Electrosurgical instrument with shaft voltage monitor

Abstract

The surgical instrument includes a shaft assembly, an end effector, a console, a conductor assembly, and a voltage sensor. The shaft assembly has a conductive component. The conductor assembly is configured to transfer power from the console to the end effector and includes a ground return path. Each of the conductive components is configured to couple to a corresponding one of the voltage sensors and to the ground return path. The voltage sensors are operable to measure a potential difference of the coupled conductive component relative to a ground potential defined by the ground return path. The console is configured to determine whether the measured potential difference exceeds a maximum threshold. If the measured potential difference exceeds the maximum threshold, the console is further configured to initiate corrective action.

Description

Background Art

[0001] Various ultrasonic surgical instruments include an end effector having a blade element that vibrates at ultrasonic frequencies to cut and / or seal tissue (e.g., by denaturing proteins within the tissue cells). These instruments include one or more piezoelectric elements that convert electrical power into ultrasonic vibrations, which are transmitted along an acoustic waveguide to the blade element. Examples of ultrasonic surgical instruments and related concepts are disclosed in U.S. Patent Application Publication No. 2006 / 0079874, titled "Tissue Pad for Use with an Ultrasonic Surgical Instrument," published Apr. 13, 2006, now abandoned, the disclosure of which is incorporated herein by reference in its entirety; U.S. Patent Application Publication No. 2007 / 0191713, titled "Ultrasonic Device for Cutting and Coagulating," published Aug. 16, 2007, now abandoned, the disclosure of which is incorporated herein by reference in its entirety; and U.S. Patent Application Publication No. 2008 / 0200940, titled "Ultrasonic Device for Cutting and Coagulating," published Aug. 21, 2008, now abandoned, the disclosure of which is incorporated herein by reference in its entirety.

[0002] Some instruments are operable to seal tissue by applying radiofrequency (RF) electrosurgical energy to the tissue. Examples of such devices and related concepts are disclosed in U.S. Patent No. 7,354,440, titled "Electrosurgical Instrument and Method of Use," issued Apr. 8, 2008, the disclosure of which is incorporated herein by reference in its entirety; and U.S. Patent No. 7,381,209, titled "Electrosurgical Instrument," issued Jun. 3, 2008, the disclosure of which is incorporated herein by reference in its entirety.

[0003] Some instruments are capable of applying both ultrasonic energy and RF electrosurgical energy to tissue. Examples of such instruments are described in U.S. Patent No. 9,949,785, entitled "Ultrasonic Surgical Instrument with Electrosurgical Feature," issued April 24, 2018, the disclosure of which is incorporated herein by reference in its entirety, and U.S. Patent No. 8,663,220, entitled "Ultrasonic Electrosurgical Instruments," issued March 4, 2014, the disclosure of which is incorporated herein by reference in its entirety.

[0004] In some scenarios, it may be preferable to directly grasp and manipulate a surgical instrument by one or more hands of one or more human operators. Additionally, or alternatively, it may be preferable to have a surgical instrument that is controlled via a robotic surgical system. Examples of robotic surgical systems and related instruments are U.S. Patent No. 10,624,709, entitled "Robotic Surgical Tool with Manual Release Lever," published on May 2, 2019, the disclosure of which is incorporated herein by reference in its entirety; U.S. Patent No. 9,314,308, entitled "Robotic Ultrasonic Surgical Device With Articulating End Effector," issued on April 19, 2016, the disclosure of which is incorporated herein by reference in its entirety; U.S. Patent No. 9,125,662, entitled "Multi-Axis Articulating and Rotating Surgical Tools," issued on September 8, 2015, the disclosure of which is incorporated herein by reference in its entirety; U.S. Patent No. 8,820,605, entitled "Robotically-Controlled Surgical Instruments," issued on September 2, 2014, the disclosure of which is incorporated herein by reference in its entirety; U.S. Patent Application Publication No. 2019 / 0201077, entitled "Interruption of Energy Due to Inadvertent Capacitive Coupling," published on July 4, 2019, the disclosure of which is incorporated herein by reference in its entirety; U.S. Patent Application Publication No. 2012 / 0292367, entitled "Robotically-Controlled End Effector," published on November 11, 2012, the disclosure of which is incorporated herein by reference in its entirety; and U.S. Patent Application No. 16 / 556,661, entitled "Ultrasonic Surgical Instrument with a Multi-Planar Articulating Shaft Assembly," filed on August 30, 2019, the disclosure of which is incorporated herein by reference in its entirety.

[0005] Although several surgical instruments and systems have been made and used, it is believed that no one prior to the inventors has made or used the invention as claimed in the appended claims.

Brief Description of the Drawings

[0006] This specification concludes with the claims, which particularly point out and distinctly claim the technology. However, the technology is better understood when read in conjunction with the following description of certain specific embodiments in the accompanying drawings, in which like reference numerals identify like elements.

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[0007] The drawings are not intended to limit in any way, and it is contemplated that various embodiments of the present technology can be implemented in various other ways, including those not necessarily depicted in the drawings. The accompanying drawings, which are incorporated herein and form a part of this specification, illustrate some aspects of the present technology and, together with the description, explain the principles of the present technology, but it is understood that the present technology is not limited to the exact arrangements shown.

Best Mode for Carrying Out the Invention

[0008] The following description of specific embodiments of the present technology should not be used for the purpose of limiting its scope. Other embodiments, features, aspects, embodiments, and advantages of the present technology will become apparent to those skilled in the art from the following description, which is one of the best modes contemplated for practicing the present technology by way of example. As will be understood, the techniques described herein are capable of other different and obvious aspects without departing from the technology. Therefore, the drawings and description are not limiting and should be considered essentially illustrative.

[0009] It should also be further understood that any one or more of the teachings, expressions, embodiments, examples, etc. described herein may be combined with any one or more of the other teachings, expressions, embodiments, examples, etc. described herein. Therefore, the teachings, expressions, embodiments, examples, etc. described below should not be considered in isolation from each other. Various suitable ways of combining the teachings of this specification will be readily apparent to those skilled in the art upon consideration of the teachings of this specification. Such modifications and variations are intended to be included within the scope of the claims.

[0010] For the sake of clarity of the present disclosure, the terms "proximal" and "distal" are defined herein with respect to an operator of a surgical instrument, whether human or robotic. The term "proximal" means the position of an element that is closer to the operator of the surgical instrument, whether human or robotic, and further away from the surgical end effector of the surgical instrument. The term "distal" means the position of an element that is closer to the surgical end effector of the surgical instrument and further away from the operator of the surgical instrument, whether human or robotic. Additionally, the terms "upper", "lower", "top", "bottom", "upper side", and "lower side" are used with respect to the examples and the associated figures and are not intended to unduly limit the invention described herein.

[0011] I. Examples of Robotic Surgical Systems As described above, in some surgical procedures, it may be desirable to utilize a robot-controlled surgical system. Such a robot-controlled surgical system may include one or more surgical instruments that are controlled and driven by a robot via one or more users, either in the same operating room or away from the operating room. FIG. 1 shows an example of various components that can be incorporated into a robotic surgical system (10). The system (10) of this example includes a console (20), a monopolar RF electrosurgical instrument (40), a bipolar RF electrosurgical instrument (50), and an ultrasonic surgical instrument (60). FIG. 1 shows that all three instruments (40, 50, 60) are connected to the console (20) simultaneously, but there may be usage scenarios where only one or two of the instruments (40, 50, 60) are connected to the console (20) at the same time. Further, in addition to or instead of one or more of the instruments (40, 50, 60) connected to the console (20), there may be usage scenarios where various other instruments are connected to the console (20).

[0012] The monopolar RF electrosurgical instrument (40) of this example includes a body (42), a shaft (44) extending distally from the body (42), and an end effector (46) at the distal end of the shaft (44). The body (42) is configured to connect to a robotic arm (not shown in FIG. 1) of the system (10), and the robotic arm is operable to position and orient the monopolar RF electrosurgical instrument (40) relative to the patient. In a deformable form where the monopolar RF electrosurgical instrument (40) includes one or more mechanically driven components (e.g., jaws in the end effector (46), articulation joints of the shaft (44), rotating parts of the shaft (44), etc.), the body (42) may include various components operable to convert one or more mechanical drive inputs from the robotic arm into the movement of one or more mechanically driven components of the monopolar RF electrosurgical instrument (40).

[0013] As also shown in FIG. 1, the body (42) is coupled to a corresponding port (22) of the console (20) via a cable (32). The console (20) is operable to supply power to the monopolar RF electrosurgical instrument (40) via the port (22) and the cable (32). In some variations, the port (22) is dedicated to driving monopolar RF electrosurgical instruments such as the monopolar RF electrosurgical instrument (40). In some other variations, the port (22) is operable to drive various types of instruments (including, for example, instruments (50, 60), etc.). In some such variations, the console (20) is operable to automatically detect the type of instrument (40, 50, 60) coupled to the port (22) and adjust the power profile to the port (22) accordingly. Additionally, or alternatively, the console (20) may adjust the power profile to the port (22) based on a manual selection by the operator via the console (20) to identify the type of instrument (40, 50, 60) coupled to the port (22).

[0014] The shaft (44) is operable to support the end effector (46) and provides one or more wires or other pathways for electrical communication between the base (42) and the end effector (46). Thus, the shaft (44) is operable to transmit power from the console (20) to the end effector (46). The shaft (44) may also include various mechanically movable components including, but not limited to, rotational segments, joints, and / or other types of mechanically movable components that would be apparent to one of ordinary skill in the art in view of the teachings herein.

[0015] The end effector (46) of this embodiment includes an electrode operable to apply monopolar RF energy to tissue. Such an electrode may be incorporated into a sharp blade, a needle, a flat surface, some other non-invasive structure, or any other suitable type of structure that would be apparent to one of ordinary skill in the art in view of the teachings herein. The end effector (46) may also include various other types of components including, but not limited to, grasping jaws and the like.

[0016] The system (10) of this embodiment further includes a ground pad (70) coupled to a corresponding port (28) of the console (20) via a cable (38). In some variations, the ground pad (70) is incorporated into a patch or other structure affixed to the patient's skin (e.g., on the patient's thigh). In some other variations, the ground pad (70) is disposed beneath the patient (e.g., between the patient and the operating table). In either case, the ground pad (70) can function as a return path for monopolar RF energy applied to the patient via the end effector (46). In some variations, the port (28) is a dedicated ground return port. In some other variations, the port (28) is a multi-purpose port that is either automatically designated as the ground return port when the console (20) detects the connection between the ground pad (70) and the port (28), or manually designated as the ground return port via an operator using the user input features of the console (20).

