical end effector for use with an electrosurgical instrument is shown. The end effector 30800 includes a first jaw 30810 and a second jaw 30820 that are movable between an open position and a closed position to grasp tissue located 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 and second bipolar electrodes are configured to cooperate to deliver bipolar energy to cauterize and / or seal tissue located between the first and second jaws 30810, 30820. In addition, the first jaw 30810 includes a longitudinal recess 30812 that includes a compliant member 30814 attached thereto. In at least one embodiment, the second jaw 30820 comprises stainless steel coated with PTFE shrink tubing. The surgical end effector 30800 also includes a monopolar electrode 30830 attached to a compliant member 30814 of the first jaw 30810. When the first jaw 30810 and the second jaw 30820 grasp tissue 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 insulating material to electrically isolate the monopolar electrode 30830 from the first electrode of the first jaw 30810. The compliant member 30814 may include rubber, silicone, PTFE tubing, and / or combinations thereof.

[0136] Figure 17 An alternative surgical end effector 30800' is shown. End effector 30800' is similar to end effector 30800; however, a monopolar electrode 30830 is attached 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 through the tissue to the monopolar electrode 30830 attached to the second jaw 30820.

[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 extending longitudinally along the length of the end effector 30900. The surgical end effector 30900 includes a first jaw 30910 and a second jaw 30920, each of which is movable between an open position and a closed position to grasp tissue positioned therebetween. The first jaw 30910 includes a first honeycomb lattice structure 30912 surrounded by a first diamond-like coating 30914. The second jaw 30920 includes a second honeycomb lattice structure 30922 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 honeycomb lattice structure 30912 and the second honeycomb lattice structure 30922 include the same geometric array and material. However, other embodiments are contemplated in which the first honeycomb grid structure 30912 and the second honeycomb grid structure 30922 comprise different geometric arrays and materials, including more or fewer air pockets, as described herein. The first diamond-like coating 30914 and the second diamond-like coating 30924 comprise the same material. However, other embodiments are contemplated in which the first diamond-like coating 30914 and the second diamond-like coating 30924 comprise different materials.

[0138] In addition to the above, the end effector 30900 also includes a first bipolar electrode 30940 attached to the first diamond-like coating 30914 of the first jaw 30910 on a first lateral side of the end effector axis EA. 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 also 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. Additionally, the electrodes 30940, 30950 are offset from one another to prevent accidental contact between them in the closed position, which could create a short circuit.

[0139] Furthermore, the end effector 30900 includes a monopolar electrode 30930 attached to the compliant member 30960 and positioned intermediate the first bipolar electrode 30940 and the second bipolar electrode 30950. The monopolar electrode 30930 extends longitudinally along the length of the end effector 30900 and, in at least one embodiment, is aligned with the end effector axis EA.

[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] Further to the foregoing, the compliant member 30960 is compressible and applies pressure to tissue positioned between the first jaw 30910 and the second jaw 30920. More specifically, the pressure applied by the jaws 30910, 30920 on tissue in the area directly above the compliant member 30960 is greater than the pressure applied to tissue in the area adjacent to the compliant member 30960 (i.e., in areas where the compliant member 30960 is not present). In at least one embodiment, the compliant member 30960 includes an elastic 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 grid 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 to the monopolar electrode 30930 and the second bipolar electrode 30950 toward the first jaw 30910 when tissue is grasped between the first jaw 30910 and the second jaw 30920 .

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

[0143] In various aspects, one or more of the diamond-like carbon (DLC) coatings 30914, 30924 are composed of an amorphous carbon-hydrogen network with graphite and diamond bonding between carbon atoms. The DLC coatings 30914, 30924 can form a film having low friction and high hardness properties around the first and second honeycomb grid structures 30912, 30922. The DLC coatings 30914, 30924 can be doped or undoped and are generally in the form of amorphous carbon (aC) or hydrogenated amorphous carbon (aC:H) containing a large number of sp3 bonds. Various surface coating techniques can be used to form the DLC coatings 30914, 30924, such as those 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 may be made of a material comprising titanium nitride, chromium nitride, graphite TM or any other suitable coating.

[0145] Still see 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. Furthermore, 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 may be embedded in the jaws 30910, 30920 such that their outer surfaces are flush with the outer surfaces of the jaws 30910, 30920.

[0146] Combine Figures 4 to 18 The described plurality of end effectors are configured to coagulate, cauterize, seal, and / or cut tissue grasped by the end effector during a tissue treatment cycle that includes delivering bipolar energy and / or monopolar energy to the tissue. Bipolar energy and monopolar energy may be delivered to the tissue separately or in combination. In one example, monopolar energy is delivered to the tissue after terminating the delivery of bipolar energy to the tissue.

[0147] Figure 1931000 is a graph depicting an alternative example of a tissue treatment cycle 31000 in which bipolar energy (in a bipolar energy cycle) and monopolar energy (in a monopolar energy cycle) are delivered 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 may be implemented by an electrosurgical system that includes a generator (e.g., generators 1100, 900) coupled to an electrosurgical instrument that includes, for example, an end effector (e.g., Figures 4 to 18 end effector).

[0148] Figure 19 The graph depicts power (W) on the y-axis and time on the x-axis. The power values ​​provided in the graph and in the following description are non-limiting examples of power levels that can be used with tissue treatment cycle 31000. Other suitable power levels are contemplated by the present disclosure. The graph depicts a bipolar power curve 31010 and a monopolar power curve 31014. Additionally, a mixed power curve 31012 represents the simultaneous application of monopolar and bipolar energy to tissue.

[0149] Still see Figure 19 , the initial tissue contact phase is shown between t0 and t1, 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 throughout the tissue coagulation phase, which begins at t1 and ends at t4. During the feathering segment (t1-t2), the bipolar energy application is increased to a predetermined power value (e.g., 100 W) and maintained at this predetermined power value during the remainder of the feathering segment (t1-t2) and the tissue warming segment (t2-t3). During the sealing segment (t3-t4), the bipolar energy application is gradually reduced. The bipolar energy application ends at the end of the sealing segment (t3-t4) and before the cutting / transecting phase begins.

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

[0151] During the sealing segment (t3-t4) of the tissue coagulation phase, as the bipolar energy power applied to the tissue gradually decreases, the monopolar energy power applied to the tissue gradually increases. In the illustrated example, the application of bipolar energy to the tissue is stopped 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 point 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., 150W) 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, tissue treatment cycle 31000 is configured to deliver three different energy modalities to the tissue treatment region over three consecutive time periods. A first energy modality, comprising bipolar energy rather than monopolar energy, is applied to the tissue treatment region from t1 to t2 during the feathering phase. A second energy modality is a hybrid energy modality comprising a combination of monopolar and bipolar energy, which is applied to the tissue treatment region from t2 to t4 during the tissue warming and tissue sealing phases. Finally, a third energy modality, comprising monopolar energy rather than bipolar energy, is applied to the tissue during the cutting phase from t4 to t5. Furthermore, the second energy modality comprises a power level that is the sum of the power levels of the monopolar and bipolar energies. In at least one example, the power level of the second energy modality comprises a maximum threshold (e.g., 120 W). In various aspects, the monopolar and bipolar energies can be delivered to the end effector from two different power generators.

[0153] The mixed power curve 31012 applied during the mixed energy phase 31004 represents the combination of bipolar and monopolar energy applied to the tissue. During the tissue warming segment (t2-t3), the mixed 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 mixed 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 end effector closure.

