Closed feedback control for electrosurgical device

A system, comprising:

• a robotic surgical system;
• a surgical instrument, comprising:
• a tool mounting portion configured to removably couple to the robotic surgical system;
• an elongate shaft extending from the tool mounting portion;
• and
• an end effector extending from the elongate shaft, wherein the end effector comprises:
• a first jaw comprising a first electrode;
• a second jaw comprising a second electrode, wherein the first electrode and the second electrode are configured to operably couple to an energy generator;
• and
• a blade;
• a motion driving system configured to drive the blade, the motion driving system comprising a motion driver;
• and
• a controller comprising a processor and a memory in communication with the processor, wherein the memory stores instructions that, when executed by the processor, cause the processor to:
• transmit a first control signal to the motion driving system, wherein the first control signal is configured to control a speed of the blade;
• transmit a second control signal to the energy generator, wherein the second control signal is configured to control an amount of energy to apply to the first electrode and the second electrode;
• receive a first feedback signal indicative of an impedance of tissue in electrical contact with first electrode and the second electrode;
• receive a second feedback signal indicative of a load on the motion driver;
• determine a rate of change of the impedance based on the first feedback signal;
• determine a tissue type of the tissue based on the second feedback signal;
• and
• modulate at least one of the first control signal and the second control signal to maintain the rate of change of the impedance at predetermined rate, wherein the predetermined rate is based at least in part on the tissue type.

A surgical system usable with a robotic system, wherein the surgical system comprises:

• a surgical instrument, comprising:
• a tool mounting portion configured to removably couple to the robotic system;
• and
• an end effector, comprising:
• a first jaw comprising a first electrode;
• a second jaw comprising a second electrode, wherein the first electrode and the second electrode are configured to operable couple to an energy generator;
• and
• a blade;
• a motion driving system configured to drive the blade, the motion driving system comprising a motion driver;
• and
• a control circuit, configured to:
• transmit a first control signal to the motion driving system, wherein the first control signal is configured to control the blade;
• transmit a second control signal to the energy generator, wherein the second control signal is configured to control an amount of energy to apply to the first electrode and the second electrode;
• receive a first feedback signal indicative of an impedance of tissue in electrical contact with the first electrode and the second electrode;
• receive a second feedback signal indicative of a load on the motion driver;
• determine a rate of change of the impedance based on the first feedback signal;
• determine a tissue type of the tissue based on the second feedback signal;
• and
• modulate at least one of the first control signal and the second control signal to maintain the rate of change of the impedance at a predetermined rate or within a predetermined range, wherein the predetermined range is based at least in part on the tissue type.