EP4734868A1 - Surgical end effector assemblies and surgical instruments for energy-based tissue cutting - Google Patents

Abstract

A surgical instrument and surgical end effector assembly include first and second jaw members configured to cooperate to grasp tissue therebetween. The jaw member includes a compression pad defining a longitudinally extending channel and including a first electrode disposed within the channel. The second jaw member includes a second electrode. With the first and second jaw members grasping tissue, the second electrode extends into the channel of the compression pad, compresses the compression pad, and is disposed in alignment with the first electrode. The first and second electrodes are adapted to connect to a source of electrosurgical energy and configured to conduct electrosurgical energy therebetween and through tissue to electrically cut the tissue.

Description

SURGICAL END EFFECTOR ASSEMBLIES AND SURGICAL INSTRUMENTS FOR ENERGY-BASED TISSUE CUTTING

CROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims the benefit of U.S. Provisional Patent Application Serial No. 63/510,418, filed June 27, 2023, the entire content of which is incorporated herein by reference.

FIELD

[0001] This disclosure relates to surgical instruments and, more specifically, to surgical end effector assemblies and surgical instruments for energy-based tissue cutting such as, for example, for use in surgical robotic systems.

BACKGROUND

[0002] Surgical robotic systems are increasingly utilized in various different surgical procedures. Some surgical robotic systems include a console supporting a robotic arm. One or more different surgical instruments may be configured for use with the surgical robotic system and selectively mountable to the robotic arm. The robotic arm provides one or more inputs to the mounted surgical instrument to enable operation of the mounted surgical instrument.

[0003] A surgical forceps, one type of instrument capable of being utilized with a robotic surgical system, relies on mechanical action between its jaw members to grasp, clamp, and constrict tissue. Electrosurgical forceps utilize both controlled mechanical clamping action and energy to heat tissue to seal (or otherwise treat) tissue. Typically, once tissue is sealed, the tissue is severed using a cutting element. Accordingly, many electrosurgical forceps are designed to incorporate a mechanical cutting element to effectively sever sealed tissue (and/or to cut tissue independently of tissue sealing). Alternatively, surgical forceps may incorporate an energy-based, e.g., thermal, electrical, ultrasonic, etc., cutting mechanism to cut tissue, whether previously sealed or unsealed.

SUMMARY

[0004] As used herein, the term “distal” refers to the portion that is being described which is farther from an operator (whether a human surgeon or a surgical robot), while the term “proximal” refers to the portion that is being described which is closer to the operator. Terms including “generally,” “about,” “substantially,” and the like, as utilized herein, are meant to encompass variations, e.g., manufacturing tolerances, material tolerances, use and environmental tolerances, measurement variations, design variations, and/or other variations, up to and including plus or minus 10 percent. To the extent consistent, any of the aspects described herein may be used in conjunction with any or all of the other aspects described herein.

[0005] Provided in accordance with aspects of this disclosure is a surgical end effector assembly including first and second jaw members including respective first and second tissue contacting surfaces. At least one of the first or second jaw members is configured to move relative to the other of the first or second jaw members between a spaced apart position and an approximated position to grasp tissue between the first and second tissue contacting surfaces. The first jaw member includes a compression pad defining a longitudinally extending channel having an elongate open portion oriented towards the second jaw member and an elongate closed portion recessed within the first jaw member. The first jaw member further includes a first electrode retained within the channel along the elongate closed portion of the channel. The second jaw member includes a second electrode extending from the second jaw member towards the first jaw member. In the approximated position, the second electrode extends into the channel of the compression pad, compresses the compression pad, is disposed in alignment with the first electrode, and is approximated relative to the first electrode. The first and second electrodes are adapted to connect to a source of electrosurgical energy and configured to conduct electrosurgical energy therebetween and through a portion of the grasped tissue to electrically cut the portion of the grasped tissue.

[0006] In an aspect of this disclosure, the first tissue contacting surface extends along opposite sides of the first electrode and the second tissue contacting surface extends along opposite sides of the second electrode.

[0007] In another aspect of this disclosure, the first and second tissue contacting surfaces are adapted to connect to a source of electrosurgical energy and configured to conduct electrosurgical energy therebetween and through the grasped tissue to seal the grasped tissue.