[0017] The bipolar RF electrosurgical instrument (50) of this embodiment includes a main body (52), a shaft (54) extending distally from the main body (52), and an end effector (56) at the distal end of the shaft (54). Each of these components (52, 54, 56) is configured and operable according to the above description of the corresponding components (42, 44, 46) of the monopolar RF electrosurgical instrument (50), except that the end effector (56) of this embodiment is operable to apply bipolar RF energy to tissue. Thus, the end effector (56) includes at least two electrodes, and these two electrodes are configured to cooperate with each other to apply bipolar RF energy to tissue. The bipolar RF electrosurgical instrument (50) is connected to the console (20) via a cable (34), and the cable (34) is further connected to the port (24) of the console (20). The port (24) may be dedicated to supplying power to the bipolar RF electrosurgical instrument. Alternatively, the port (24) may be a multi-purpose port whose output is determined based on either automatic detection of the bipolar RF electrosurgical instrument (50) or operator selection via a user input feature of the console (20).

[0018] The ultrasonic surgical instrument (60) of this embodiment includes a main body (62), a shaft (64) extending distally from the main body (62), and an end effector (66) at the distal end of the shaft (64). Each of these components (62, 64, 66) is configured and operable according to the above description of the corresponding components (42, 44, 46) of the monopolar RF electrosurgical instrument (50), except that the end effector (66) of this embodiment is operable to apply ultrasonic energy to tissue. Thus, the end effector (66) includes an ultrasonic blade or other ultrasonic vibrating element. The base (62) includes an ultrasonic transducer (68) operable to generate ultrasonic vibrations in response to power, and the shaft (64) includes an acoustic waveguide operable to transmit ultrasonic vibrations from the transducer (68) to the end effector (66).

[0019] The ultrasonic surgical instrument (60) is connected to the console (20) via a cable (36), and the cable (36) is further connected to the port (26) of the console (20). The port (26) can be dedicated to power supply to the ultrasonic electrosurgical instrument. Alternatively, the port (26) can be a multi-purpose port whose output is determined based on either automatic detection of the ultrasonic surgical instrument (60) or operator selection via a user input feature of the console (20).

[0020] FIG. 1 shows monopolar RF, bipolar RF, and ultrasonic capabilities provided via three separate dedicated instruments (40, 50, 60), although some variations may include instruments operable to apply two or more of monopolar RF, bipolar RF, or ultrasonic energy to tissue. In other words, two or more of such energy modes may be incorporated into a single instrument. Examples showing how such different modes can be integrated into a single device are described in U.S. Patent Application Publication No. 2017 / 0202591, entitled "Modular Battery Powered Handheld Surgical Instrument with Selective Application of Energy Based on Tissue Characterization", published on July 20, 2017, the disclosure of which is hereby incorporated by reference in its entirety. Other examples will be apparent to those skilled in the art in view of the teachings herein.

[0021] FIG. 2 shows an example of a robotic surgical system (150) for a patient (P) on a table (156). The system (150) of this example includes a control console (152) and a drive console (154). The console (152) is operable to receive user input from an operator, and the drive console (154) is operable to convert these user inputs into the movement of a set of robotic arms (160, 170, 180). In some variations, the consoles (152, 154) collectively form something equivalent to the console (20) described above. The consoles (152, 154) are shown as separate units in this example, but in some other examples, the consoles (152, 154) may actually be combined as a single unit.

[0022] The robotic arms (160, 170, 180) extend from the drive console (154) in this embodiment. In some other variations, the robotic arms (160, 170, 180) are incorporated into the base (156) or some other structure. Each robotic arm (160, 170, 180) has a corresponding drive interface (162, 172, 182). In this embodiment, the three drive interfaces (162, 172, 182) are coupled to a single instrument assembly (190). In some other scenarios, each drive interface (162, 172, 182) is coupled to a respective separate instrument. By way of example only, the drive interfaces (162, 172, 182) may be coupled to the body of an instrument such as the bodies (42, 52, 62) of the instruments (40, 50, 60) described above. In any case, the robotic arms (160, 170, 180) may be operable to move the instruments (40, 50, 60, 190) relative to the patient (P) and to actuate any mechanically driven components of the instruments (40, 50, 60, 190). The robotic arms (160, 170, 180) may also include features that provide a path for the transmission of power to the instruments (40, 50, 60, 190). For example, the cables (32, 34, 36) may be at least partially incorporated into the robotic arms (160, 170, 180). In some other variations, the robotic arms (160, 170, 180) may include features that secure but do not necessarily integrate the cables (32, 34, 36). As yet another variation, the cables (32, 34, 36) may simply remain separate from the robotic arms (160, 170, 180). Other suitable features and configurations that may be used to form the robotic surgical system (10, 150) will be apparent to those skilled in the art upon consideration of the teachings herein.

[0023] In a robotic surgical system, such as robotic surgical systems (10, 150), each port (22, 24, 26, 28) may have a plurality of electrical features that provide inputs and outputs between a console (20, 152) and robotic arms (160, 170, 180) and / or instruments (40, 50, 60, 190). These electrical features may include sockets, pins, contacts, or various other features that are in very close proximity to each other. In some scenarios, this proximity can result in the risk of power or signals crossing from one electrical feature to another in an undesirable manner, which can cause equipment failure, equipment damage, sensor errors, and / or other undesirable outcomes. Additionally, or alternatively, this proximity can result in the risk of generating a potential between adjacent components or creating a capacitive coupling between electrical features. Such capacitive coupling can result in undesirable outcomes such as power reduction, signal reduction, signal interference, patient injury, and / or other undesirable outcomes. Therefore, it may be desirable to provide features to prevent such occurrences or otherwise address them at the port (22, 24, 26, 28).

[0024] Similarly, each robotic arm (160, 170, 180), each cable (32, 34, 36, 38), and / or each instrument (40, 50, 60, 190) may include a plurality of wires, rigid circuits, or traces within flexible circuits that are in very close proximity to each other, and other electrical features. Such electrical features may also be in very close proximity to other components that are not intended to provide a path for electrical communication but are nevertheless formed from a conductive material. Such conductive mechanical features may include movable components (e.g., drive cables, drive bands, gears, etc.) or stationary components (e.g., chassis or frame members, etc.). This proximity can result in a risk that power or signals cross in an undesirable manner from one electrical feature to another and / or from one electrical feature to a conductive mechanical feature, which can cause equipment failure, equipment damage, sensor errors, and / or other undesirable results. Additionally, or alternatively, this proximity can result in a risk of generating a potential between adjacent components or creating a capacitive coupling between electrical features and / or between an electrical feature and a conductive mechanical feature. Such capacitive coupling can result in undesirable results such as power reduction, signal reduction, signal interference, patient injury, and / or other undesirable results. Therefore, it may be desirable to provide features to prevent such occurrences or otherwise address them within the robotic arms (160, 170, 180), within the cables (32, 34, 36, 38), and / or within the instruments (40, 50, 60, 190).

[0025] II. Examples of Handheld Surgical Instruments In some procedures, the operator may prefer to use a handheld surgical instrument in addition to, or instead of, the use of a robotic surgical system (10, 150). FIG. 3 shows an example of various components that may be incorporated into a handheld surgical instrument (100). In addition to the following teachings, the instrument (200) may be constructed and operable in accordance with at least a portion of the teachings of U.S. Patent Application Publication No. 2017 / 0202608, entitled "Modular Battery Powered Handheld Surgical Instrument Containing Elongated Multi-Layered Shaft," published on July 20, 2017, the disclosure of which is incorporated herein by reference, and / or various other references cited herein. The instrument (100) of this example includes an end effector (102), an ultrasonic transducer (104), a generator (106), a control circuit (108), a speaker (110), a position sensor (112), a force sensor (114), a visual display (116), and a trigger (118). In some variations, the end effector (102) is disposed at the distal end of a shaft (not shown in FIG. 3), and the other components (104, 106, 108, 110, 112, 114, 116, 118) are incorporated into a handle assembly (not shown in FIG. 3) at the proximal end of the shaft. Some variations may also provide some of the components (104, 106, 108, 110, 112, 114, 116, 118) with separate capital equipment. For example, the generator (106), the speaker (110), and / or the visual display (116) may be incorporated into separate capital equipment connected to the instrument (100).

[0026] The end effector (102) can be configured and operable like the above-described end effectors (46, 56, 66) such that the end effector (102) can be operable to apply monopolar RF energy, bipolar RF energy, or ultrasonic energy to tissue. The transducer (104) can be configured and operable like the transducer (68). The generator (106) can be operable to supply power as needed to drive the transducer (68) and / or to supply RF energy via the end effector (102). In a variant where the generator (106) is incorporated into the handle assembly of the instrument (106), the generator (106) may include one or more battery cells, etc. The control circuit (108) may include one or more microprocessors and / or various other circuit components that can be configured to provide signal processing and other electronic aspects of the operability of the instrument (100). The position sensor (112) may be configured to sense the position and / or orientation of the instrument (102). In some variants, the control circuit (108) is configured to vary the operability of the instrument (102) based on data from the position sensor (112). The force sensor (114) is operable to sense one or more force parameters associated with the use of the instrument (100). Such force parameters may include the force applied to the instrument (100) by the operator, the force applied to the tissue by the end effector (102), or other force parameters that would be apparent to one of ordinary skill in the art in view of the teachings herein. In some variants, the control circuit (108) is configured to vary the operability of the instrument (102) based on data from the force sensor (114). In some variants, one or both of the sensors (112, 114) may be incorporated into the end effector (102). Additionally, or alternatively, one or both of the sensors (112, 114) may be incorporated into the shaft assembly (not shown) of the instrument (100).A variant of the instrument (100) may also incorporate various other types of sensors (e.g., in addition to or instead of sensors (112, 114) within the end effector (102), within the shaft assembly, and / or at other locations within the instrument (100)).

[0027] The trigger (118) is operable to control aspects of the operation of the end effector (102), such as the movement of the pivoting jaws, the translation of the cutting blade, etc. The speaker (110) and the visual display (116) are operable to provide the operator with auditory and visual feedback related to the operation of the instrument (100). The above-described components (102, 104, 106, 108, 110, 112, 114, 116, 118) of the instrument (100) are exemplary embodiments, and the components (102, 104, 106, 108, 110, 112, 114, 116, 118) may be modified, replaced, supplemented, or omitted as necessary.

[0028] FIG. 4 shows an example of a form that the instrument (100) can take. In particular, FIG. 4 shows a handheld instrument (200). In addition to the following teachings, the instrument (200) may be constructed and operable in accordance with at least a portion of the teachings of U.S. Patent Application Publication No. 2017 / 0202591, the disclosure of which is incorporated herein by reference in its entirety, and / or various other references cited herein. In this embodiment, the instrument (200) includes a handle assembly (210), a shaft assembly (220), and an end effector (230). The handle assembly (210) includes a pivoting trigger (212), a first trigger button (214), a second trigger button (216), and a joint control section (218). The shaft assembly (220) includes a rigid shaft portion (222) and a joint portion (224). The end effector (230) is distal to the joint portion (224) and includes an upper jaw (232) and a lower jaw (234).

