System and method for controlled ultrasonic sealing and cutting

A method comprising:

• controlling, by a processing system of a computer-assisted device, a first jaw and a second jaw of an end effector to grasp a material;
• determining, by the processing system, one or more first characteristics of the grasping;
• controlling, by the processing system, a first energy delivered by at least one transducer to seal the material based on the one or more first characteristics, the at least one transducer delivering ultrasonic energy using at least one of the first jaw or the second jaw;
• determining one or more second characteristics associated with the first energy delivered by the at least one transducer;
• and
• in response to completing sealing of the material, controlling, by the processing system, at least a second energy delivered by the at least one transducer to cut the grasped material based on the one or more first characteristics and the one or more second characteristics.

A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more processors associated with a computer-assisted device, are adapted to cause the computer-assisted device to perform a method comprising:

• controlling, by a processing system of a computer-assisted device, a first jaw and a second jaw of an end effector to grasp a material;
• determining, by the processing system, one or more first characteristics of the grasping;
• controlling, by the processing system, a first energy delivered by at least one transducer to seal the material based on the one or more first characteristics, the at least one transducer delivering ultrasonic energy using at least one of the first jaw or the second jaw;
• determining one or more second characteristics associated with the first energy delivered by the at least one transducer;
• and
• in response to completing sealing of the material, controlling, by the processing system, at least a second energy delivered by the at least one transducer to cut the grasped material based on the one or more first characteristics and the one or more second characteristics.