[0008] In another aspect of this disclosure, the channel tapers in width from the elongate open portion thereof to the elongate closed portion thereof. Alternatively or additionally, the second electrode tapers in width from a first portion thereof that is recessed within the second jaw member to a second portion thereof that extends from the second jaw member towards the first jaw member.

[0009] In yet another aspect of this disclosure, in the approximated position, the second electrode is configured to compress opposing portions of the compression pad on either side of the channel outwardly to thereby expand a width of the channel. [0010] In still another aspect of this disclosure, the first electrode is a wire electrode.

[0011] In still yet another aspect of this disclosure, the compression pad is disposed within a first slot defined within the first jaw member and the second electrode is disposed within as second slot defined within the second jaw member.

[0012] In another aspect of this disclosure, the second electrode includes an electrically conductive element and an insulative coating disposed on a portion of the electrically conductive element. In such aspects, the electrically conductive element may define an exposed surface that is not coated with the insulative coating. The exposed surface may be fully disposed within the channel of the compression pad in the approximated position.

[0013] Another surgical end effector assembly provided in accordance with this disclosure includes first and second jaw members. At least one of the first or second jaw members is configured to move relative to the other of the first or second jaw members between a spaced apart position and an approximated position. The first jaw member includes a compression pad defining a longitudinally extending channel having an elongate open portion oriented towards the second jaw member and an elongate closed portion recessed within the first jaw member. The first jaw member further includes a wire electrode retained within the channel along the elongate closed portion of the channel. The second jaw member includes a cutting electrode extending from the second jaw member towards the first jaw member. In the approximated position, the cutting electrode extends into the channel of the compression pad, compresses the compression pad, is disposed in alignment with the wire electrode, is approximated relative to the wire electrode, and is configured to capture tissue within the channel of the compression pad between the cutting electrode and the wire electrode. The cutting and wire electrodes are adapted to connect to a source of electrosurgical energy and configured to conduct electrosurgical energy therebetween and through the grasped tissue to electrically cut the grasped tissue.

[0014] In an aspect of this disclosure, the first jaw member defines a first tissue contacting surface having a U-shaped configuration and extending about the compression pad, and the second jaw member defines a second tissue contacting surface having a U-shaped configuration and extending about the cutting electrode.

[0015] In another aspect of this disclosure, the first and second tissue contacting surfaces are adapted to connect to a source of electrosurgical energy and configured to conduct electrosurgical energy therebetween to seal tissue grasped between the first and second jaw members. [0016] In still another aspect of this disclosure, the channel tapers in width from the elongate open portion thereof to the elongate closed portion thereof and/or the cutting electrode tapers in width from a first portion thereof that is recessed within the second jaw member to a second portion thereofthat extends from the second jaw member towards the first jaw member. [0017] In yet another aspect of this disclosure, the cutting electrode is configured to compress opposing portions of the compression pad on either side of the channel outwardly to thereby expand a width of the channel.

[0018] In still yet another aspect of this disclosure, the cutting electrode includes an electrically conductive element and an insulative coating disposed on a portion of the electrically conductive element. In such aspects, the electrically conductive element may define an exposed surface that is not coated with the insulative coating. The exposed surface may be fully disposed within the channel of the compression pad in the approximated position. [0019] A surgical instrument provided in accordance with the present disclosure includes a shaft assembly and an end effector assembly disposed at a distal end of the shaft assembly. The end effector assembly includes a first jaw member including a compression pad including first and second walls defining a longitudinally extending channel having an elongate open portion and an elongate closed portion. The first jaw member further includes a first electrode disposed within the channel and extending along the elongate closed portion of the channel. The second jaw member is configured to cooperate with the first jaw member to grasp tissue therebetween in an approximated position of the first and second jaw members and includes a second electrode extending from the second jaw member towards the first jaw member. In the approximated position, the second electrode extends into the elongate open portion of the channel of the compression pad, urges the first and second walls outwardly to compress the compression pad and expand a width of the channel, and aligns with the first electrode. The first and second electrodes are adapted to connect to a source of electrosurgical energy and configured to conduct electrosurgical energy through tissue disposed therebetween to electrically cut the tissue.