[0029] By way of example only, the handle assembly (210) may include one or more of the above-described components (104, 106, 108, 110, 112, 114, 116, 118). The trigger (212) may be operable to pivot the upper jaw portion (232) towards the lower jaw portion (234) (e.g., to grasp tissue between the jaws (232, 234)). The trigger buttons (214, 216) may be operable to initiate the delivery of energy (e.g., RF energy and / or ultrasonic energy) via the end effector (230). The articulation control (218) may be operable to drive the deflection of the shaft assembly (220) at the articulation joint (224), thereby driving the lateral deflection of the end effector (230) away from or towards the longitudinal central axis defined by the rigid shaft portion (222). The end effector (230) may include one or more electrodes operable to apply monopolar and / or bipolar RF energy to tissue. Additionally, or alternatively, the end effector (230) may include an ultrasonic blade operable to apply ultrasonic energy to tissue. In some variations, the end effector (230) may be operable to apply two or more of monopolar RF energy, bipolar RF energy, or ultrasonic energy to tissue. Other suitable features and functions that may be incorporated into the end effector (230) will be apparent to those skilled in the art in view of the teachings herein.

[0030] The instruments (150, 200) may include a plurality of wires in very close proximity to each other, traces within a rigid or flexible circuit, and other electrical features. Such electrical features may be located within the handle assembly (210), within the shaft assembly (220), and / or within the end effector (230). Such electrical features may also be in very close proximity to other components that are not intended to provide a path for electrical communication but are nevertheless formed from a conductive material. Such conductive mechanical features may include movable components (e.g., drive cables, drive bands, gears, etc.) or stationary components (e.g., chassis or frame members, etc.). This proximity can result in a risk that power or signals cross in an undesirable manner from one electrical feature to another and / or from one electrical feature to a conductive mechanical feature, which can cause equipment failure, equipment damage, sensor errors, patient trauma, and / or other undesirable results. Additionally, or alternatively, this proximity can result in a risk of generating a potential between adjacent components or creating a capacitive coupling between electrical features and / or between an electrical feature and a conductive mechanical feature. Such capacitive coupling can result in undesirable results such as power reduction, signal reduction, signal interference, and / or other undesirable results. Accordingly, it may be desirable to provide features to prevent such occurrences within the instruments (150, 200) or to otherwise address them.

[0031] III. Further Examples of Surgical Instrument Components The following description relates to examples of different feature portions that can be incorporated into any of the various instruments (40, 50, 60, 100, 190, 200) described above. These examples are provided separately from each other, but the feature portions described in any of the following examples may be combined with the feature portions described in other examples described later. Accordingly, the feature portions described later may be combined in various combinations as will be apparent to those skilled in the art in view of the teachings of this specification. Similarly, various ways in which the feature portions described later can be incorporated into any of the various instruments (40, 50, 60, 100, 190, 200) described above will be apparent to those skilled in the art in view of the teachings of this specification. The feature portions described later may be incorporated into robotic-controlled surgical instruments (40, 50, 60, 190) and / or hand-held surgical instruments (100, 200).

[0032] A. Examples of Ultrasonic End Effectors FIG. 5 shows a portion of an example of an ultrasonic instrument (300) including a shaft assembly (310) and an end effector (320). The end effector (320) includes an upper jaw portion (322) and an ultrasonic blade (326). The upper jaw portion (322) is operable to pivot towards the ultrasonic blade (326), thereby compressing tissue between the clamp pad (324) of the upper jaw portion (322) and the ultrasonic blade (326). When the ultrasonic blade (326) is operated with ultrasonic vibrations, the ultrasonic blade (326) may cut and seal the tissue compressed against the clamp pad (324). By way of example only, end effectors (66, 102, 230) may be configured and operable similarly to the end effector (320).

[0033] As described above, the instruments (150, 200) may include electrical features and / or conductive mechanical features that may pose a risk of power or signals crossing in an undesirable manner from one electrical feature to another and / or from one electrical feature to a conductive mechanical feature. Additionally, the instruments (150, 200) may include electrical features and / or conductive mechanical features that may pose a risk of generating a potential between adjacent components or generating a capacitive coupling between electrical features and / or between an electrical feature and a conductive mechanical feature. In the context of the instrument (300), since the acoustic waveguide may be formed of a conductive material, such risks may occur with respect to the acoustic waveguide within the shaft assembly (310) that leads to the ultrasonic blade (326). Additionally, the instrument (300) may include one or more sensors within the shaft assembly (310) and / or the end effector (320), and the end effector (320) may also include one or more electrodes and / or other electrical features. Other components of the instrument (350) that may present the above risks will be apparent to those skilled in the art upon consideration of the teachings herein.

[0034] B. Example of a Bipolar RF End Effector FIG. 6 shows a portion of an example bipolar RF instrument (350) that includes a shaft assembly (360) and an end effector (370). The end effector (370) includes an upper jaw (372) and a lower jaw (374). The jaws (372, 374) are pivotable toward and away from each other. The upper jaw (372) includes a first electrode surface (376), and the lower jaw (374) includes a second electrode surface (378). When tissue is compressed between the jaws (372, 374), the electrode surfaces (376, 378) may be activated with opposite polarities, whereby bipolar RF energy may be applied to the tissue. This bipolar RF energy may seal the compressed tissue. In some variations, the end effector (370) further includes a translational knife member (not shown) operable to cut tissue compressed between the jaws (372, 374). Some variations of the end effector (370) may also be operable to apply monopolar RF energy to the tissue, such as by cooperating with a ground pad (e.g., ground pad (70)) to activate only one of the electrode surfaces (376, 378), or to activate both electrode surfaces (376, 378) with a single polarity. By way of example only, end effectors (64, 102, 230) may be configured and operable in a manner similar to end effector (370).

[0035] As described above, the instruments (150, 200) may include electrical features and / or conductive mechanical features that can pose a risk of power or signals crossing in an undesirable manner from one electrical feature to another and / or from one electrical feature to a conductive mechanical feature. Note that the instruments (150, 200) may include electrical features and / or conductive mechanical features that can pose a risk of generating a potential between adjacent components or of creating a capacitive coupling between electrical features and / or between an electrical feature and a conductive mechanical feature. In the context of the instrument (350), such risks may arise with respect to the electrode surfaces (376, 378) and wires or other electrical features that extend along the shaft assembly (360) and reach the electrode surfaces (376, 378). Note that the instrument (350) may also include one or more sensors within the shaft assembly (360) and / or the end effector (370), and the end effector (370) may also include one or more electrodes and / or other electrical features. Other components of the instrument (350) that can present the above risks will be apparent to those skilled in the art in view of the teachings herein.

[0036] C. Examples of Monopolar Surgical Instrument Features FIG. 7 shows an example of a monopolar RF energy delivery system (400) that includes a generator (410), a delivery instrument (420), and a ground pad assembly (440). In addition to the following teachings, the instrument (420) may be constructed and operable in accordance with at least a portion of the teachings of U.S. Patent Application Publication No. 2019 / 0201077, the disclosure of which is incorporated herein by reference in its entirety, and / or various other references cited herein. The generator (410) may be operable to deliver monopolar RF energy to the instrument (420) via a cable (430) that is coupled to the generator (410) via a port (414). In some variations, the port (414) includes an integral sensor. By way of example only, such a sensor within the port (414) may be configured to monitor whether excessive or inductive energy is being radiated from the generator (410) and / or to monitor other characteristics of the energy delivered from the generator (410) via the port (414). The instrument (420) includes a body (422), a shaft (424), a sensor (426), and a distal electrode (428) configured to contact a patient (P) and thereby apply monopolar RF energy to the patient (P). By way of example only, the sensor (426) may be configured to monitor whether excessive or inductive energy is being radiated from the instrument (420). Based on a signal from the sensor (426), a control module within the generator (410) may passively reduce the ground return from the ground pad assembly (440) based on data from the sensor (426).

[0037] In some variations, the ground pad assembly (440) includes one or more resistive conductive ground pads that provide direct contact between the skin of the patient (P) and one or more metallic components of the ground pad. In some other variations, the ground pad assembly (440) includes a capacitive coupled ground pad that includes a gel material interposed between the patient (P) and the ground return plate. In this example, the ground pad assembly (440) is positioned under the patient (P) and is coupled to the generator (410) via a cable (432) through ports (416, 434). Either or both of the ports (416, 434) may include an integrated sensor. By way of example only, such a sensor in either or both of the ports (416, 434) may be configured to monitor whether excessive or inductive energy is being radiated from the ground pad assembly (440).

[0038] As described above, the instruments (150, 200) may include electrical features and / or conductive mechanical features that may pose a risk of power or signals crossing in an undesirable manner from one electrical feature to another and / or from one electrical feature to a conductive mechanical feature. Note that the instruments (150, 200) may include electrical features and / or conductive mechanical features that may pose a risk of generating a potential between adjacent components or of creating a capacitive coupling between electrical features and / or between an electrical feature and a conductive mechanical feature. In the context of the instrument (420), such risks may occur with respect to the sensor (426), the distal electrode (428), and / or any other electrical components within the instrument (420). Other components of the instrument (420) that may present the above risks will be apparent to those skilled in the art in view of the teachings herein. Such risks may be greater in variations of the instrument (420) that are dedicated to the supply of monopolar RF energy than in the context of bipolar RF instruments such as the instrument (350) because dedicated monopolar RF instruments may lack a ground return path by which the above risks may be otherwise prevented or mitigated.

[0039] D. Examples of Joints within the Shaft Assembly FIG. 8 shows a portion of an instrument (500) including a shaft (510) having a joint (520). In addition to the following teachings, the instrument (500) may be constructed and operable in accordance with at least a portion of the teachings of U.S. Patent Application Publication No. 2017 / 0202591, the disclosure of which is incorporated herein by reference in its entirety, and / or various other references cited herein. In this example, the end effector (550) is positioned at the distal end of the joint (520). The joint (520) includes a plurality of segments (522) and is operable to deflect the end effector (550) away from and laterally toward the longitudinal central axis of the shaft (510). A plurality of wires (540) extend through the shaft (510) along the joint (520) to reach the end effector (550), whereby power is delivered to the end effector (550). By way of example only, the end effector (550) may be operable to deliver monopolar RF energy and / or bipolar RF energy to tissue, as described herein. A plurality of push-pull cables (542) also extend through the joint (520). The push-pull cables (542) may be coupled to an actuator (such as, for example, similar to the joint control unit (218)) to drive the articulation of the joint (520). The segments (522) are configured to maintain separation between the wires (540) and the push-pull cables (542) along the length of the joint (520) and to provide structural support thereto. The joint (520) of this example also defines a central passage (532). By way of example only, the central passage (532) may accommodate an acoustic waveguide (such as, for example, in a variant form where the end effector (550) further includes an ultrasonic blade), provide a path for fluid communication, or serve any other suitable purpose. Alternatively, the central passage (532) may be omitted.