[0155] According to at least one embodiment, a monopolar electrode for cutting patient tissue includes a monopolar cam-lobe electrode and a wire connected thereto. The monopolar cam-lobe electrode is initially located at the distal end of an end effector of an electrosurgical instrument. When the clinician wishes to cut patient tissue, the monopolar cam-lobe electrode is activated (i.e., via a power generator, as described herein) and pulled by the wire attached thereto. The wire first guides the cam-lobe electrode to rotate upward along the centerline of the end effector into the tissue gap and is then pulled from the distal end to the proximal end to cut the patient tissue. In other words, if a pivoting cutting blade is located at the distal end and then pulled proximally, the cam-lobe electrode acts like a pivoting cutting blade of a surgical instrument. In addition, in at least one embodiment, the wire attached to the cam-lobe electrode is offset from the center of rotation of the cam-lobe electrode so that when the wire is pulled proximally, the cam-lobe electrode initially rotates to a vertical position. The cam lobe electrode applies a force perpendicularly to the opposite side of the end effector jaws from which the cam lobe electrode is positioned. In this arrangement, the cam lobe electrode can be initially hidden from the tissue gap between the jaws of the end effector until the wire initially pulls on the cam lobe electrode to rotate the cam lobe electrode to its vertical position. Because the cam lobe electrode is initially hidden, the load applied by the cam lobe on the other jaw of the end effector is independent of the tissue gap. In other words, the cam lobe electrode will be substantially upright before commencing distal-to-proximal movement, or the cam lobe electrode will be partially upright before commencing distal-to-proximal movement. The amount by which the cam lobe electrode rotates 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, more rigid tissue may resist the cam lobe electrode rotating to its vertical position more than softer tissue before the cam lobe electrode begins to move from the distal end toward the proximal end.

[0156] Figure 20An electrosurgical instrument 40100 is shown including a housing, a shaft 40110 extending from the housing, and an end effector 40120 extending from the shaft 40110. An articulation joint 40130 rotationally couples 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 within the housing of the instrument 40100. However, other embodiments are contemplated 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 connector 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 end effector functions, including, for example, the compression rate of the jaws of the end effector 40120 and / or thermal cycling 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 comprise 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 comprises control circuitry comprising a microcontroller having a processor and a memory unit. The memory unit can store one or more algorithms and / or lookup tables for identifying certain parameters of the end effector 40120 and / or tissue grasped by the end effector 40120 based on the measurements provided by the sensor 40122.

[0158] In addition to the above, wiring assembly 40150 may include several flexible, rigid, and / or stretchable portions as part of the flexible circuit to allow wiring assembly 40150 to flex, bend, and / or stretch across various component boundaries and / or joints of surgical instrument 40100. For example, as wiring assembly 40150 traverses a component boundary or joint, a non-stretchable flexible plastic substrate (i.e., polyimide, peek, transparent conductive polyester film) transitions to a flexible silicone or elastomeric substrate, and then back to a non-stretchable flexible substrate on the other side of the joint. The metal conductors within wiring assembly 40150 remain continuous but stretchable across component boundaries and / or joints. This arrangement allows the entire circuit to be flexible, with localized portions being flexible in at least two planes. Thus, portions of wiring assembly 40150 that span component boundaries and / or joints allow for localized relative movement without tearing or otherwise losing continuity. Wiring assembly 40150 is secured around the area of ​​localized movement to protect wiring assembly 40150 from excessive strain and / or deformation.

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

[0160] In addition to the above, the wiring assembly 40150 also includes electrical traces or conductors 40160 that span the entire length of the wiring assembly 40150 and are configured to carry electrical energy between the printed circuit board 40140 and the end effector 40120. Figure 21 and Figure 22, conductor 40160 includes a stretchable portion 40162 that spans elastic portions 40152, 40156. The stretchable portion 40162 includes a serpentine, oscillating, and / or zigzag pattern, which is formed on elastic portions 40152, 40156. Figure 22 When the elastic portions 40152, 40156 return to their relaxed and / or natural state, the stretchable portion 40162 returns to its relaxed and / or natural state. Figure 21 Serpentine, oscillating and / or zigzag patterns as shown.

[0161] Further to the above, in at least one embodiment, the conductor 40160 can be used for high current applications, such as RF therapeutic energy, wherein the conductor 40160 comprises a copper conductor printed in a serpentine, oscillating, and / or zigzag pattern into the wiring assembly 40150. Other embodiments are contemplated wherein the stretchable portion 40162 of the conductor 40160 spanning the elastic portions 40152, 40156 comprises 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 wiring harness 40230. Wiring harness 40230 may be similar to wiring assembly 40150. Translating member 40220 may be, for example, a blade drive rod, an articulation cable, and / or a rigid articulation member of instrument 40200 for incising patient tissue. However, translating member 40220 may be any translating member described herein. In any case, 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 may be attached to or housed within translating member 40220. The wiring harness 40230 is secured within the shaft 40210 and includes a linear inductive sensor 40232 configured to detect the linear position of the ferrous element 40222 and, therefore, the linear position of the translating member 40220. More specifically, the linear inductive sensor 40232 is configured to generate an electric field that is disrupted by the ferrous element 40222. The linear inductive sensor 40232 is integrated into the wiring harness 40230 to provide robust protection from external elements and fluids.

[0163] In various aspects, 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 surgical instrument 40200 and / or tissue being treated by surgical instrument 40200 based on the measurements provided by 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 wiring harness 40330. The translating member 40320 is configured to translate relative to the shaft 40310 to perform end effector functions. The translating member 40320 can be, for example, a blade drive rod, an articulation cable, and / or a rigid articulation member of the instrument 40300 for incising patient tissue. However, the translating member can be, for example, any translating member described herein. In any case, the wiring harness 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 the function of the end effector of the surgical 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 the end of the elastic portion 40334, wherein the elastic 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 stress and / or strain within the translating member 40320. However, other embodiments are contemplated in which the second sensor is configured to measure the 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 the tissue being treated by the surgical instrument 40300 based on measurements provided by the sensors 40340 , 40350 .

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

[0167] Figures 26 to 33 An electrosurgical instrument 40400 is shown including 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, which includes a motor 40411a driven by a motor driver / controller 40422b configured to drive the motor 40411a in response to an actuation of the trigger 40412 and in accordance with inputs from a control circuit 40413. 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 the 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 the jaws of the end effector 40430. Furthermore, when the end actuator 40430 is unlocked from the shaft 40420, the end actuator can rotate and / or articulate relative to the shaft 40420, and when the end actuator drive member 40419 is actuated by the electric motor, the end actuator drive member 40419 rotates the end actuator 40430 about the shaft axis SA.

[0169] The instrument 40400 also includes a manual switching member or rocker member 40440, an elongated shaft 40450, and a pull cable 40460. The elongated shaft 40450 is crimped onto the pull cable 40460 so that the elongated shaft 40450 and the pull cable 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 a portion of the rocker member 40440 that extends 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 (ie, distally), such as by a spring.

[0170] In use, when 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., toward the proximal side). When 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., toward the proximal side). Figure 31 , when the rocker member 40440 is centered, the elongated shaft 40450 is in its distal-most position (i.e., farthest from the rocker member 40440). Figure 32 and Figure 33 , when the rocker member 40440 is rotated in the clockwise direction CW or the counterclockwise direction CCW, the slender shaft 40450 retracts toward the rocker member 40440 (ie, toward the proximal side).