[0020] In an aspect of this disclosure, the second electrode includes an electrically conductive element and an insulative coating disposed on a portion of the electrically conductive element. In such aspects, the electrically conductive element may define an exposed surface that is not coated with the insulative coating and that is fully disposed within the channel of the compression pad in the approximated position.

BRIEF DESCRIPTION OF THE DRAWINGS [0021] The above and other aspects and features of this disclosure will become more apparent in view of the following detailed description when taken in conjunction with the accompanying drawings wherein like reference numerals identify similar or identical elements. [0022] FIG. 1 is a schematic illustration of a surgical robotic system including a control tower, a console, and one or more surgical robotic arms according to aspects of this disclosure; [0023] FIG. 2 is a perspective view of a surgical robotic arm of the surgical robotic system of FIG. 1 according to aspects of this disclosure;

[0024] FIG. 3 is a perspective view of a setup arm with the surgical robotic arm of the surgical robotic system of FIG. 1 according to aspects of this disclosure;

[0025] FIG. 4 is a schematic diagram of a computer architecture of the surgical robotic system of FIG. 1 according to aspects of this disclosure;

[0026] FIG. 5 is a perspective view of a surgical instrument provided in accordance with the present disclosure configured for mounting on a robotic arm of a surgical robotic system such as the surgical robotic system of FIG. 1 ;

[0027] FIGS. 6A and 6B are front and rear perspective views, respectively, of a proximal portion of the surgical instrument of FIG. 5, with an outer shell removed;

[0028] FIG. 7 is a front perspective view of the proximal portion of the surgical instrument of FIG. 5 with the outer shell and additional internal components removed;

[0029] FIGS. 8 A and 8B are side views of a portion of the end effector assembly of the surgical instrument of FIG. 5 with jaw members of the end effector assembly disposed in spaced apart and approximated positions, respectively;

[0030] FIGS. 9A and 9B are transverse, cross-sectional views of the end effector assembly of the surgical instrument of FIG. 5 with the jaw members of the end effector assembly disposed in the spaced apart and approximated positions, respectively;

[0031] FIG. 10A is a transverse, cross-sectional view of one of the jaw members of the end effector assembly of the surgical instrument of FIG. 1 ;

[0032] FIG. 10B is a transverse, cross-sectional view of the cutting electrode of the jaw member of FIG. 10A;

[0033] FIG. 11A is a transverse, cross-sectional view of the other jaw member of the end effector assembly of the surgical instrument of FIG. 1 ;

[0034] FIG. 1 IB is a transverse, cross-sectional view of a compression pad and return electrode of the jaw member of FIG. 11 A; and

[0035] FIGS. 12-14 are progressive, transverse, cross-sectional views of the cutting electrode of the jaw member of FIG. 10A and the compression pad and return electrode of the jaw member of FIG. 11A during movement of the jaw members from the spaced apart position to a partially approximated position to the approximated position.

DETAILED DESCRIPTION

[0036] This disclosure provides surgical end effector assemblies and surgical instruments for energy-based tissue cutting. As described in detail below, the surgical end effector assemblies and surgical instruments of this disclosure are configured for use with a surgical robotic system, which may include, for example, a surgical console, a control tower, and one or more movable carts having a surgical robotic arm coupled to a setup arm. The surgical console receives user input through one or more interface devices, which are interpreted by the control tower as movement commands for moving the surgical robotic arm. The surgical robotic arm includes a controller, which is configured to process the movement command and to generate a torque command for activating one or more actuators of the robotic arm, which, in turn, move the robotic arm in response to the movement command. Those skilled in the art will understand that this disclosure, although described in connection with surgical robotic systems, may also be adapted for use with handheld surgical instruments such as, for example, endoscopic surgical instruments and/or open surgical instruments, whether manually operated or powered.

[0037] With reference to FIG. 1, a surgical robotic system 10 includes a control tower 20, which is connected to components of the surgical robotic system 10 including a surgical console 30 and one or more robotic arms 40. Each of the robotic arms 40 includes a surgical instrument 50, 51 removably coupled thereto. Each of the robotic arms 40 is also coupled to a movable cart 60.