[0040] As described above, the instruments (150, 200) may include electrical features and / or conductive mechanical features that pose a risk of power or signals crossing in an undesirable manner from one electrical feature to another and / or from one electrical feature to a conductive mechanical feature. Note that the instruments (150, 200) may also include electrical features and / or conductive mechanical features that pose a risk of generating a potential between adjacent components, or of generating a capacitive coupling between electrical features and / or between an electrical feature and a conductive mechanical feature. In the context of the instrument (500), such risks can occur with respect to the wire (540) and / or the push-pull cable (542). Note that the instrument (500) may also include one or more sensors within the shaft assembly (510) and / or the end effector (550), and may also include one or more electrodes and / or other electrical features within the end effector (550). Other components of the instrument (500) that may present the above risks will be apparent to those skilled in the art upon consideration of the teachings herein.

[0041] E. Example of Wiring to the End Effector FIG. 9 shows a portion of an instrument (600) including a shaft (610) having a first articulation section (612) and a second articulation section (614). In addition to the following teachings, the instrument (600) may be constructed and operable in accordance with at least a portion of the teachings of U.S. Patent Application Publication No. 2017 / 0202605, entitled "Modular Battery Powered Handheld Surgical Instrument and Methods Therefor", published on Jul. 20, 2017, the disclosure of which is hereby incorporated by reference in its entirety, and / or various other references cited herein. In this embodiment, the end effector (620) is positioned at the distal end of the second articulation section (614). The end effector (620) of this embodiment includes a pair of jaws (622, 624) operable to pivot towards and away from each other to grasp tissue. In some variations, one or both of the jaws (622, 624) include one or more electrodes operable to apply RF energy to tissue as described herein. Additionally or alternatively, the end effector (620) may include an ultrasonic blade and / or various other features. The sections (612, 614) are pivotable relative to the shaft (610) and relative to each other, thereby being operable to deflect the end effector (620) laterally away from or towards the longitudinal central axis of the shaft (610).

[0042] The instrument (600) of this embodiment further includes a first wire set (630) extending through the shaft (610), a second wire set (632) extending through the shaft (610) and both sections (612, 614), and a third wire set (634) further extending through the shaft (610) and both sections (612, 614). The wire sets (630, 632, 634) may be operable to control the movement of the sections (612, 614) relative to the shaft (610). For example, power is transmitted along one or more of the wire sets (630, 632, 634) to selectively engage or disengage from a corresponding clutch mechanism, thereby enabling lateral deflection of one or both of the sections (612, 614) relative to the shaft (610) and / or rotation of one or both of the sections (612, 614) relative to the shaft (610). Alternatively, power is transmitted along one or more of the wire sets (630, 632, 634) to drive a corresponding solenoid, motor, or other feature to enable lateral deflection of one or both of the sections (612, 614) relative to the shaft (610) and / or rotation of one or both of the sections (612, 614) relative to the shaft (610). In a variant where the end effector (620) is operable to apply RF energy to tissue, in addition to the wire sets (630, 632, 634), one or more additional wires may extend along the shaft (610) and the sections (612, 614).

[0043] As described above, the instruments (150, 200) may include electrical features and / or conductive mechanical features that can pose a risk of power or signals crossing in an undesirable manner from one electrical feature to another and / or from one electrical feature to a conductive mechanical feature. Additionally, the instruments (150, 200) may include electrical features and / or conductive mechanical features that can pose a risk of generating a potential between adjacent components or generating a capacitive coupling between electrical features and / or between an electrical feature and a conductive mechanical feature. In the environment of the instrument (600), such risks may arise with respect to the wire sets (630, 632, 634), the electrical components to which the wire sets (630, 632, 634) are connected, and / or other features that drive lateral deflection of one or both of the sections (612, 614) relative to the shaft (610). The instrument (600) may also include one or more sensors within the shaft assembly (610) and / or the end effector (620), and the end effector (620) may also include one or more electrodes and / or other electrical features. Other components of the instrument (600) that can present the above risks will be apparent to those skilled in the art in view of the teachings herein.

[0044] F. Examples of Sensors within the Shaft Assembly FIG. 10 shows an example of another shaft assembly (700) that can be incorporated into any of the various instruments (40, 50, 60, 100, 190, 200, 300, 350, 400, 500, 600) described herein. In addition to the following teachings, the shaft assembly (700) can be constructed and operable in accordance with at least a portion of the teachings of U.S. Patent Application Publication No. 2017 / 0202608, the disclosure of which is incorporated herein by reference in its entirety, and / or various other references cited herein. The shaft assembly (700) of this example includes an outer shaft (710), a first inner shaft (712), and a second inner shaft (714). A support member (716) extends diametrically across the interior of the second inner shaft (714). By way of example only, the support member (716) may include a circuit board, a flexible circuit, and / or various other electrical components. In this example, a plurality of sensors (720, 722, 724) are positioned on the support member (716). A magnet (730) is embedded in the outer shaft (710) that is operable to rotate about the inner shafts (712, 714).

[0045] In some variations, rotation of the outer shaft (710) about the inner shafts (712, 714) drives rotation of an end effector (not shown) located at the distal end of the shaft assembly (700) about the longitudinal axis of the shaft assembly (700). In some other variations, rotation of the outer shaft (710) about the inner shafts (712, 714) drives lateral deflection of the end effector away from the longitudinal axis of the shaft assembly (700) or toward the longitudinal axis. Alternatively, rotation of the outer shaft (710) about the inner shafts (712, 714) may result in any other outcome. In any case, the sensors (720, 722, 724) may be configured to track the position of the magnet (730) and thereby determine the rotational position (742) of the outer shaft (710) relative to the fixed axis (740). Thus, the sensors (720, 722, 724) may function collectively as a position sensor such as the position sensor (112) of the instrument (100).

[0046] FIG. 11 shows an example of another shaft assembly (750) that can be incorporated into any of the various instruments (40, 50, 60, 100, 190, 200, 300, 350, 400, 500, 600) described herein. In addition to the following teachings, the shaft assembly (750) can be constructed and operable in accordance with at least a portion of the teachings of U.S. Patent Application Publication No. 2017 / 0202608, the disclosure of which is incorporated herein by reference in its entirety, and / or various other references cited herein. The shaft assembly (750) of this example includes a plurality of coaxially positioned proximal shaft segments (752, 754, 756) and a distal shaft segment (764). The distal shaft segment (764) is pivotally coupled to the proximal shaft segment (752) via a pin (762) to form a joint (760). An end effector (not shown) may be positioned distally of the distal shaft segment (764), such that the joint (760) may be utilized to deflect the end effector in a direction away from the longitudinal central axis defined by the proximal shaft segments (752, 754, 756) or laterally toward the longitudinal central axis. A flexible circuit (758) extends along the shaft segments (752, 754, 756, 764) and is operable to bend as the shaft assembly (750) bends at the joint (760).

[0047] A pair of sensors (770, 772) are positioned along a flexible circuit (758) within a region proximal to the articulation joint (760), while a magnet (774) is positioned on the flexible circuit (or elsewhere within the distal shaft segment (764)) in a region distal to the articulation joint (760). Thus, the magnet (774) moves with the distal shaft segment (764) as the distal shaft segment (764) pivots relative to the proximal shaft segments (752, 754, 756) at the articulation joint (760), while the sensors (770, 772) remain stationary during such pivoting. The sensors (770, 772) are configured to track the position of the magnet (774) and thereby determine the pivoting position of the distal shaft segment (764) relative to the proximal shaft segments (752, 754, 756). In other words, the sensors (770, 772) and the magnet (774) cooperate to enable determination of the joint flexion angle formed by the shaft assembly (750). Thus, the sensors (770, 772) can function collectively as position sensors such as the position sensor (112) of the instrument (100).

[0048] As described above, the instruments (150, 200) may include electrical features and / or conductive mechanical features that may pose a risk of power or signals crossing in an undesirable manner from one electrical feature to another and / or from one electrical feature to a conductive mechanical feature. Additionally, the instruments (150, 200) may include electrical features and / or conductive mechanical features that may pose a risk of generating a potential between adjacent components or generating a capacitive coupling between electrical features and / or between an electrical feature and a conductive mechanical feature. In the context of the instruments (700, 750), such risks can occur with respect to the sensors (720, 722, 724, 770, 772), the electrical components to which the sensors (720, 722, 724, 770, 772) are coupled, and / or other features within the shaft assemblies of the instruments (700, 750). Other components of the instruments (700, 750) that may present the above risks will be apparent to those skilled in the art in view of the teachings herein.

[0049] G. Examples of Drive Control Units in the Instrument Body and Shaft Assembly Figures 12 - 14 illustrate an example of an instrument (800) that can be incorporated into a robotic surgical system such as the robotic surgical system (10, 150) described herein. In addition to the following teachings, the instrument (800) can be constructed and operable in accordance with at least a portion of the teachings of U.S. Patent No. 9,125,662, the disclosure of which is hereby incorporated by reference in its entirety, and / or various other references cited herein. The instrument (800) of this example includes a body (810), a shaft assembly (820), and an end effector (830). The body (810) includes a base (812) configured to couple with a complementary component of a robotic arm (e.g., one of the robotic arms (160, 170, 180)). The shaft assembly (820) includes a rigid proximal portion (822), an articulation section (824), and a distal portion (826). The end effector (830) is fixed to the distal portion (826). The articulation section (824) is operable to deflect the distal portion (826) and the end effector (830) away from and laterally toward the longitudinal central axis defined by the proximal portion (822). The end effector (830) of this example includes a pair of jaws (832, 834). By way of example only, the end effector (830) can be configured and operable like any of the various end effectors (46, 56, 66, 102, 230, 320, 350, 620) described herein.

[0050] As shown in FIGS. 13 to 14, a plurality of drive cables (850, 852) extend from the main body (810) to the joint portion (824) to drive the joint movement of the joint portion (824). The cable (850) is wound around the drive pulley (862) and the tensioner (860). The cable (850) further extends around a pair of guide portions (870, 872) such that the cable (850) extends along the shaft assembly (820) in two sections (850a, 850b). The cable (852) is wound around the drive pulley (866) and the tensioner (864). The cable (852) further extends around the guide (880) such that the cable (852) extends along the shaft assembly (820) in two sections (852a, 852b). In this embodiment, each drive pulley (862, 866) is configured to be connected to a corresponding drive member (e.g., a drive spindle, etc.) of a component of the robotic arm to which the base (812) is fixed. When the drive pulley (862) rotates, one section (850a) of the cable (850) translates in a first longitudinal direction along the shaft assembly (820), and the other section (850b) simultaneously translates in a second (opposite) direction along the shaft assembly (820). Similarly, when the drive pulley (866) rotates, one section (852a) of the cable (852) translates in a first longitudinal direction along the shaft assembly (820), and the other section (852b) simultaneously translates in a second (opposite) direction along the shaft assembly (820).