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

[0172] In addition to the above, the rocker member 40440 also 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 switch 40447 and the second switch 40448 are configured to activate the articulation motor positioned within the handle 40410. More specifically, when the rocker member 40440 is rotated in a clockwise direction (CW), the pull cable 40460 retracts to unlock the end effector 40430 and the post 40446 engages the first switch 40447, thereby causing the motor 40411a to rotate in a first direction, which causes the articulation drive assembly 40417 to articulate the end effector 40430 to the right, for example. When the rocker member 40440 is rotated in a counterclockwise direction (CCW), the pull cable 40460 retracts to unlock the end effector 40430. The post 40446 engages the second switch 40448 , causing the motor 40411a 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 As shown, neither the first switch 40447 nor the second switch 40448 is activated. The pull cable 40460 is in its distal-most 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 a clockwise direction (CW) or a counterclockwise 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 an open position and a closed position. However, other embodiments are contemplated in which rotation of the end effector drive member 40419 when the end effector 40430 is locked causes the firing member to translate through the end effector 40430. In any case, when the rocker member 40440 is rotated in a clockwise direction (CW) or a 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 actuator 40430 is unlocked and the end actuator drive member 40419 is actuated by the electric motor 40411a in the handle 40410, the end actuator 40430 rotates relative to the shaft 40420 about the shaft axis SA.

[0175] In addition to the above, other embodiments are contemplated having multiple articulation motors, wherein the articulation motors are operatively responsive to a first switch 40447 and a second switch 40448. For example, if a dual 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 contemplated having separate motors dedicated to closing, firing, and / or articulation.

[0176] In various aspects, the motor driver 40411b is configured to operate the electric motor 40411a 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 40411a is in the first operating mode, the end effector drive member 40419 operates at a first speed, at a first rate, with a first torque amount, and / or with a first acceleration amount 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 40411a is in a second operating mode. When the electric motor 40411a is in the second operating mode, the end actuator drive member 40419 operates to rotate the end actuator 40430 at a second speed, at a second rate, with a second amount of torque and / or with a second amount of acceleration.

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

[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 a first operating mode or a second operating mode. The processor 40416 can select various combinations of control parameters for driving the end effector drive member 40419 at different speeds, torques, and / or accelerations, for example, from lookup tables, algorithms, and / or formulas stored in the memory 40415.

[0179] In addition to the above, see Figure 29 The control circuit 40413 controls the speed, torque, and / or acceleration of the articulation motor. The articulation motor is actuated by a first switch 40447 and a second switch 40448 to articulate the end effector 40430 relative to the shaft axis SA, as described above. In at least one embodiment, the first switch 40447 and the second switch 40448 are adaptively controlled. The microcontroller 40414 can communicate signals with the first switch 40447 and the second switch 40448 to provide proportional speed control of the motor 40411a, thereby articulating the end effector 40430 based on manual movement of the rocker member 40440. More specifically, the distance and / or force of pressing the first switch 40447 or the second switch 40448 is proportional to the speed, torque, and / or acceleration of the end effector 40430 during articulation. Alternatively, in some examples, the switches 40447 and 40448 communicate directly with the motor driver 40411b.

[0180] like Figure 29As shown, various embodiments are contemplated in which the surgical instrument 40400 includes a transmission, a shiftable motor drive, and / or a shifter 40427 to lock two drive mechanisms together, such as, for example, an end effector drive shaft 40419 and an articulation drive assembly 40417 that drives articulation of the end effector 40430, or to lock the end effector drive shaft 40419 and the close / fire drive assembly 40421. In this arrangement, the surgical instrument 40400 includes a single electric motor 40411a to drive articulation of the end effector 40430, rotate the end effector 40430 about the shaft axis SA, and open and close the jaws of the end effector 40430. More specifically, the shifter 40427 switches the single electric motor between engagement with the articulation drive assembly 40417 and engagement with the close / fire drive assembly 40421.

[0181] According to at least one embodiment, a handle user control for the motor and / or end effector movement of a surgical instrument communicates signals with a control system of the surgical instrument. The control system is housed within the handle and couples user trigger feedback to the 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 using an alternative method for providing clamp level feedback to the user. The surgical instrument includes tactile feedback associated with trigger scanning. In addition, 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 tactile feedback. In this arrangement, manual user input actuates the jaws independently of the travel of the trigger. In at least one embodiment, a small finger-sized trigger with a spring return is utilized to improve the operability of the manual controls and handle. In addition, in at least one embodiment, a modular connection of the power backbone to the surgical instrument is adopted when a new disposable shaft is introduced.

[0182] Figure 35 A surgical system 40550 ( FIG. 1 ) is shown that includes an electrosurgical instrument 40551 and a power source (eg, a power generator) 40552 configured to supply power to the electrosurgical instrument 40551. Figure 34) is a graph 40500 of a power schematic diagram. An electrosurgical instrument 40551 includes an integrated or stand-alone 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 may 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 is charged to a maximum predetermined level. The battery 40553 may be simultaneously discharged to operate the controller or motor of the electrosurgical instrument 40551 and charged via the power output generator 40552. The battery 40553 continues to charge until it reaches a predetermined level between user requested operations during generator initialization or in a waiting state between uses. If the battery 40553 is depleted to a minimum predetermined level, the user is informed that they must wait a period of time until the battery 40553 charges above the minimum threshold level before the electrosurgical instrument 40551 can be used again.

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

[0184] In the illustrated example, an electrosurgical instrument 40551 is connected to a generator 40552 at time t0. The generator 40552 charges a rechargeable battery 40553 at a constant recharge rate (S1) until the charge level of the battery 40553 reaches a maximum threshold of 100%, which is reached at t1. The power supply of the generator 40552 is automatically activated when the surgical instrument 40551 is connected to the generator 40552 and automatically deactivated once the charge level reaches the maximum threshold. In various examples, the surgical system 40550 includes a control circuit 40555 having a charge meter 40556 for detecting the charge level of the battery 40553, and a switching mechanism for deactivating the power supply 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 automatically stops charging the battery 40553.

[0185] Additionally, 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 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 simultaneously until the motor 40554 is deactivated. Once the power draw from the motor 40554 ceases, the battery 40553 returns to recharging at a constant rate S1.

[0186] In the illustrated example, the motor 40553 is activated in a first instance 40501 and a second instance 40503, as shown in graph 40506, to open and close the jaws of the end effector 40557, for example, to grasp tissue. The clinician may 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 recharging at a constant rate S1 until reaching a 100% charge level at t3, at which point the generator 40552 stops supplying power to the battery 40553. Furthermore, a third instance 40505 of motor activation, used to articulate the end effector 40557, discharges the battery 40553 at a rate S3 from time t4 to time t5. End effector closing / opening and articulation may 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, fifth, sixth, and seventh instances 40507, 40509, 40511, and 40513 of motor activation cause the charge level of the 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 is in signal communication 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 the 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. Thus, when the battery charge level is 40% and the jaws of the end effector 40557 are actuated, the instrument will initially close the jaws of the end effector 40557 at a first reduced speed, which results in a motor activation instance 40509 for a time period t b Longer than the time period t of the motor activation instance 40507 a . In addition, 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 reduced speed that is less than the first reduced speed, resulting in a motor activation instance 40513 of time period t c Longer than the time period t of the motor activation instance 40509 b Thus, the motor controller 40558 causes the motors 40554 to perform similar functions at different speeds based on the respective charge levels of the battery 40553 supplying power to the motors 40554.