[0038] The one or more surgical instruments 50, 51 may be configured for use during minimally invasive surgical procedures and/or open surgical procedures. In aspects, one of the surgical instruments 50 may be an endoscope, such as an endoscope camera 51, configured to provide a video feed for the clinician. In aspects, one of the surgical instruments 50 may be an energy based surgical instrument such as, for example, an energy-based forceps configured to seal tissue by grasping tissue between opposing structures and applying energy, e.g., electrical, thermal, ultrasonic, light, etc., energy thereto and to cut tissue by applying energy, e.g., electrical, thermal, ultrasonic, light, etc., energy thereto. An example of such an energy-based forceps for energy-based sealing and cutting is described in detail below and identified by reference numeral 110 (FIG. 5). [0039] Endoscope camera 51 is configured to capture video of the surgical site. The surgical console 30 includes a first display 32, which displays a video feed of the surgical site provided by endoscope camera 51, and a second display 34, which displays a user interface for controlling the surgical robotic system 10. The first and second displays 32 and 34 are touchscreens allowing for display of and interaction with various graphical user inputs.

[0040] The surgical console 30 also includes a plurality of user interface devices, such as foot pedals 36 and a pair of handle controllers 38a and 38b which are used by a user to remotely control robotic arms 40. The surgical console further includes an armrest 33 used to support clinician’s arms while operating the handle controllers 38a and 38b.

[0041] The control tower 20 includes a display 23, which may be a touchscreen, and outputs on the graphical user interfaces (GUIs). The control tower 20 also acts as an interface between the surgical console 30 and one or more robotic arms 40. In particular, the control tower 20 is configured to control the robotic arms 40, such as to move the robotic arms 40 and the corresponding surgical instrument 50, 51 based on a set of programmable instructions and/or input commands from the surgical console 30, in such a way that robotic arms 40 and the surgical instruments 50, 51 execute a desired movement sequence in response to input from the foot pedals 36 and the handle controllers 38a and 38b.

[0042] Each of the control tower 20, the surgical console 30, and the robotic arm 40 includes a respective computer21, 31, 41. The computers 21, 31, 41 are interconnected to each other using any suitable communication network based on wired or wireless communication protocols. The term “network,” whether plural or singular, as used herein, denotes a data network, including, but not limited to, the Internet, Intranet, a wide area network, or a local area network, and without limitation as to the full scope of the definition of communication networks as encompassed by the present disclosure. Suitable protocols include, but are not limited to, transmission control protocol/intemet protocol (TCP/IP), datagram protocol/intemet protocol (UDP/IP), and/or datagram congestion control protocol (DCCP). Wireless communication may be achieved via one or more wireless configurations, e.g., radio frequency, optical, Wi-Fi, Bluetooth® (an open wireless protocol for exchanging data over short distances, using short length radio waves, from fixed and mobile devices, creating personal area networks (PANs)), ZigBee® (a specification for a suite of high level communication protocols using small, low-power digital radios based on the IEEE 122.15.4-2003 standard for wireless personal area networks (WPANs)).

[0043] The computers 21, 31, 41 may include any suitable processor (not shown) operably connected to a memory (not shown), which may include one or more of volatile, non-volatile, magnetic, optical, or electrical media, such as read-only memory (ROM), random access memory (RAM), electrically-erasable programmable ROM (EEPROM), non-volatile RAM (NVRAM), or flash memory. The processor may be any suitable processor (e.g., control circuit) adapted to perform the operations, calculations, and/or set of instructions described in the present disclosure including, but not limited to, a hardware processor, a field programmable gate array (FPGA), a digital signal processor (DSP), a central processing unit (CPU), a microprocessor, and combinations thereof. Those skilled in the art will appreciate that the processor may be substituted for by using any logic processor (e.g., control circuit) adapted to execute algorithms, calculations, and/or set of instructions described herein.

[0044] With reference to FIGS. 2 and 3, each of the robotic arms 40 may include a plurality of links 42a, 42b, 42c, which are interconnected at joints 44a, 44b, 44c, respectively. Joint 44a is configured to secure the robotic arm 40 to the movable cart 60 and defines a first longitudinal axis. The movable cart 60 includes a lift 61 and a setup arm 62, which provides a base for mounting of the robotic arm 40. The lift 61 allows for vertical movement of the setup arm 62. The movable cart 60 also includes a display 69 for displaying information pertaining to the robotic arm 40.