[0051] As shown in FIG. 14, the joint portion (824) of the present embodiment includes an intermediate shaft section (880) that longitudinally intervenes between the proximal portion (822) and the distal portion (826). A ball-shaped feature (828) at the proximal end of the distal portion (826) is seated within a socket at the distal end of the intermediate shaft section (880) such that the distal portion (826) is operable to pivot relative to the intermediate shaft section (880) along one or more planes. Sections (850a, 850b) of the drive cable (850) terminate at corresponding ball-shaped ends (894, 890) fixed to the ball-shaped feature (828) of the distal portion (822). Thus, the drive cable (850) is operable to drive the pivotal movement of the distal portion (826) relative to the intermediate shaft section (880) based on the direction in which the drive pulley (862) rotates. A ball-shaped feature (882) at the proximal end of the intermediate section (880) is seated within a socket at the distal end of the proximal portion (822) such that the intermediate section (880) is operable to pivot relative to the proximal portion (822) along one or more planes. In some variations, this pivotal movement of the intermediate section (880) relative to the proximal portion (822) is driven by a cable (852). As also shown in FIG. 14, the electrical cable (802) passes through the joint portion (824). The electrical cable (802) provides a path for electrical communication to the end effector (830), thereby enabling the delivery of power (e.g., RF energy) to one or more electrodes within the end effector (830), providing a path for electrical signals from one or more sensors within the end effector (830) to return to the body (810), and / or providing other forms of electrical communication.

[0052] As described above, the instruments (150, 200) may include electrical features and / or conductive mechanical features that may present a risk of power or signals crossing in an undesirable manner from one electrical feature to another and / or from one electrical feature to a conductive mechanical feature. Note that the instruments (150, 200) may include electrical features and / or conductive mechanical features that may present a risk of generating a potential between adjacent components, or of generating a capacitive coupling between electrical features and / or between an electrical feature and a conductive mechanical feature. In the context of the instrument (800), such risks may occur with respect to the drive cables (850, 852), electrical features within the shaft assembly (820), and / or components (850, 852) coupled to other features within the instrument (800). Other components of the instrument (800) that may present the above risks will be apparent to those skilled in the art in view of the teachings herein.

[0053] H. Examples of Electrical Features at the Interface between Modular Components of an Instrument In some cases, it may be desirable to provide a surgical instrument that allows for modular connection and disconnection of components. For example, FIG. 15 shows an embodiment of an instrument (900) that includes a handle assembly (910) and a modular shaft assembly (950). The instrument (900) of this embodiment is handheld, but similar features and modularity may be readily incorporated into robotically controlled instruments. The handle assembly (910) of this embodiment includes a body (912), an activation button (914), a pivot trigger (916), and a shaft interface assembly (920). The shaft interface assembly (920) includes a mechanical drive feature (922) and an array of electrical contacts (924). As will be apparent to those skilled in the art in view of the teachings herein, the electrical contacts (924) may be in electrical communication with a control circuit, a power source, and / or various other electrical features within the handle assembly (910).

[0054] The shaft assembly (950) includes a shaft portion (952) and an end effector (970) including a pair of jaw portions (972, 874). The shaft portion (952) and the end effector (970) are configured and operable according to any of the various shaft assemblies and end effectors described herein. The shaft assembly (950) of the present embodiment further includes a handle interface assembly (960). The handle interface assembly (960) includes a mechanical drive feature (962) and a plurality of electrical contacts (not shown). As will be apparent to those skilled in the art in view of the teachings herein, these electrical contacts of the handle interface assembly (960) may be in electrical communication with one or more electrodes, sensors, and / or other electrical components within the shaft portion (952) and / or the end effector (970).

[0055] When the shaft assembly (950) is coupled to the handle assembly (910), the mechanical drive feature (922) of the handle assembly (910) mechanically couples with the mechanical drive feature (962) of the shaft assembly (910), whereby the mechanical drive features (922, 962) cooperate to transmit motion from a power source (e.g., a pivot trigger (916), a motor, etc.) within the handle assembly (950) to one or more components within the shaft portion (952) and, in some variations, to the end effector (970). In some variations, the mechanical drive features (922, 962) cooperate to transmit rotational motion from a power source (e.g., a pivot trigger (916), a motor, etc.) within the handle assembly (910) to one or more components within the shaft portion (952) and, in some variations, to the end effector (970). Additionally or alternatively, the mechanical drive features (922, 962) cooperate to transmit linear translational motion from a power source (e.g., a pivot trigger (916), a motor, etc.) within the handle assembly (910) to one or more components within the shaft portion (952) and, in some variations, to the end effector (970).

[0056] When the shaft assembly (950) is coupled to the handle assembly (910), the electrical contacts (924) of the shaft interface assembly (920) also couple to complementary electrical contacts of the handle interface assembly (960), and these contacts establish electrical continuity with each other, thereby enabling communication of power, signals, etc. between the handle assembly (910) and the shaft assembly (950). In addition to or instead of having contacts (924), electrical continuity may be provided between the handle assembly (910) and the shaft assembly (950) through one or more electrical continuities in the mechanical drive features (922, 962). As will be apparent to those skilled in the art in view of the teachings herein, such electrical continuity may include a slip coupling and / or various other types of couplings.

[0057] In some scenarios where power or an electrical signal is transmitted across mating contacts that provide electrical continuity between two components of an appliance (e.g., the contacts (924) of the shaft interface assembly (920) and the complementary electrical contacts of the handle interface assembly (960)), there may be a risk of a short circuit forming between such contacts. This can be a particular risk when contacts that are assumed to be electrically insulated from each other are located in close proximity to each other and the area in which these contacts are located may be exposed to fluid during use of the appliance. Such fluid may be capable of creating an electrical bridge between the contacts and / or bleeding off signals that are being communicated between contacts that are intended to be coupled to each other. Thus, it may be desirable to provide features for preventing or otherwise addressing such occurrences at the contacts of an appliance such as appliance (900).

[0058] In some scenarios where power or electrical signals are transmitted across a mechanical coupling between different components of an instrument (e.g., via a slip coupling, etc.), such a coupling may provide a variable electrical resistance in the shaft assembly or other assemblies of the instrument. For example, the movement in the mechanical drive features (922, 962) may provide a variable electrical resistance in the electrical slip coupling between the mechanical drive features (922, 962). This variable electrical resistance may affect the communication of power or electrical signals across the slip coupling. This may, in turn, result in signal loss or power reduction. Thus, it may be desirable to provide features to prevent or otherwise address such occurrences in electrical conductivity seen in a mechanical coupling between two movable parts of an instrument such as instrument (900).

[0059] IV. Examples of Electrosurgical System Shaft Voltage Monitoring Features The following description relates to examples of different features that may be incorporated into any of the various surgical systems described above. Thus, the features described hereinafter may be combined in various combinations as will be apparent to those skilled in the art in view of the teachings herein. Similarly, the various ways in which the features described hereinafter may be incorporated into any of the various surgical systems described above will be apparent to those skilled in the art in view of the teachings herein. It should be understood that the features described hereinafter may be incorporated into robotic-controlled surgical instruments and / or hand-held surgical instruments.

[0060] Some variations of the instruments described herein may provide a floating ground for conductive components within the shaft assembly of the instrument. In scenarios where a floating ground exists, such conductive components are not electrically conductive to ground. A floating ground may separate the ground return paths within the device, collect them at a single point, and effectively create an ad-hoc ground that is isolated from the actual ground. The floating ground may have an associated ad-hoc voltage, and the control circuit may adjust the voltage associated with the floating ground. Ultimately, the floating ground may provide electrical insulation for components within an electrical circuit where no earth ground exists. Conductive components may be understood to have a floating potential or voltage when such conductive components are not electrically conductive to ground.

[0061] Some aspects of the present disclosure are presented to monitor the potential in components of a shaft assembly, adaptively adjust power, adjust a sensed signal, and / or provide some other type of system response based on the potential detected in components of the shaft assembly. The potential of one shaft component may be monitored with respect to a common return path and with respect to the potential of other shaft components. In some cases, variations in potential present in different components of an electrosurgical system may cause a ground loop. For example, a potential difference between the return path ground on a generator and the local ground on an end effector in use may cause a ground loop. The impact of a ground loop may depend on the severity of the potential difference between the grounding points. A small ground loop may inject noise onto the system and cause an interruption or loss of communication on a data line. A large ground loop may damage electronic components, reset the entire system, or render it temporarily inoperable. Therefore, it may be desirable to actively monitor potential variations and take corrective action.

[0062] As described in more detail below, fluctuations in potential or voltage may be monitored to control the electrical connection to components so as to drain or float an unwanted voltage with respect to the return path based on a comparison of the measured potential with a predetermined maximum threshold. In some cases, the shaft component and / or control electronics may be intermittently shifted between an electrically floating state and an interconnected state. Such shifting ensures accurate local measurement by the sensor and accurate operation by the active electrical components, while allowing draining of parasitic power signals and / or preventing accidental unintentional charging of system components. In some cases, local sensing may be paused or adjusted while the voltage is drained as part of a safety drain process, as described herein. Corrective measures may include any one or more of adjusting the noise correction threshold, adjusting the conversion to correct for introduced errors, providing the system with a "blackout" where the sensor needs to be ignored within the scope of the potential shift's influence, or even restarting or shutting off power to the sensor to protect it from damage.

[0063] In some variations, monitoring the potential fluctuations may include monitoring the shaft component for the potential with respect to each other and / or with respect to the return path to the generator. For example, in a variation where the shaft assembly is composed of multiple metal components, the instrument may include a wiring harness or flexible circuit for connecting the end effector to the outer housing assembly.

[0064] FIG. 16 shows a portion of an instrument (1400) that includes an elongate shaft (1410). Although the instrument (1400) is shown and described in detail, it should be understood that a variety of other electrosurgical instruments are contemplated that include, but are not limited to, the instruments described above in this specification. A console (not shown) of the instrument (1400) may receive voltage measurements from one or more sensors and respond by initiating corrective measures as described hereinafter. By way of example only, the console may be configured similarly to the console (20) described above with reference to FIG. 1 and may include a data processor that is operable to initiate corrective measures, adjust a power profile transmitted to the instrument (1400), or float or drain any of the components that form the body of the instrument (1400). Further, the console may be a component of a robotic electrosurgical system as described above. The various suitable forms that the console of the instrument (1400) may take will be apparent to those skilled in the art upon consideration of the teachings of this specification.