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

[0189] Figure 34 FIG4 is a simplified schematic diagram 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 executed, the program instructions cause the processor 40561 to detect the charge level of the battery 40553. In at least one example, the processor 40561 communicates with a charge gauge 40556 configured to measure the charge level of the battery 40553. Furthermore, detecting 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 operating causes the processor to reduce the maximum speed limit of the motor 40554 to a first maximum threshold. In at least one example, the processor 40561 communicates with a motor driver 40558 configured to control the speed of the motor 40554. In such an example, 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, processor 40561 may directly control the maximum motor speed limit.

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

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

[0192] In addition to the above, in at least one embodiment, the internal battery is charged by an external charge accumulation device or by an external battery attached to the surgical instrument between and / or during the surgical procedure. In at least one embodiment, the external battery includes a disposable battery that is introduced into the sterile field in the form of sterile packaging 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 only operating power source for controlling the mechanical operating system, and the radio frequency (RF) power for the therapeutic treatment of tissue is supplied by, for example, a power generator. In this arrangement, when the internal battery is not enough to provide power for the device, the external battery is connected to the surgical instrument. More specifically, the external battery is used in conjunction with the internal battery rather than replacing the internal battery. In addition, in at least one embodiment, the external battery includes 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 the surgical procedure. The external battery is subsequently disconnected from the surgical instrument so that it can be used by the clinician later when additional 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 supply power directly to the motor 40650 and to charge the battery 40640. More specifically, an additional electrical connection 40660 is provided 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. Unipolar power generator 40620 and bipolar power generator 40630 are configured to output DC power to battery 40640 and 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 move the end effector 40611 in a manner such as Figure 36The open configuration shown is converted to a closed configuration to grasp tissue located between the jaws. In addition, the end effector 40611 extends distally from the shaft 40615 and can be articulated relative to the shaft 40611 around a longitudinal axis extending centrally through the shaft 40615 by an actuation motion generated by the motor 40650.

[0195] In addition, surgical instrument 40610 also includes a power source assembly 40616 that transmits power from generators 40620 and 40630 to motor 40650 and / or battery 40640. In at least one example, power source assembly 40616 separately receives a first power from generator 40620 and a second power from generator 40630. Power source assembly 40616 is configured to transmit the second power to battery 40640, thereby charging the battery to a maximum predetermined charge level at a constant rate (S1). Power source assembly 40616 is also configured to transmit the first power to electric motor 40650 and battery 40650. In the illustrated example, motor 40650 is powered by battery 40640 and generator 40620 in parallel or simultaneously.

[0196] Figure 37 Graph 40700 of the battery charge percentage and motor torque of surgical system 40600 is shown. Line 40710 represents the battery charge percentage of battery 40640 when only bipolar power generator 40630 is used with surgical instrument 40610. Line 40720 represents the combined battery charge percentage when both unipolar power generator 40620 and bipolar power generator 40630 are used with surgical instrument 40610. When both unipolar power generator 40620 and bipolar power generator 40630 are used to charge battery 40640, battery 40640 charges faster than when only one of unipolar power generator 40620 and bipolar power generator 40630 is used to charge battery 40640. Additionally, line 40730 represents the battery charge percentage of battery 40650 when only bipolar power generator 40630 is used with surgical instrument 40610. Line 40740 represents the motor torque of motor 40650 when unipolar power generator 40620 and bipolar power generator 40630 are used with surgical instrument 40610. When both unipolar power generator 40620 and bipolar power generator 40630 are used to provide power to motor 40650, motor 40650 can generate more torque than when only one of unipolar power generator 40620 and bipolar power generator 40630 is used to provide power to motor 40650.

[0197] In addition to the above, other embodiments are contemplated in which the monopolar power generator 40620 is configured to supply power only to the motor 40650, 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 only 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 this arrangement, unipolar power generator 40620 can supply power to one of the motors, and bipolar power generator 40630 can supply power to the other of the motors. Furthermore, both unipolar power generator 40620 and bipolar power generator 40630 are used to charge battery 40640, which in turn can be used to provide power to the motors. However, other embodiments are contemplated in which only one of unipolar power generator 40620 and bipolar power generator 40630 is used to charge battery 40640.

[0198] Various aspects of the subject matter described herein are set forth in the following example sets.

[0199] Example 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 capable of moving from an open position to a closed position relative to the other of the first jaw and the second jaw to grasp tissue located between the first jaw and the second jaw. The second jaw comprises a second electrode and a monopolar electrode disposed centrally downwardly along the length of the end effector. The first electrode and the second electrode cooperate to deliver bipolar energy to tissue in a bipolar cycle. The monopolar electrode has a wedge shape. The wedge shape gradually changes 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 be capable of using monopolar energy to cut tissue in a monopolar cycle.

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

[0202] Example 3 - A surgical instrument according to Example 1 or 2, wherein the monopolar cycle is performed after the bipolar cycle.

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

[0204] Example 5 - A surgical instrument according to Example 1 or 2, wherein the monopolar cycle and the bipolar cycle are activated asynchronously during the tissue treatment cycle.

[0205] Example 6 - A surgical instrument according to Example 1, 2, 3 or 4, wherein, in a tissue treatment cycle, the monopolar cycle begins after the bipolar cycle begins and before the bipolar cycle ends.

[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 capable of moving from an open position to a closed position relative to the other of the first jaw and the second jaw to grasp tissue located 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 flexible flex circuit substrate centered downwardly along the length of the end effector and a conductive member disposed on the flexible flex circuit substrate. The monopolar electrode is configured to be capable of using monopolar energy to cut tissue in a monopolar cycle.

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

[0208] Example 9 - A surgical instrument according to Example 7 or 8, wherein the monopolar cycle is performed after the bipolar cycle.

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

[0210] Example 11 - A surgical instrument according to Example 7 or 8, wherein the unipolar cycle and the bipolar cycle are activated asynchronously.

[0211] Example 12 - A surgical instrument according to Example 7, 8, 9 or 10, wherein, in a tissue treatment cycle, the monopolar cycle begins after the bipolar cycle begins and before the bipolar cycle ends.

[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 capable of moving from an open position to a closed position relative to the other of the first jaw and the second jaw to grasp tissue located between the first jaw and the second jaw. The second jaw comprises a second electrode and a monopolar electrode disposed centrally downwardly along the length of the end effector. The first electrode and the second electrode cooperate to deliver bipolar energy to tissue in a bipolar cycle. The monopolar electrode comprises a conductive wire electrically isolated from the first electrode and the second electrode. The monopolar electrode is configured to be capable of using monopolar energy to cut tissue in a monopolar cycle.

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

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

[0215] Example 16 - A surgical instrument according to Example 13, 14 or 15, wherein the conductive wire includes a flexible central portion.