[0045] The setup arm 62 includes a first link 62a, a second link 62b, and a third link 62c, which provide for lateral maneuverability of the robotic arm 40. The links 62a, 62b, 62c are interconnected at joints 63a and 63b, each of which may include an actuator (not shown) for rotating the links 62a and 62b relative to each other and the link 62c. In particular, the links 62a, 62b, 62c are movable in their corresponding lateral planes that are parallel to each other, thereby allowing for extension of the robotic arm 40 relative to the patient (e.g., surgical table). In aspects, the robotic arm 40 may be coupled to the surgical table (not shown). The setup arm 62 includes controls 65 for adjusting movement of the links 62a, 62b, 62c as well as the lift 61. [0046] The third link 62c includes a rotatable base 64 having two degrees of freedom. In particular, the rotatable base 64 includes a first actuator 64a and a second actuator 64b. The first actuator 64a is rotatable about a first stationary arm axis which is perpendicular to a plane defined by the third link 62c and the second actuator 64b is rotatable about a second stationary arm axis which is transverse to the first stationary arm axis. The first and second actuators 64a and 64b allow for full three-dimensional orientation of the robotic arm 40.

[0047] With reference again to FIGS. 1 and 2, the robotic arm 40 also includes a holder 46 defining a second longitudinal axis and configured to receive an IDU 52. The IDU 52 is configured to couple to an actuation mechanism of the surgical instrument 50 and the endoscope camera 51 and is configured to move (e.g., rotate) and actuate the instrument 50 and/or the endoscope camera 51. IDU 52 transfers actuation forces from its actuators to the surgical instrument 50 and/or the endoscope camera 5 Ito actuate components (e.g., end effectors) of the surgical instrument 50. The holder 46 includes a sliding mechanism 46a, which is configured to move the IDU 52 along the second longitudinal axis defined by the holder 46. The holder 46 also includes a joint 46b, which rotates the holder 46 relative to the link 42c.

[0048] The robotic arm 40 further includes a plurality of manual override buttons 53 disposed on the IDU 52 and/or the setup arm 62, which may be used in a manual mode. The clinician may press one or the buttons 53 to move the component associated with the button 53.

[0049] The joints 44a and 44b include an actuator 48a and 48b configured to drive the joints 44a, 44b, 44c relative to each other through a series of belts 45a and 45b or other mechanical linkages such as a drive rod, a cable, or a lever and the like. In particular, the actuator 48a is configured to rotate the robotic arm 40 about a longitudinal axis defined by the link 42a.

[0050] The actuator 48b of the joint 44b is coupled to the joint 44c via the belt 45a, and the joint 44c is in turn coupled to the joint 46c via the belt 45b. Joint 44c may include a transfer case coupling the belts 45a and 45b, such that the actuator 48b is configured to rotate each of the links 42b, 42c and the holder 46 relative to each other. More specifically, links 42b, 42c, and the holder 46 are passively coupled to the actuator 48b which enforces rotation about a remote center point “P” which lies at an intersection of the first axis defined by the link 42a and the second axis defined by the holder 46. Thus, the actuator 48b controls the angle “A” between the first and second axes allowing for orientation of the surgical instrument 50. Due to the interlinking of the links 42a, 42b, 42c, and the holder 46 via the belts 45a and 45b, the angles between the links 42a, 42b, 42c, and the holder 46 are also adjusted in order to achieve the desired angle “A.” In aspects, some or all of the joints 44a, 44b, 44c may include an actuator to obviate the need for mechanical linkages.

[0051] With reference to FIGS. 1 and 4, each of the computers 21, 31, 41 of the surgical robotic system 10 may include a plurality of controllers, which may be embodied in hardware and/or software. The computer 21 of the control tower 20 includes a controller 21a and safety observer 21b. The controller 21a receives data from the computer 31 of the surgical console 30 about the current position and/or orientation of the handle controllers 38a and 38b and the state of the foot pedals 36 and other buttons. The controller 2 la processes these input positions to determine desired drive commands for each joint of the robotic arm 40 and/or the IDU 52 and communicates these to the computer 41 of the robotic arm 40. The controller 21a also receives back the actual joint angles and uses this information to determine force feedback commands that are transmitted back to the computer 31 of the surgical console 30 to provide haptic feedback through the handle controllers 38a and 38b. The handle controllers 38a and 38b include one or more haptic feedback vibratory devices that output haptic feedback. The safety observer 21b performs validity checks on the data going into and out of the controller 21a and notifies a system fault handler if errors in the data transmission are detected to place the computer 21 and/or the surgical robotic system 10 into a safe state.