[0065] The instrument (1400) of the present embodiment is substantially similar to the instrument (600) of FIG. 9 described above, except for the differences described hereinafter. The instrument (1400) includes a first articulation section (1412) and a second articulation segment (1414). The end effector (1420) is positioned at the distal end of the second articulation segment (1414). The end effector (1420) of the present embodiment includes a pair of jaws (1422, 1424) that are operable to pivot toward and away from each other to grasp tissue. In some variations, one or both of the jaws (1422, 1424) include one or more electrodes operable to apply RF energy to tissue as described herein. Such electrodes may be powered via electrical connectors (1404, 1406), which are routed through the instrument via a wiring harness (1402). Although a wiring harness (1402) is used in the present embodiment, any other suitable type of conductor assembly (e.g., a flexible circuit ribbon, etc.) may be used as will be apparent to those skilled in the art in view of the teachings herein. Additionally or alternatively, the end effector (1420) may include an ultrasonic blade and / or various other features in addition to or instead of including the jaws (1422, 1424). The sections (1412, 1414) are pivotable relative to the shaft (1410) and relative to each other such that the end effector (1420) can be operable to deflect laterally away from or toward the longitudinal central axis of the shaft (1410).

[0066] The instrument (1400) of this embodiment further includes a first wire set (1430) extending through the shaft (1410), a second wire set (1432) extending through the shaft (1410) and both sections (1412, 1414), and a third wire set (1434) further extending through the shaft (1410) and both sections (1412, 1414). The wire sets (1430, 1432, 1434) may be operable to control the movement of the sections (1412, 1414) relative to the shaft (1410). For example, power may be transmitted along one or more of the wire sets (1430, 1432, 1434) to selectively engage or disengage from a corresponding clutch mechanism, thereby enabling lateral deflection of one or both of the sections (1412, 1414) relative to the shaft (1410) and / or rotation of one or both of the sections (1412, 1414) relative to the shaft (1410). Alternatively, power may be transmitted along one or more of the wire sets (1430, 1432, 1434) to drive a corresponding solenoid, motor, or other feature to enable lateral deflection of one or both of the sections (1412, 1414) relative to the shaft (1410) and / or rotation of one or both of the sections (1412, 1414) relative to the shaft (1410). In a variant where the end effector (1420) is operable to apply RF energy to tissue, one or more additional wire sets, such as a wiring harness (1402), extend along the shaft (1410) and the sections (1412, 1414) in addition to the wire sets (1430, 1432, 1434) and are connected to connectors (1404, 1406) to supply power to the end effector (1420).

[0067] The connectors (1404, 1406) of this embodiment include a proximal connector (1404) and a distal connector (1406) configured to removably fit together. The wiring harness (1402) is coupled to the proximal connector (1406) such that the wires (1450, 1542) of the wiring harness (1402) are coupled to the distal connector (1404), and then the distal connector is configured to fit with the proximal connector (1406) to supply power to the end effector (1420). By way of example only, such power may include bipolar RF energy for the electrodes on the end effector (1420). A return path ground (1452) (e.g., a ground wire, a ground trace, etc.) from the end effector (1402) may have intermediate electrical connections to metal components within the shaft assembly such as the shaft (1410), the first articulation section (1412), and the second articulation section (1414) so as to be able to monitor the potential of each of the respective components (1410, 1412, 1414) with respect to the return path (1452) and to each other. This monitoring may be used by a console to control the electrical connections to the components to enable the components (1410, 1412, 1414) to be electrically drained or floating with respect to the return path (1452) based on a comparison of the measured potential with a predetermined maximum threshold voltage value.

[0068] As shown, the wiring harness (1402) or alternatively the flexible circuit may connect the end effector (1420) to the handle or other body of the electrosurgical instrument (1400) and include conductive attachment points (1460, 1462, 1464) to conductive structures within the instrument (1400). Since these conductive attachment locations (1460, 1462, 1464) are each related to the control electronics (e.g., a generator or associated components) and the return path ground (1452), integrated sensors (1466, 1468, 1470) may be enabled to monitor the potential of the respective components (1410, 1412, 1414). In this example, the sensors (1466, 1468, 1470) are integrated adjacent to the corresponding attachment locations (1460, 1462, 1464), although other configurations may be used. By way of example only, wires, conductive traces, or other conductive paths may extend from the respective attachment locations (1460, 1462, 1464) to a proximal location (e.g., the proximal portion of the shaft (1410), the body of the instrument (1400) proximal to the shaft (1410), a console coupled to the instrument (1400), etc.) and may be coupled to the return path (1452) at such a proximal location to effectively monitor the potential between the attachment locations (1460, 1462, 1464) and the return path (1452).

[0069] When the system detects a potential change in one of the components (1410, 1412, 1414), the system may determine whether the potential change exists due to an externally applied voltage source or due to capacitive coupling between the component (1410, 1412, 1414) and another component (1410, 1412, 1414) that is intentionally powered on. When the system determines the voltage fluctuation source, the system may actively ground or clamp off the potential, warn the user of external contact with another energized appliance, and / or apply an adjustment to the rest of the sensors (1466, 1468, 1470) in proportion to the effect caused by one sensed potential. In some variations, the sensors (1466, 1468, 1470) include high-impedance sensors positioned between the metal frame components (1410, 1412, 1414) and the return path (1452). In variations that utilize a flexible circuit instead of the wiring harness (1404), the wires (1450, 1542) may instead be included as conductive traces routed through the body of the appliance (1400).

[0070] In some variations, the sensors (1466, 1468, 1470) are configured to monitor the potential of all metal shaft components, such as components (1410, 1412, 1414), with respect to the ground path (1452) and selectively ground and remove only those that have accumulated current. Thus, in order to operate in the safest configuration, each component (1410, 1412, 1414) can remain electrically floating as long as a particular component (1410, 1412, 1414) does not require discharging. In this context, being "electrically floating" means that the component (1410, 1412, 1414) is not electrically coupled to ground. In some scenarios, the electrically floating components (1410, 1412, 1414) may have a certain floating voltage. Such a floating voltage may be induced by an electromagnetic field generated within the component (1410, 1412, 1414) by a nearby activated component. Such a floating voltage may also be caused by charges accumulating within the component (1410, 1412, 1414).

[0071] In some variations, each component (1410, 1412, 1414) can shift from an electrically floating configuration to an interconnected configuration, and one or more components (1410, 1412, 1414) are electrically coupled to each other, at least temporarily. This may be done intermittently to allow for any parasitic or accidental charging drains in the system while ensuring accurate local measurements and operation. Thus, each component (1410, 1412, 1414) may be maintained in an electrically floating state by default, and a particular component (1410, 1412, 1414) may be grounded through the console only if it accumulates a potential above a threshold and it is thus determined that the component (1410, 1412, 1414) should be discharged.

[0072] As described above, the shaft (1410) and / or the end effector (1420) may include one or more motion sensors operable to sense one or more parameters associated with the operation of the end effector (1420). By way of example only, such motion sensors may include a force sensor (e.g., force sensor (114), etc.) operable to sense the clamping force applied to tissue by the jaws (1422, 1424), or a force sensor operable to sense the lateral load applied to the shaft (1410) during engagement of the tissue by the end effector (1420). By way of further example only, the motion sensor may include a temperature sensor operable to sense the temperature of the end effector (1420) or the temperature of the tissue engaged by the end effector (1420). As another merely exemplary example, the motion sensor may include an impedance sensor operable to sense the impedance of the tissue engaged by the end effector (1420). As yet another merely exemplary example, the motion sensor may include a position sensor (e.g., position sensor (112), sensors (720, 722, 724), sensors (770, 772), etc.) operable to sense the position or orientation of the shaft (1410) and / or the end effector (1420). The various types of motion sensors that may be incorporated into the shaft (1410) and / or the end effector (1420) will be apparent to those skilled in the art in view of the teachings herein.

[0073] In a variant of the appliance (1400) having a motion sensor such as those described above, the voltage shift described herein ensures accurate local measurements by such a motion sensor and, if not, can reduce noise that may occur within the signal from such a motion sensor. In some cases, as described herein, sensing by the motion sensor may be paused or adjusted while the voltage is drained as part of a safe drain process. Remedial measures may also include adjusting a noise correction threshold, adjusting a conversion to correct for introduced errors, providing the system with a "blackout" where signals from the motion sensor need to be ignored within the scope of the potential shift's effect, or even restarting or cutting off power to the motion sensor to protect it from damage, any one or more of which may be included.

[0074] In some variants, the sensor(s) (1466, 1468, 1470) and / or any other sensor within the shaft (1410) or end effector (1420) may be paused or otherwise deactivated and disconnected while one or more of the components (1410, 1412, 1414) are at least temporarily grounded, whether such a ground connection is made via another component (1410, 1412, 1414), via a dedicated ground path (1452), or via any other already grounded component of the appliance (1400).

[0075] In some instruments, such as bipolar RF surgical stapling instruments having an end effector with bipolar electrodes near the surgical staples, the bipolar electrodes may risk contacting the surgical staples, thereby causing a short circuit between the bipolar electrodes through one or more surgical staples. In monopolar instruments, capacitive coupled current may accumulate on any metal component forming the instrument shaft. To reduce the risks associated with these scenarios, plastic components (or "metal insert interruptions") can be included within the shaft assembly to avoid having a shaft that is metallic over its entire length. For example, an electrically insulating member can be included in one or more of the components (1410, 1412, 1414), minimizing the impact of these current risks on surrounding components and further minimizing the transmission of capacitive coupled current upstream and downstream of the instrument (1400). A molded plastic member, or otherwise non-conductive member, may be inserted where the metal portions of the components (1410, 1412, 1414) overlap. In such variations, the shaft assembly may lack a continuous path for unintentional electrical conduction along the entire length of the shaft assembly (other than a path intentionally provided, such as by a wire). In other words, the conductive structural components of the shaft assembly not intended to conduct electricity may include non-conductive structural components inserted therebetween to provide an interruption that obstructs electrical conduction that might otherwise exist. In some variations, adjacent components (1410, 1412, 1414) may include holes or keying features that allow one long non-conductive plate to be connected to the other through an interlocked injection molded plastic cross-section. Other suitable ways in which electrically interrupted non-conductive structural components can be integrated into the shaft assembly will be apparent to those skilled in the art upon considering the teachings of this specification.

[0076] V. Representative Combinations The following examples relate to various non-exhaustive ways in which the teachings of this specification may be combined or applied. It should be understood that the following examples are not intended to limit the scope of the claims that may be presented at any time in this application or in subsequent applications of this application. No waiver of any rights is intended. The following examples are provided for illustrative purposes only. It is contemplated that the various teachings of this specification may be configured and applied in many other ways. Also, in some variations, it is contemplated that certain features mentioned in the following examples may be omitted. Accordingly, none of the aspects or features mentioned below should be considered important unless so expressly indicated later by the inventors or their successors in interest. If the claims presented in this application or in subsequent applications related to this application include additional features other than those mentioned below, those additional features should not be considered to have been added for any reason related to patentability.

Example

[0077] A surgical instrument, comprising: (a) a shaft assembly having a plurality of conductive components; (b) an end effector positioned at a distal end of the shaft assembly, the end effector being operable to apply energy to a patient's tissue; (c) a console operable to supply power to the end effector; (d) a conductor assembly disposed within the shaft assembly and configured to transmit power from the console to the end effector, the conductor assembly including a ground return path; and (e) a plurality of voltage sensors, each of the plurality of conductive components being configured to couple to a corresponding one of the plurality of voltage sensors and the ground return path, the plurality of voltage sensors being operable to measure a potential difference of the coupled conductive component with respect to a ground potential defined by the ground return path, wherein the console is configured to: (i) determine whether the measured potential difference exceeds a maximum threshold; and (ii) initiate a corrective action if the measured potential difference exceeds the maximum threshold.