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

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

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

[0219] Example 20 - A surgical instrument according to Example 17, 18 or 19, wherein the flexible member includes a first flexible member, wherein the first jaw includes a second flexible member, and wherein the first flexible member and the second flexible member electrically isolate the 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 longitudinally by the central plane. 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 longitudinally by the central plane. 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, thereby grasping tissue between the first and second jaws. The second jaw includes a second electrode and a flexible 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 and second electrodes are configured to cooperate to deliver bipolar energy to tissue. The flexible substrate extends along the length of the second jaw. The flexible substrate includes a first flexible portion positioned on a first side of the central plane, a second flexible portion positioned on a second side of the central plane, and a monopolar electrode extending along the central plane. The second electrode is mounted on the second compliant portion. The monopolar electrode is mounted on the compliant substrate. The monopolar electrode is configured to deliver monopolar energy to 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 - A surgical end effector according to Example 1, wherein the first flexible portion is smaller than the second flexible portion.

[0223] Example 3 - A surgical end effector according to Example 1 or 2, wherein the second jaw includes a dielectric coating.

[0224] Example 4 - A surgical end effector according to Example 3, wherein the flexible substrate and the dielectric coating define a flush tissue contacting surface.

[0225] Example 5 - A surgical end effector according to Example 3 or 4, wherein a flexible substrate separates the dielectric coating from the monopolar electrode and the second electrode.

[0226] Example 6 - A surgical end effector according to Example 1, 2, 3, 4 or 5, wherein the flexible substrate includes a porous structure.

[0227] Example 7 - A surgical end effector according to Example 1, 2, 3, 4, 5 or 6, wherein the flexible substrate comprises a resilient honeycomb structure.

[0228] Example 8 - A surgical end effector according to Example 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 - A surgical end effector according to 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 center plane of the end effector extends through the proximal end and the distal end. The first jaw is bisected longitudinally by the center plane. 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 center plane. The second jaw is bisected longitudinally by the center plane. 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, thereby grasping tissue between the first and second jaws. The second jaw includes a second electrode and a compressible support member. The second electrode extends along a portion of the second jaw. The second electrode is positioned on a second side of the center plane. The first and second electrodes are configured to cooperate to deliver bipolar energy to tissue. The compressible support member extends along the length of the second jaw. The compressible support member includes a first compressible portion positioned on a first side of the center plane, a second compressible portion positioned on a second side of the center plane, and a monopolar electrode extending along the center plane. A second electrode is mounted to the second compressible portion. A monopolar electrode is mounted to the compressible support. The monopolar electrode is configured to deliver monopolar energy to 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 - A surgical instrument according to Example 10, wherein the first compressible portion is smaller than the second compressible portion.

[0232] Example 12 - A surgical instrument according to Example 10 or 11, wherein the second jaw includes a dielectric coating.

[0233] Example 13 - A surgical instrument according to Example 12, wherein the compressible support and the dielectric coating define a flush tissue contacting surface.

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

[0235] Example 15 - A surgical instrument according to Example 10, 11, 12, 13 or 14, wherein the compressible support member includes a porous structure.

[0236] Example 16 - A surgical instrument according to Example 10, 11, 12, 13, 14 or 15, wherein the compressible support member includes a resilient honeycomb structure.

[0237] Example 17 - A surgical instrument according to Example 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 - A surgical instrument according to Example 10, 11, 12, 13, 14, 15, 16 or 17, wherein the second jaw further includes a second porous frame and a second diamond-like coating at least partially covering the second porous frame, wherein the compressible support member is disposed on the second diamond-like coating.

[0239] Example 19 - 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. The first jaw extends longitudinally between the proximal end and 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, thereby grasping tissue located 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 tissue. The monopolar electrode extends longitudinally along the second electrode. The monopolar electrode is configured to deliver monopolar energy to 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 - A surgical end effector according to Example 19, wherein at least one of the first jaw and the second jaw includes a dielectric coating.

[0241] Example 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 includes a printed circuit board. The wiring circuit extends from the printed circuit board through the shaft and into the end effector. The wiring circuit is configured to monitor the function of the end effector and transmit the monitored function to the printed circuit board. The wiring circuit includes a proximal rigid portion secured to the shaft, a distal rigid portion secured to the end effector, and an intermediate portion extending from the proximal rigid portion to the distal rigid portion. The intermediate portion includes a resilient portion and a stretchable portion.

[0243] Example 2 - An electrosurgical instrument according to Example 1, wherein the resilient portion includes a first substrate and the stretchable portion includes a second substrate, and wherein the first substrate and the second substrate are different.

[0244] Example 3 - An electrosurgical instrument according to Example 1 or 2, wherein the stretchable portion includes a conductor in a zigzag configuration, and wherein the conductor is made of a non-stretchable metallic material.

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

[0246] Example 5 - An electrosurgical instrument according to Example 1, 2, 3 or 4, wherein the resilient portion comprises a laminate portion including 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 includes a printed circuit board. The wiring circuit extends from the printed circuit board through the shaft and into the end effector. The wiring circuit is configured to monitor the function of the end effector and transmit the monitored function to the printed circuit board. The wiring circuit includes a rigid portion, a resilient portion capable of transitioning between a relaxed configuration and a non-relaxed configuration, and a wire extending through the resilient portion. The wire includes a stretchable portion. The wire is configured to extend when the resilient portion transitions from a relaxed configuration to a non-relaxed configuration.

[0248] Example 7 - An electrosurgical instrument according to Example 6, wherein the stretchable portion includes a zigzag pattern.

[0249] Example 8 - An electrosurgical instrument according to Example 6 or 7, wherein the stretchable portion includes an oscillating pattern.

[0250] Example 9 - An electrosurgical instrument according to Example 6, 7 or 8, wherein the stretchable portion has an accordion shape.

[0251] Example 10 - An electrosurgical instrument according to Example 6, 7, 8 or 9, wherein the resilient portion includes a laminate portion comprising a substrate.

[0252] Example 11 - An electrosurgical instrument includes a housing, a shaft extending from the housing, an end effector extending from the shaft, a translating member configured to translate relative to the shaft to perform the functions of the end effector, and a wiring harness. The housing includes a printed circuit board. The wiring harness extends from the printed circuit board into the shaft. The wiring harness includes 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 translating member. The end of the resilient portion attached to the translating member includes a sensor configured to measure a property of the translating member.

[0253] Example 12 - An electrosurgical instrument according to Example 11, wherein the properties of the translating member include stress within the translating member.

[0254] Example 13 - An electrosurgical instrument according to Example 11, wherein the properties of the translating member include strain within the translating member.

[0255] Example 14 - An electrosurgical instrument according to Example 11, wherein the properties of the translating member include stress and strain within the translating member.

[0256] Example 15 - An electrosurgical instrument according to Example 11, 12, 13 or 14, wherein the property of the translating member includes one of the group consisting of the position of the translating member, the speed of the translating member and the acceleration of the translating member.

[0257] Example 16 - An electrosurgical instrument according to Example 11, 12, 13, 14 or 15, wherein the portion of the wire positioned within the resilient portion of the wiring harness includes a stretchable portion.

[0258] Example 17 - An electrosurgical instrument according to Example 16, wherein the stretchable portion includes a zigzag pattern.

[0259] Example 18 - An electrosurgical instrument according to Example 16 or 17, wherein the stretchable portion includes an oscillating pattern.

[0260] Example 19 - An electrosurgical instrument according to Example 16, 17 or 18, wherein the stretchable portion has an accordion shape.

[0261] Example 20 - An electrosurgical instrument according to Example 11, 12, 13, 14, 15, 16, 17, 18 or 19, wherein the wiring harness extends into the end effector and includes a second sensor configured to measure end effector function.