[0052] The computer 41 includes a plurality of controllers, namely, a main cart controller 41a, a setup arm controller 41b, a robotic arm controller 41c, and an IDU controller 4 Id. The main cart controller 41a receives and processes joint commands from the controller 21a of the computer 21 and communicates them to the setup arm controller 4 lb, the robotic arm controller 41c, and the IDU controller 4 Id. The main cart controller 41a also manages instrument exchanges and the overall state of the movable cart 60, the robotic arm 40, and the IDU 52. The main cart controller 41a also communicates actual joint angles back to the controller 21a. [0053] With additional reference to FIGS. 2 and 3, the setup arm controller 41b controls each of joints 63a and 63b, and the rotatable base 64 of the setup arm 62 and calculates desired motor movement commands (e.g., motor torque) forthe pitch axis and controls the brakes. The robotic arm controller 41c controls each joint 44a and 44b of the robotic arm 40 and calculates desired motor torques required for gravity compensation, friction compensation, and closed loop position control of the robotic arm 40. The robotic arm controller 41c calculates a movement command based on the calculated torque. The calculated motor commands are then communicated to one or more of the actuators 48a and 48b in the robotic arm 40. The actual joint positions are then transmitted by the actuators 48a and 48b back to the robotic arm controller 41c.

[0054] The IDU controller 4 Id receives desired joint angles forthe surgical instrument 50, such as wrist and jaw angles, and computes desired currents forthe motors in the IDU 52. The IDU controller 4 Id calculates actual angles based on the motor positions and transmits the actual angles back to the main cart controller 41a.

[0055] The robotic arm 40 is controlled as follows. Initially, a pose of the handle controller controlling the robotic arm 40, e.g., the handle controller 38a, is transformed into a desired pose of the robotic arm 40 through a hand eye transform function executed by the controller 21a. The hand eye function, as well as other functions described herein, is/are embodied in software executable by the controller 21a or any other suitable controller described herein. The pose of the handle controller 38a may be embodied as a coordinate position and role -pitch-yaw (“RPY”) orientation relative to a coordinate reference frame, which is fixed to the surgical console 30. The desired pose of the instrument 50 is relative to a fixed frame on the robotic arm 40. The pose of the handle controller 38a is then scaled by a scaling function executed by the controller 21a. In aspects, the coordinate position is scaled down and the orientation is scaled up by the scaling function. In addition, controller 21a also executes a clutching function, which disengages the handle controller 38a from the robotic arm 40. In particular, the controller 21a stops transmitting movement commands from the handle controller 38a to the robotic arm 40 if certain movement limits or other thresholds are exceeded and in essence acts like a virtual clutch mechanism, e.g., limits mechanical input from effecting mechanical output. [0056] The desired pose of the robotic arm 40 is based on the pose of the handle controller 38a and is then passed by an inverse kinematics function executed by the controller 21a. The inverse kinematics function calculates angles for the joints 44a, 44b, 44c of the robotic arm 40 that achieve the scaled and adjusted pose input by the handle controller 38a. The calculated angles are then passed to the robotic arm controller 41c, which includes a joint axis controller having a proportional-derivative (PD) controller, the friction estimator module, the gravity compensator module, and a two-sided saturation block, which is configured to limit the commanded torque of the motors of the joints 44a, 44b, 44c.

[0057] Turning to FIGS. 5-7, a surgical instrument 110 provided in accordance with the present disclosure generally includes a housing 120, a shaft 130 extending distally from housing 120, an end effector assembly 140 extending distally from shaft 130, and an actuation assembly 1100 disposed within housing 120 and operably associated with end effector assembly 140. Instrument 110 is detailed herein as an articulating electrosurgical forceps configured for use with a surgical robotic system, e.g., surgical robotic system 10 (FIG. 1). However, the aspects and features of instrument 110 provided in accordance with the present disclosure, detailed below, are equally applicable for use with other suitable surgical instruments, e.g., graspers, staplers, clip appliers, and/or in other suitable surgical systems, e.g., motorized, other power driven systems, and/or manually actuated surgical systems (including handheld instruments).