Example

[0078] The surgical instrument according to Example 1, wherein each of the plurality of conductive components is configured using a floating voltage.

Example

[0079] The surgical instrument according to any one or more of Examples 1 to 2, further comprising an operation sensor operable to sense a parameter associated with the operation of the end effector, wherein the corrective action includes adjusting an electrical noise correction threshold associated with the operation sensor.

Example

[0080] The shaft assembly or end effector further comprises an operating sensor operable to sense parameters associated with the operation of the end effector, and the corrective measure includes adjusting a voltage conversion associated with the operating sensor, the surgical instrument according to any one or more of Examples 1 to 3.

Example

[0081] The shaft assembly or end effector further comprises an operating sensor operable to sense parameters associated with the operation of the end effector, and the corrective measure includes ignoring a signal from the operating sensor, the surgical instrument according to any one or more of Examples 1 to 4.

Example

[0082] The shaft assembly or end effector further comprises an operating sensor operable to sense parameters associated with the operation of the end effector, and the corrective measure includes cutting off power to the operating sensor, the surgical instrument according to any one or more of Examples 1 to 5.

Example

[0083] The shaft assembly or end effector further comprises an operating sensor operable to sense parameters associated with the operation of the end effector, and the corrective measure includes restarting the operating sensor, the surgical instrument according to any one or more of Examples 1 to 6.

Example

[0084] The corrective measure includes discharging a selected conductive component among a plurality of conductive components to a ground return path, the surgical instrument according to any one or more of Examples 1 to 7.

Example

[0085] The corrective measure further includes stopping sensing from a voltage sensor associated with the selected conductive component while the voltage is being discharged, the surgical instrument according to Example 8.

Example

[0086] The surgical instrument according to any one or more of Examples 1 to 9, wherein each of the plurality of conductive components can be configured to be electrically interconnected and each of the plurality of conductive components shares a common potential when electrically interconnected.

Example

[0087] The surgical instrument according to Example 10, wherein the console is operable to reduce a common potential with respect to a ground potential from the plurality of conductive components while the plurality of conductive components are electrically interconnected.

Example

[0088] The surgical instrument according to any one or more of Examples 1 to 11, wherein the plurality of voltage sensors include high-impedance voltage sensors.

Example

[0089] The surgical instrument according to any one or more of Examples 1 to 12, wherein the console includes a generator configured to supply RF energy to the end effector.

Example

[0090] The surgical instrument according to any one or more of Examples 1 to 13, wherein the conductor assembly comprises a wiring harness.

Example

[0091] The surgical instrument according to any one or more of Examples 1 to 14, wherein the console is a component of a robotic electrosurgical system.

Example

[0092] A surgical instrument, comprising: (a) a shaft assembly having a plurality of conductive components, each of the plurality of conductive components being configured using a floating voltage; (b) an end effector positioned at a distal end of the shaft assembly, the end effector being operable to apply energy to a patient's tissue; (c) a console operable to supply power to the end effector; (d) a conductor assembly disposed within the shaft assembly and configured to transmit power from the console to the end effector, the conductor assembly including a ground return path; and (e) a plurality of voltage sensors, each of the plurality of conductive components being configured to couple to a corresponding one of the plurality of voltage sensors and the ground return path, the plurality of voltage sensors being operable to measure a potential difference of the coupled conductive component with respect to a ground potential defined by the ground return path, wherein the console is configured to initiate a corrective action based on the measured potential difference.

Example

[0093] The surgical instrument according to embodiment 16, further comprising an operation sensor operable to sense a parameter associated with the operation of the end effector, wherein the corrective action includes adjusting an electrical noise correction threshold associated with the operation sensor.

Example

[0094] The surgical instrument according to any one or more of embodiments 16 to 17, further comprising an operation sensor operable to sense a parameter associated with the operation of the end effector, wherein the corrective action includes adjusting a voltage conversion associated with the operation sensor.

Example

[0095] Each of a plurality of conductive components can be configured to be electrically interconnected, and a corrective measure includes electrically interconnecting the plurality of conductive components, and each of the plurality of conductive components shares a common potential when electrically interconnected, the surgical instrument according to any one or more of Examples 16 to 18.

Example

[0096] A surgical instrument, comprising: (a) a shaft assembly having a conductive component configured using a floating voltage; (b) an end effector positioned at a distal end of the shaft assembly, the end effector being operable to apply energy to a patient's tissue; (c) a console operable to supply power to the end effector; (d) a conductor assembly disposed within the shaft assembly and configured to transmit power from the console to the end effector, the conductive assembly including a ground return path; and (e) a voltage sensor, wherein the conductive component of the shaft assembly is configured to be coupled to the voltage sensor and to the ground return path, and the voltage sensor is operable to measure a potential difference of the conductive component with respect to a ground potential defined by the ground return path, and the console is configured to: (i) determine whether the measured potential difference exceeds a maximum threshold; and (ii) initiate a corrective measure when the measured potential difference exceeds the maximum threshold.

[0097] VI. Others The above-described variations of the device can be applied not only to conventional medical procedures and surgeries performed by medical professionals, but also to robot-assisted medical procedures and surgeries.

[0098] It should be understood that any variations of the instruments described herein may include various other features in addition to or instead of those described above. By way of example only, any of the instruments described herein may further include one or more of the various features disclosed in any of the various references incorporated herein by reference. The teachings herein may be readily applied to any of the instruments described in any of the other references cited herein, and thus it should also be understood that the teachings herein may be readily combined in many ways with the teachings of any of the references cited herein. Other types of instruments into which the teachings herein may be incorporated will be apparent to those skilled in the art.

[0099] In addition to the above, it should also be understood that the teachings herein may be readily combined with the various teachings in U.S. Patent Application No. [Attorney Docket No. END9294USNP1.0735554], filed on the same day as this application, entitled "Filter for Monopolar Surgical Instrument Energy Path", the disclosure of which is incorporated herein by reference. Various suitable ways in which the teachings herein may be combined with the teachings of U.S. Patent Application No. [Attorney Docket No. END9294USNP1.0735554] will be apparent to those skilled in the art upon consideration of the teachings herein.

[0100] In addition to the above, the teachings herein may be readily combined with the teachings of U.S. Patent Application No. [Attorney Docket No. END9294USNP2.0735556], filed on the same day as this application, entitled "Electrosurgical Instrument System with Parasitic Energy Loss Monitor", the disclosure of which is incorporated herein by reference. Various suitable ways in which the teachings herein may be combined with the teachings of U.S. Patent Application No. [Attorney Docket No. END9294USNP2.0735556] will be apparent to those skilled in the art upon consideration of the teachings herein.

[0101] In addition to the above, the teachings of this specification can be readily combined with the teachings of U.S. Patent No. [Agent's Docket No. END9294USNP3.0735558], entitled "Energized Surgical Instrument System with Multi-Generator Output Monitoring," filed on the same day as this application, the disclosure of which is incorporated herein by reference. Various suitable ways in which the teachings of this specification can be combined with the teachings of U.S. Patent Application No. [Agent's Docket No. END9294USNP3.0735558] will be apparent to those skilled in the art upon consideration of the teachings of this specification.

[0102] In addition to the above, the teachings of this specification can be readily combined with the teachings of U.S. Patent Application No. [Agent's Docket No. END9294USNP5.0735566], entitled "Electrosurgical Instrument with Electrical Resistance Monitor at Rotary Coupling," filed on the same day as this specification, the disclosure of which is incorporated herein by reference. Various suitable ways in which the teachings of this specification can be combined with the teachings of U.S. Patent Application No. [Agent's Docket No. END9294USNP5.0735566] will be apparent to those skilled in the art upon consideration of the teachings of this specification.

[0103] In addition to the above, the teachings of this specification can be readily combined with the teachings of U.S. Patent Application No. [Agent's Docket No. END9294USNP6.0735568], entitled "Electrosurgical Instrument with Modular Component Contact Monitoring," filed on the same day as this specification, the disclosure of which is incorporated herein by reference. Various suitable ways in which the teachings of this specification can be combined with the teachings of U.S. Patent Application No. [Agent's Docket No. END9294USNP6.0735568] will be apparent to those skilled in the art upon consideration of the teachings of this specification.

[0104] It should also be understood that any range of values referred to in this specification is to be read as including the upper and lower limits of such range. For example, a range expressed as "about 1.0 inch to about 1.5 inches" should be read as including about 1.0 inch and about 1.5 inches, in addition to the values between those upper and lower limits.

[0105] It should be understood that all or part of any patent, publication, or other disclosure referred to herein as being incorporated by reference is incorporated herein only to the extent that the incorporated content does not conflict with existing definitions, opinions, or other disclosure in this disclosure. By itself, and to the extent necessary, the disclosure expressly set forth in this specification shall supersede any conflicting description incorporated herein by reference. Any content, or portions thereof, that are referred to as being incorporated by reference herein but that conflict with the current definitions, opinions, or other disclosure set forth in this specification shall be incorporated only to the extent that no conflict arises between the incorporated content and the current disclosure.

[0106] The above-described variants may be designed to be discarded after single use, or they may be designed to be used multiple times. The variants may, in either or both cases, be readjusted for reuse after at least one use. Readjustment may include any combination of a disassembly step of the device, followed by a cleaning or replacement step of specific parts, and subsequent reassembly steps. In particular, some variants of the device may be disassembled, and any number of specific parts or components of the device may be selectively replaced or removed in any combination. Upon cleaning and / or replacement of specific parts, some variants of the device may be reassembled for subsequent use either in a facility for readjustment or by an operator immediately prior to the procedure. One of ordinary skill in the art will understand that various techniques for disassembly, cleaning / replacement, and reassembly can be utilized in the readjustment of the device. The use of such techniques, and the resulting readjusted device, are all within the scope of this application.

[0107] Merely by way of example, the variations described herein may be sterilized before and / or after treatment. In one sterilization technique, the device is placed in a sealed and enclosed container such as a plastic or TYVEK bag. Next, the container and the device may be placed in a radiation field that can penetrate the container, such as gamma rays, X-rays, or high-energy electron beams. The radiation can kill bacteria on the device and within the container. Next, the sterilized device may be stored in the sterilized container for later use. The device may also be sterilized using any other technique well known in the art, including but not limited to beta or gamma rays, ethylene oxide, or steam.