[0262] Example 4

[0263] Example 1 - A surgical instrument includes a motor assembly, a shaft defining a shaft axis, a distal head extending from the shaft, a rotary drive member, and a distal head locking member. The distal head is capable of rotating about the shaft axis. The motor assembly includes 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 includes an end effector capable of moving between an open configuration and a closed configuration. The rotary drive member is operably responsive to the motor. The rotary drive member is operably engaged with the distal head. The distal head locking 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 locking member is in the first position and the rotary drive member is actuated, the distal head rotates relative to the shaft about the shaft axis. When the distal head locking member is in the second position and the rotary drive member is actuated, the end effector moves from the open configuration to the closed configuration.

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

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

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

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

[0268] Example 6 - The surgical instrument according to Example 1, 2, 3, 4 or 5 also includes a pull cable operably engaged with the distal head locking member, wherein the pull cable is operably engaged 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 includes 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 from the first end effector function. The rotary drive member is operably responsive to the motor. The rotary drive member is operably engaged 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 operably engaged with the end effector and the rotary drive member. The mode selector member is manually movable between a first position and a second position. In the first position, when the rotary drive member is actuated by the motor, the end effector performs the first end effector function. In the second position, when the rotary drive member is actuated by the motor, the end effector performs the second end effector function. 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 be operable in a second operating mode when the mode selector member is in the second position.

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

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

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

[0273] Example 11 - A surgical instrument comprising a motor, a shaft defining a shaft axis, an end effector extending from the shaft, a rotational drive member operatively responsive to the motor, a locking member operatively engaged with the rotational drive member, and a switching member operatively engaged with the locking member. The rotational drive member is operatively engaged 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 locking 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 switching member is rotatable about the shaft axis to move the locking member between the first position and the second position. The rotational drive member is configured to perform the first end effector function when the locking member is in the first position. The rotational drive member is configured to perform the second end effector function when the locking member is in the second position.

[0274] Example 12 - A surgical instrument according to Example 11, wherein the first end effector function includes rotation of the end effector about the shaft axis, and wherein the second end effector function includes actuating a pair of jaws of the end effector.

[0275] Example 13 - A surgical instrument according to Example 11, wherein the first end effector function includes translating the firing member through the end effector, and wherein the second end effector function includes actuating a pair of jaws of the end effector.

[0276] Example 14 - The surgical instrument of Example 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] Example 15 - The surgical instrument of Example 11, 12, 13 or 14 further includes 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] Example 16 - A surgical instrument according to Example 15, wherein the motor controller is configured to operate the motor in a first operating mode when the locking member is in the first position, and to operate the motor in a second operating mode when the locking member is in the second position.

[0279] Example 17 - A surgical instrument according to Example 16, wherein the motor is configured to rotate the rotational drive member at a first speed when the motor is in a first operating mode, wherein the motor is configured to rotate the rotational drive member at a second speed when the motor is in a second operating mode, and wherein the first speed and the second speed are different.

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

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

[0282] Example 20 - A surgical instrument according to Example 11, 12, 13, 14, 15, 16, 17, 18 or 19, further comprising a cable operably engaged with the locking member and the end actuator, wherein the cable is configured to enable the end actuator to transition between a first configuration in which the end actuator is unlocked from the shaft and a second configuration in which the end actuator is locked to the shaft.

[0283] Example 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 axis. The end effector is operatively responsive to actuation from the electric motor. The end effector is capable of transitioning between an open configuration and a closed configuration. The end effector is rotatable relative to the longitudinal axis about an articulation axis transverse to the longitudinal axis. The generator is unable to directly supply sufficient power to the electric motor to cause the electric motor to actuate. The internal charge accumulation device is configured to supply power to the electric motor. The internal charge accumulation device is capable of being charged by the generator to a threshold value at a charging rate that depends on the charge level of the internal charge accumulation device. The charging rate is independent of charge consumption of the surgical instrument.

[0285] Example 2 - A surgical system according to Example 1, wherein the generator is configured to charge the internal charge accumulation device during charge depletion.

[0286] Example 3 - A surgical system according to Example 1 or 2, wherein when the charge level of the internal charge accumulation device is below a 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 - A surgical system according to Example 1, 2 or 3, wherein the speed of the electric motor is allowed to reach a maximum speed when the charge level of the internal charge accumulation device is above a predetermined minimum level.

[0288] Example 5 - A surgical system according to 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 a predetermined minimum level.

[0289] Example 6 - A surgical instrument according to Example 1, 2, 3, 4 or 5, wherein the end effector includes a first jaw and a second jaw, the first jaw includes an electrode, and wherein the generator is configured to supply a first power to the surgical instrument to cause the electrode to burn 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 - A surgical instrument according to Example 1, 2, 3, 4, 5 or 6, wherein the internal charge accumulation device includes a rechargeable battery.

[0291] Example 8 - A surgical instrument according to 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 electrically connected to the power source. The internal charge accumulation device is configured to supply power to the electric motor. The internal charge accumulation device can be charged to a threshold by the power source at a charging rate that depends on the charge level of the internal charge accumulation device. The internal charge accumulation device can be charged by the power source while the electric motor drives the end effector to perform an end effector function.

[0293] Example 10 - The surgical system according to Example 9 also includes a control circuit configured to detect a charge level of the internal charge accumulation device, wherein detecting that the charge level is reduced to a first minimum charge level or reduced to below the first minimum charge level causes the control circuit to reduce the maximum speed limit of the electric motor to a first minimum speed limit threshold.

[0294] Example 11 - A surgical system according to Example 10, wherein detecting that the charge level is reduced to a second minimum charge level that is less than the first minimum charge level or reduced to below the second minimum charge level causes the control circuit to reduce the maximum speed limit of the electric motor to a second minimum speed limit threshold that is less than the first minimum speed limit threshold.

[0295] Example 12 - A surgical system according to Example 11, wherein detecting that the charge level decreases to a third minimum charge level that is less than the second minimum charge level or decreases to below the third minimum charge level causes the control circuit to stop the electric motor.

[0296] Example 13 - A surgical system according to 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 a third minimum charge level.

[0297] Example 14 - A surgical system according to Example 9, 10, 11, 12 or 13, wherein when the charge level of the internal charge accumulation device is below a threshold, 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.

[0298] Example 15 - A surgical instrument according to Examples 9, 10, 11, 12, 13 or 14, wherein the end effector comprises a first jaw and a second jaw, the first jaw comprises an electrode, and wherein the power source is configured to supply a first power to the surgical instrument to cause the electrode to burn 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 - A surgical instrument according to Example 9, 10, 11, 12, 13, 14 or 15, wherein the internal charge accumulation device includes a rechargeable battery.

[0300] Example 17 - A surgical instrument according to 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 transmit the second power to the internal charge accumulation device. The power source assembly is configured to transmit the first power to the electric motor and the internal charge accumulation device. The power source assembly is configured to simultaneously provide power to the electric motor from the internal charge accumulation device and the first power.

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

[0303] Example 20 - A surgical instrument according to Example 18 or 19, wherein the internal charge accumulation device includes a rechargeable battery.

