Surgical instrument with clamping sensor feedback

A robotic surgical system, comprising:

• (a) an ultrasonic surgical instrument, including:
• (i) an end effector, including:
• (A) an ultrasonic blade, and
• (B) a clamp arm pivotally secured relative to the ultrasonic blade for clamping a tissue therebetween,
• (ii) a shaft assembly extending proximally from the end effector, wherein the shaft assembly includes:
• (A) a tube,
• (B) an acoustic waveguide received within the tube, wherein the acoustic waveguide is operatively connected to the ultrasonic blade such that the acoustic waveguide is in acoustic communication with the ultrasonic blade, and
• (C) a sheath positioned between the acoustic waveguide and the tube and configured to damp acoustic vibrations from the acoustic waveguide toward the tube, and
• (iii) at least one sensor positioned on at least one of the end effector or the sheath, wherein the at least one sensor is configured to measure a force applied at the end effector or the sheath as a measured force, respectively, and thereby provide real-time feedback of a clamping force applied between the ultrasonic blade and the clamp arm,
• (iv) a control in electrical communication with the at least one sensor, wherein the control is configured to receive data measured by the at least one sensor;
• and
• (b) a display operatively connected to the control and configured to graphically visualize a level of the clamping force.

A method of determining a clamping force between an ultrasonic blade and a clamp arm of an ultrasonic surgical instrument, wherein the ultrasonic surgical instrument includes:

• (a) an end effector, having:
• (i) the ultrasonic blade, and (ii) the clamp arm pivotally secured relative to the ultrasonic blade for clamping a tissue therebetween;
• (b) a shaft assembly extending proximally from the end effector, wherein the shaft assembly has:
• (i) a tube, (ii) an acoustic waveguide received within the tube, wherein the acoustic waveguide is operatively connected to the ultrasonic blade such that the acoustic waveguide is in acoustic communication with the ultrasonic blade, and (ii) a sheath positioned between the acoustic waveguide and the tube and configured to damp acoustic vibrations from the acoustic waveguide toward the tube;
• and (c) at least one sensor positioned on at least one of the end effector or the sheath, the method comprising:
• (a) measuring a force applied at the end effector or the sheath as a measured force, respectively;
• and
• (b) providing real-time feedback of a clamping force applied between the ultrasonic blade and the clamp arm based on the measure force.