[0108] Although various embodiments of the present invention have been shown and described, further adaptations of the methods and systems described herein can be realized without departing from the scope of the present invention by appropriate modifications by those skilled in the art. Some of such possible modifications have been described, but other modifications will be apparent to those skilled in the art. For example, the examples, embodiments, geometric shapes, materials, dimensions, ratios, steps, etc. discussed above are illustrative and not essential. Accordingly, it is understood that the scope of the present invention should be considered with respect to the following claims and is not limited to the details of the structures and operations shown and described in this specification and the drawings.

[0109] 〔Embodiment〕 (1) A surgical instrument, comprising: (a) a shaft assembly having a plurality of conductive components; (b) an end effector positioned at a distal end of the shaft assembly, the end effector being operable to apply energy to a patient's tissue; (c) a console operable to supply power to the end effector. (d) A conductor assembly disposed within the shaft assembly and configured to transmit power from the console to the end effector, the conductor assembly including a ground return path, and (e) A plurality of voltage sensors, each of the plurality of conductive components being configured to be coupled to a corresponding one of the plurality of voltage sensors and the ground return path, the plurality of voltage sensors being operable to measure a potential difference of the coupled conductive component with respect to a ground potential defined by the ground return path, and a plurality of voltage sensors. The console is (i) determining whether the measured potential difference exceeds a maximum threshold value; (ii) initiating a corrective action when the measured potential difference exceeds the maximum threshold value. A surgical instrument configured to perform the above. (2) The surgical instrument according to Embodiment 1, wherein each of the plurality of conductive components is configured using a floating voltage. (3) The shaft assembly or the end effector further includes an operation sensor operable to sense a parameter associated with the operation of the end effector, and the corrective action includes adjusting an electrical noise correction threshold associated with the operation sensor. The surgical instrument according to Embodiment 1. (4) The shaft assembly or the end effector further includes an operation sensor operable to sense a parameter associated with the operation of the end effector, and the corrective action includes adjusting a voltage conversion associated with the operation sensor. The surgical instrument according to Embodiment 1. (5) The shaft assembly or the end effector further includes an operation sensor operable to sense a parameter associated with the operation of the end effector, and the corrective action includes ignoring a signal from the operation sensor. The surgical instrument according to Embodiment 1.

[0110] (6) The shaft assembly or the end effector further comprises an operation sensor operable to sense parameters associated with the operation of the end effector, and the corrective measure includes cutting off power to the operation sensor, the surgical instrument according to Embodiment 1. (7) The shaft assembly or the end effector further comprises an operation sensor operable to sense parameters associated with the operation of the end effector, and the corrective measure includes restarting the operation sensor, the surgical instrument according to Embodiment 1. (8) The corrective measure includes discharging a selected conductive component among the plurality of conductive components to the ground return path, the surgical instrument according to Embodiment 1. (9) The surgical instrument according to Embodiment 8, wherein the corrective measure further includes stopping sensing from the voltage sensor associated with the selected conductive component while the voltage is being discharged. (10) Each of the plurality of conductive components can be configured to be electrically interconnected, and each of the plurality of conductive components shares a common potential when electrically interconnected, the surgical instrument according to Embodiment 1.

[0111] (11) The console is operable to reduce the common potential with respect to the ground potential from the plurality of conductive components while the plurality of conductive components are electrically interconnected, the surgical instrument according to Embodiment 10. (12) The plurality of voltage sensors include high-impedance voltage sensors, the surgical instrument according to Embodiment 1. (13) The console includes a generator configured to supply RF energy to the end effector, the surgical instrument according to Embodiment 1. (14) The conductor assembly comprises a wiring harness, the surgical instrument according to Embodiment 1. (15) The console is a component of a robotic electrosurgical system, the surgical instrument according to Embodiment 1.

[0112] (16) A surgical instrument comprising: (a) A shaft assembly having a plurality of conductive components, each of the plurality of conductive components being configured using a floating voltage; (b) An end effector positioned at a distal end of the shaft assembly, the end effector being operable to apply energy to a patient's tissue; (c) A console operable to supply power to the end effector; (d) A conductor assembly disposed within the shaft assembly and configured to transmit power from the console to the end effector, the conductor assembly including a ground return path; (e) A plurality of voltage sensors, each of the plurality of conductive components being configured to be coupled to a corresponding one of the plurality of voltage sensors and the ground return path, the plurality of voltage sensors being operable to measure a potential difference of the coupled conductive component with respect to a ground potential defined by the ground return path; The console being configured to initiate a corrective action based on the measured potential difference. (17) The surgical instrument of embodiment 16, further comprising an operation sensor operable to sense a parameter associated with the operation of the end effector, the corrective action including adjusting an electrical noise correction threshold associated with the operation sensor. (18) The surgical instrument of embodiment 16, further comprising an operation sensor operable to sense a parameter associated with the operation of the end effector, the corrective action including adjusting a voltage conversion associated with the operation sensor. (19) Each of the plurality of conductive components can be configured to be electrically interconnected, the corrective measure includes electrically interconnecting the plurality of conductive components, and each of the plurality of conductive components shares a common potential when electrically interconnected. The surgical instrument according to Embodiment 16. (20) A surgical instrument, (a) A shaft assembly having a conductive component configured using a floating voltage; (b) An end effector positioned at a distal end of the shaft assembly, the end effector being operable to apply energy to a patient's tissue; (c) A console operable to supply power to the end effector; (d) A conductor assembly disposed within the shaft assembly and configured to transmit power from the console to the end effector, the conductor assembly including a ground return path; (e) A voltage sensor, the conductive component of the shaft assembly being configured to be coupled to the voltage sensor and the ground return path, the voltage sensor being operable to measure a potential difference of the conductive component with respect to a ground potential defined by the ground return path. A surgical instrument comprising: The console is configured to: (i) Determine whether the measured potential difference exceeds a maximum threshold; (ii) Initiate a corrective measure when the measured potential difference exceeds the maximum threshold.

Claims

**Claim 1** A surgical instrument comprising: (a) a shaft assembly having a plurality of conductive components; (b) an end effector positioned at a distal end of the shaft assembly, the end effector being operable to apply energy to a patient's tissue; (c) a console operable to supply power to the end effector; (d) a conductor assembly disposed within the shaft assembly and configured to transmit power from the console to the end effector, the conductor assembly including a ground return path; (e) a plurality of voltage sensors, each of the plurality of conductive components being configured to be coupled to a corresponding one of the plurality of voltage sensors and the ground return path, the plurality of voltage sensors being operable to measure a potential difference of the coupled conductive component relative to a ground potential defined by the ground return path. The console is configured to: (i) determine whether the measured potential difference exceeds a maximum threshold; and (ii) initiate a corrective action if the measured potential difference exceeds the maximum threshold. A surgical instrument. **Claim 2** The surgical instrument according to claim 1, wherein each of the plurality of conductive components is configured using a floating voltage. **Claim 3** The surgical instrument according to claim 1, further comprising an operation sensor operable to sense a parameter associated with the operation of the end effector, wherein the corrective action includes adjusting an electrical noise correction threshold associated with the operation sensor. **Claim 4** The surgical instrument according to claim 1, further comprising an operation sensor operable to sense a parameter associated with the operation of the end effector, wherein the corrective action includes adjusting a voltage conversion associated with the operation sensor. **Claim 5** The shaft assembly or the end effector further comprises an operating sensor operable to sense parameters associated with the operation of the end effector, and the corrective measure includes ignoring a signal from the operating sensor. The surgical instrument according to claim 1.

6. The shaft assembly or the end effector further comprises an operating sensor operable to sense parameters associated with the operation of the end effector, and the corrective measure includes cutting off power to the operating sensor. The surgical instrument according to claim 1.

7. The shaft assembly or the end effector further comprises an operating sensor operable to sense parameters associated with the operation of the end effector, and the corrective measure includes restarting the operating sensor. The surgical instrument according to claim 1.

8. The corrective measure includes discharging a selected conductive component among the plurality of conductive components to the ground return path. The surgical instrument according to claim 1.

9. The surgical instrument according to claim 8, wherein the corrective measure further includes stopping sensing from the voltage sensor associated with the selected conductive component while the voltage is being discharged.

10. Each of the plurality of conductive components can be configured to be electrically interconnected, and each of the plurality of conductive components shares a common potential when electrically interconnected. The surgical instrument according to claim 1.

11. The console is operable to reduce the common potential with respect to the ground potential from the plurality of conductive components while the plurality of conductive components are electrically interconnected. The surgical instrument according to claim 10.

12. The plurality of voltage sensors comprise high-impedance voltage sensors. The surgical instrument according to claim 1.

13. The console includes a generator configured to supply RF energy to the end effector. The surgical instrument according to claim 1.

14. The conductor assembly comprises a wiring harness. The surgical instrument according to claim 1.

15. The console is a component of a robotic electrosurgical system. The surgical instrument according to claim 1.

16. A surgical instrument, (a)A shaft assembly having a plurality of conductive components, wherein each of the plurality of conductive components is configured using a floating voltage, the shaft assembly; (b)An end effector positioned at a distal end of the shaft assembly, the end effector being operable to apply energy to a patient's tissue, the end effector; (c)A console operable to supply power to the end effector; (d)A conductor assembly disposed within the shaft assembly and configured to transmit power from the console to the end effector, the conductor assembly including a ground return path, the conductor assembly; (e)A plurality of voltage sensors, wherein each of the plurality of conductive components is configured to be coupled to a corresponding voltage sensor of the plurality of voltage sensors and the ground return path, and the plurality of voltage sensors are operable to measure a potential difference of the coupled conductive component with respect to a ground potential defined by the ground return path, a plurality of voltage sensors; comprising The surgical instrument, wherein the console is configured to initiate a corrective action based on the measured potential difference.

17. The surgical instrument according to claim 16, further comprising an operation sensor operable to sense a parameter associated with the operation of the end effector, wherein the corrective action includes adjusting an electrical noise correction threshold associated with the operation sensor.

18. The surgical instrument according to claim 16, further comprising an operation sensor operable to sense a parameter associated with the operation of the end effector, wherein the corrective action includes adjusting a voltage conversion associated with the operation sensor.

19. The surgical instrument according to claim 16, wherein each of the plurality of conductive components can be configured to be electrically interconnected, the corrective action includes electrically interconnecting the plurality of conductive components, and each of the plurality of conductive components shares a common potential when electrically interconnected.

20. A surgical instrument, (a)A shaft assembly having a conductive component configured using a floating voltage; (b) an end effector positioned at a distal end of the shaft assembly, the end effector being operable to apply energy to a patient's tissue; (c) a console operable to supply power to the end effector; (d) a conductor assembly disposed within the shaft assembly and configured to transmit power from the console to the end effector, the conductor assembly including a ground return path; (e) a voltage sensor, the conductive component of the shaft assembly being configured to be coupled to the voltage sensor and the ground return path, the voltage sensor being operable to measure a potential difference of the conductive component relative to a ground potential defined by the ground return path; the console being configured to (i) determine whether the measured potential difference exceeds a maximum threshold; (ii) initiate a corrective action if the measured potential difference exceeds the maximum threshold.

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