[0304] Although multiple 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 details. Without departing from the scope of this disclosure, many modifications, variations, changes, substitutions, combinations and equivalents to these forms may be realized, and those skilled in the art will appreciate many modifications, variations, changes, substitutions, combinations and equivalents to these forms. In addition, alternatively, the structure of each element associated with the described form may be described as a device for providing the function performed by the element. In addition, where materials for certain components are disclosed, other materials may also be used. Therefore, it should be understood that the above-mentioned specific embodiments and the appended claims are intended to encompass all such modifications, combinations and variations within the scope of the forms disclosed by the present invention. The appended claims are intended to encompass all such modifications, variations, changes, substitutions, modifications and equivalents.

[0305] The above detailed description has been described using block diagrams, flow charts, and / or examples to illustrate various forms of apparatus and / or methods. As long as such block diagrams, flow charts, and / or examples contain one or more functions and / or operations, those skilled in the art will understand that each function and / or operation in such block diagrams, flow charts, and / or examples can be implemented individually and / or collectively by a variety of hardware, software, firmware, or any combination thereof. Those skilled in the art will recognize that some aspects of the forms disclosed herein can be implemented in whole or in part in an integrated circuit as one or more computer programs running on one or more computers (e.g., as one or more programs running on one or more computer systems), as one or more programs running on one or more processors (e.g., as one or more programs running on one or more microprocessors), as firmware, or as any combination thereof, and that designing circuit systems and / or writing software and / or hardware code will be within the skill of those skilled in the art based on the present disclosure. In addition, those skilled in the art will recognize that the mechanisms of the subject matter described herein can be distributed as one or more program products in a variety of forms, and that the illustrative forms of the subject matter described herein are applicable regardless of the specific type of signal-bearing medium used for actual distribution.

[0306] Instructions for programming logic to perform various disclosed aspects may be stored in a memory in the system, such as dynamic random access memory (DRAM), cache, flash memory, or other memory. In addition, instructions may be distributed via a network or through other computer-readable media. Thus, a machine-readable medium may include any mechanism for storing or transmitting information in a machine (e.g., computer) readable form, but is not limited to a floppy disk, an optical disk, a compact disk read-only memory (CD-ROM), and a magneto-optical disk, a read-only memory (ROM), a random access memory (RAM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic or optical card, a flash memory, or a tangible, machine-readable storage device used when transmitting information over the Internet via an electrical signal, an optical signal, an acoustic signal, or other form of propagation signal (e.g., a carrier wave, an infrared signal, a digital signal, etc.). Thus, a non-transitory computer-readable medium includes any type of tangible machine-readable medium suitable for storing or transmitting electronic instructions or information in a machine (e.g., computer) readable form.

[0307] As used in any aspect of this document, the term "control circuitry" may refer to, for example, hardwired circuitry, programmable circuitry (e.g., a computer processor including one or more separate instruction processing cores, a processing unit, a processor, a microcontroller, a microcontroller unit, a controller, a digital signal processor (DSP), a programmable logic device (PLD), a programmable logic array (PLA), a field programmable gate array (FPGA)), state machine circuitry, firmware that stores instructions executed by the programmable circuitry, and any combination thereof. The control circuitry may be implemented collectively or individually as circuitry that forms part of a larger system, such as an integrated circuit (IC), an application specific integrated circuit (ASIC), a system on a chip (SoC), a desktop computer, a laptop computer, a tablet computer, a server, a smartphone, or the like. Thus, as used herein, "control circuitry" includes, but is not limited to, electronic circuitry having at least one discrete circuit, electronic circuitry having at least one integrated circuit, electronic circuitry having at least one application-specific integrated circuit, electronic circuitry forming a general-purpose computing device configured by a computer program (e.g., a general-purpose computer configured by a computer program to at least partially implement the methods and / or apparatus described herein, or a microprocessor configured by a computer program to at least partially implement the methods and / or apparatus described herein), electronic circuitry forming a memory device (e.g., forming a random access memory), and / or electronic circuitry 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 form, or some combination thereof.

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

[0309] As used in any aspect herein, the terms "component," "system," "module," and the like may refer to a computer-related entity, hardware, a combination 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 manipulations of physical quantities and / or logical states, which may (but need not) take the form of electrical or magnetic signals capable of being stored, transferred, combined, compared, and otherwise manipulated. The terms "input" and "output" are commonly used to refer to such signals as bits, values, elements, symbols, characters, terms, numbers, and the like. These and similar terms may be associated with the appropriate physical quantities and are merely convenient labels applied to such quantities and / or states.

[0311] The network may include a packet-switched network. The communication devices may be capable of communicating with each other using a selected packet-switched network communication protocol. An exemplary communication protocol may include an Ethernet communication protocol that may allow communication using the Transmission Control Protocol / Internet Protocol (TCP / IP). The Ethernet protocol may 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 later versions of this standard. Alternatively or additionally, the communication devices may be capable of communicating with each other using the X.25 communication protocol. The X.25 communication protocol may conform to or be compatible with standards published by the International Telecommunication Union Telecommunication Standardization Sector (ITU-T). Alternatively or additionally, the communication devices may be capable of communicating with each other using the Frame Relay communication protocol. The Frame Relay communication protocol may conform to or be compatible with standards published by the International Telegraph and Telephone Consultative Committee (CCITT) and / or the American National Standards Institute (ANSI). Alternatively or additionally, the transceivers may be capable of communicating with each other using the Asynchronous Transfer Mode (ATM) communication protocol. The ATM communication protocol may 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 later versions thereof. Of course, different and / or later developed connection-oriented network communication protocols are also contemplated herein.

[0312] Unless otherwise expressly indicated in the above disclosure, it is understood that discussions in the above disclosure using terms such as "process," "compute," "calculate," "determine," and "display" refer to the actions and processes of a computer system or similar electronic computing device that manipulate data represented as physical (electronic) quantities within the computer system's registers and memories and transform them into other data similarly represented as physical quantities within the computer system's memories or registers or other such information storage, transmission, or display devices.

[0313] One or more components may be referred to herein as being "configured to be able to," "configurable to be able to," "operable / operably," "suitable / adaptable to," "able to," "conformable / conform to," etc. Those skilled in the art will recognize that, unless the context indicates otherwise, "configured to be able to" may generally encompass components in an active state and / or components in an inactive state and / or components in a standby state.

[0314] The terms "proximal" and "distal" are used herein relative to a clinician manipulating the 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 should also be understood that for brevity and clarity, spatial terms such as "vertical," "horizontal," "upper," and "lower" may be used herein in conjunction with the accompanying drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and / or absolute.

[0315] Those skilled in the art will recognize that, in general, the terms used herein, and in particular in the appended claims (e.g., the bodies of the appended claims), are generally intended to be "open" terms (e.g., the term "including" should be interpreted as "including but not limited to," the term "having" should be interpreted as "having at least," the term "comprising" should be interpreted as "including, but not limited to," etc.). Those skilled in the art will also understand that if a specific number of an introduced claim recitation is intended, such an intent will be explicitly recited in the claim, and in the absence of such recitation, no such intent is present. For example, to aid understanding, the following appended claims may contain use of the introductory phrases "at least one" and "one or more" to introduce claims. However, the use of such phrases should not be construed as implying that introducing a claim recitation by the indefinite article "a" or "an" limits any particular claim containing such introduced claim recitation to claims containing only one such recitation, even when the same claim includes the introductory phrases "one or more" or "at least one" and an indefinite article such as "a" or "an" (e.g., "a" and / or "an" should generally be interpreted as meaning "at least one" or "one or more"); this also applies to the use of definite articles used to introduce claim recitations.

[0316] In addition, even if a specific number of claim recitations is explicitly recited, those skilled in the art will recognize that such recitation should generally be interpreted to mean at least the recited number (e.g., a bare recitation of "two recitations," without other modifiers, generally means at least two recitations, or two or more recitations). Furthermore, in those instances where a convention similar to "at least one of A, B, and C, etc." is used, generally, such construction is intended to have the meaning that one skilled in the art would understand the convention (e.g., "a system having at least one of A, B, and C" would 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 those instances where a convention similar to "at least one of A, B, or C, etc." is used, generally, such construction is intended to have the meaning that one skilled in the art would understand the convention (e.g., "a system having at least one of A, B, or C" would 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 will also understand that, generally, unless the context indicates otherwise, transitional words and / or phrases presenting two or more alternative terms in the detailed description, claims, or drawings should be understood to encompass the possibility of including one, either, 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 therein may generally be performed in any order. In addition, although various operational flow charts are presented in one or more sequences, it will be understood that the various operations may be performed in an order other than the order shown, or the various operations may be performed simultaneously. Unless the context dictates otherwise, examples of such alternative orderings may include overlapping, interleaved, interrupted, reordered, incremental, preliminary, supplemental, simultaneous, reverse, or other altered orderings. Furthermore, unless the context dictates otherwise, terms such as "responsive to," "related to," or other past tense adjectives are generally not intended to exclude such variations.

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

[0319] In this specification, unless otherwise indicated, the terms "about" or "approximately" used in this disclosure refer to an acceptable error for a particular value determined by one of ordinary skill in the art, which may depend in part on how the value is measured or determined. In certain embodiments, the terms "about" or "approximately" refer to within 1, 2, 3, or 4 standard deviations. In certain embodiments, the terms "about" or "approximately" refer to 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 indicated, all numerical parameters should be understood in all instances as being introduced or modified by the term "about", wherein the numerical parameters are characterized by the inherent variability of the underlying measurement technology used to determine the numerical value of the parameter. At a minimum, and without attempting to limit the application of the doctrine of equivalents to the scope of protection of the claims, each numerical parameter described herein should at least be construed in light of the number of significant digits reported and by applying customary rounding techniques.

[0321] Any numerical range listed herein includes all subranges encompassed within the listed range. For example, a range of "1 to 10" includes all subranges between the listed minimum value of 1 and the listed maximum value of 10 (including 1 and 10), that is, a minimum value equal to or greater than 1 and a maximum value equal to or less than 10. In addition, all ranges listed herein include the endpoints of the listed ranges. For example, a range of "1 to 10" includes endpoints 1 and 10. Any upper limit listed in this specification is intended to include all smaller limits encompassed therein, and any lower limit listed in this specification is intended to include all larger limits encompassed therein. Therefore, the applicant reserves the right to amend this specification (including claims) to explicitly list any subranges encompassed within the explicitly listed ranges. This specification inherently describes all such ranges.

[0322] Any patent application, patent, non-patent publication, or other disclosure material referred to in this specification and / or listed in any Application Data Sheet is incorporated herein by reference to the extent that the incorporated material is inconsistent herein. Therefore, and to the extent necessary, the disclosure explicitly set forth herein supersedes 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 disclosure material listed herein will be incorporated only to the extent that there is no conflict between the incorporated material and the existing disclosure material.

[0323] In summary, the numerous benefits resulting from the use of the concepts described herein have been described. For purposes of illustration and description, one or more specific embodiments have been provided above. These specific embodiments are not intended to be exhaustive or to limit the invention to the precise forms disclosed. The invention may be modified or varied in light of the above teachings. The form or forms selected and described are intended to illustrate the principles and practical applications, thereby enabling one of ordinary skill in the art to utilize various forms and modifications as appropriate for the particular use contemplated. The claims submitted herewith are intended to define the full scope.

Claims

1. A surgical system comprising: generator; as well as A surgical instrument configured to receive power from the generator, wherein the surgical instrument comprises: a housing comprising an electric motor; a shaft extending from the housing, wherein the shaft defines a longitudinal shaft axis; an end effector extending from the shaft and operatively responsive to actuation from the electric motor, wherein the end effector is transitionable between an open configuration and a closed configuration, wherein the end effector is rotatable relative to the longitudinal shaft axis about an articulation axis transverse to the longitudinal shaft axis, and wherein the generator is incapable of directly supplying sufficient power to the electric motor to cause the electric motor to perform the actuation; and an internal charge accumulation device in electrical communication with the generator, wherein the internal charge accumulation device is configured to supply power to the electric motor, wherein the internal charge accumulation device is chargeable by the generator to a threshold value at a charging rate that is dependent on a charge level of the internal charge accumulation device, and wherein the charging rate is independent of charge consumption by the surgical instrument.

2. The surgical system of claim 1 , wherein: The generator is configured to be capable of charging the internal charge accumulation device during the charge depletion period.

3. The surgical system of claim 1 , 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.

4. The surgical system of claim 1 , wherein: When the charge level of the internal charge accumulation device is above a predetermined minimum level, the speed of the electric motor is allowed to reach a maximum speed.

5. The surgical system of claim 4, wherein: When the charge level of the internal charge accumulation device is below the predetermined minimum level, the speed of the electric motor is limited to a reduced speed.

6. The surgical system of claim 1 , wherein: The end effector includes a first jaw and a second jaw, the first jaw including 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.

7. The surgical system of claim 1 , wherein: The internal charge accumulation device includes a rechargeable battery.

8. The surgical system of claim 7, wherein: The rechargeable battery is integrated with the housing.

9. A surgical system comprising: Power source; as well as A surgical instrument configured to receive power from the power source, wherein the surgical instrument comprises: a housing comprising an electric motor; a shaft extending from the housing; an end effector extending from the shaft, wherein the end effector is operably coupled to the electric motor, and wherein the electric motor is configured to drive the end effector to perform an end effector function; and an internal charge accumulation device in electrical communication with the power source, wherein the internal charge accumulation device is configured to supply power to the electric motor, wherein the internal charge accumulation device is chargeable by the power source to a threshold value at a charging rate that depends on a charge level of the internal charge accumulation device, and wherein 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.

10. The surgical system of claim 9 , further comprising a control circuit configured to detect the charge level of the internal charge accumulation device, wherein detecting a decrease in the charge level to or below a first minimum charge level causes the control circuit to reduce the maximum speed limit of the electric motor to a first minimum speed limit threshold.

11. The surgical system of claim 10, wherein: Detecting 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.

12. The surgical system of claim 11, wherein: Detecting that the charge level decreases to a third minimum charge level that is less than the second minimum charge level or decreases below the third minimum charge level causes the control circuit to stop the electric motor.

13. The surgical system of claim 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.

14. The surgical system of claim 9, wherein: When the charge level of the internal charge accumulation device is below the threshold, 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.

15. The surgical system of claim 9, wherein: The end effector includes a first jaw and a second jaw, the first jaw including an electrode, and wherein the power source is configured to supply a first power to the surgical instrument to cause the electrode to burn 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.

16. The surgical system of claim 9, wherein: The internal charge accumulation device includes a rechargeable battery.

17. The surgical system of claim 15, wherein: The power source is a disposable battery.

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