[0058] With particular reference to FIG. 5, housing 120 of instrument 110 includes first and second housing parts 122a, 122b and a proximal face plate 124 that cooperate to enclose actuation assembly 1100 therein. Proximal face plate 124 includes through holes defined therein through which input couplers 1110-1140 (FIG. 6B) of actuation assembly 1100 extend. A pair of latch levers 126 (only one of which is illustrated in FIG. 5) extending outwardly from opposing sides of housing 120 enable releasable engagement of housing 120 with a robotic arm 40 (FIG. 1) of a surgical robotic system, e.g., surgical robotic system 10 (FIG. 1). A window 128 defined through housing 120 permits thumbwheel 1440 to extend therethrough to enable manual manipulation of thumbwheel 1440 from the exterior of housing 120 to permit manual opening and closing of end effector assembly 140.

[0059] Referring also to FIGS. 6A-7, a plurality of electrical contacts 190 extend through one or more apertures defined through proximal face plate 124 to enable electrical communication between instrument 110 and surgical robotic system 10 (FIG. 1) when instrument 110 is engaged on a robotic arm thereof, e.g., for the communication of data, control, and/or power signals therebetween. As an alternative to electrical contacts 190 extending through proximal face plate 124, other suitable transmitter, receiver, and/or transceiver components to enable the communication of data, control, and/or power signals are also contemplated, e.g., using RFID, Bluetooth®, WiFi®, or via any other suitable wired, wireless, contacted, or contactless communication method. At least some of the electrical contacts 190 are electrically coupled with electronics 192 mounted on an interior side of proximal face plate 124, e.g., within housing 120. Electronics 192 may include, for example, a storage device, a communications device (including suitable input/output components), and a CPU including a memory and a processor. Electronics 192 may be mounted on a circuit board or otherwise configured, e.g., as a chip.

[0060] The storage device of electronics 192 stores information relating to surgical instrument such as, for example: the item number, e.g., SKU number; date of manufacture; manufacture location, e.g., location code; serial number; lot number; use information; setting information; adjustment information; calibration information; security information, e.g., encryption key(s), and/or other suitable additional or alternative data. The storage device of electronics 192 may be, for example, a magnetic disk, flash memory, optical disk, or other suitable data storage device.

[0061] As an alternative or in addition to storing the above noted information in the storage device of electronics 192, some or all of such information, e.g., the use information, calibration information, setting information, and/or adjustment information, may be stored in a storage device associated with surgical robotic system 10 (FIG. 1), a remote server, a cloud server, etc., and accessible via instrument 110 and/or surgical robotic system 10 (FIG. 1). In such configurations, the information may, for example, be updated by manufacturer provided updates, and/or may be applied to individual instruments, units of instruments (e.g., units from the same manufacturing location, manufacturing period, lot number, etc.), or across all instruments. Further still, even where the information is stored locally on each instrument, this information may be updated by manufacturer provided updates manually or automatically upon connection to the surgical robotic system 10 (FIG. 1).

[0062] Referring again to FIG. 5, shaft 130 of instrument 110 includes a distal clevis segment 132, a proximal segment 134, and an articulating section 136 disposed between the distal clevis and proximal segments 132, 134, respectively. Articulating section 136 includes one or more articulating components 137, e.g., links, joints, etc. A plurality of articulation cables 138, e.g., four (4) articulation cables, or other suitable actuators, extend through articulating section 136. More specifically, articulation cables 138 are operably coupled to distal clevis segment 132 of shaft 130 at the distal ends thereof and extend proximally from distal clevis segment 132 of shaft 130, through articulating section 136 of shaft 130 and proximal segment 134 of shaft 130, and into housing 120, wherein articulation cables 138 operably couple with an articulation sub-assembly 1200 of actuation assembly 1100 (FIG. 6A) to enable selective articulation of distal clevis segment 132 (and, thus end effector assembly 140) relative to proximal segment 134 and housing 120, e.g., about at least two axes of articulation (yaw and pitch articulation, for example). Articulation cables 138 are arranged in a generally rectangular configuration, although other suitable configurations are also contemplated. In some configurations, as an alternative, shaft 130 is substantially rigid, malleable, or flexible and not configured for active articulation. Articulation sub-assembly 1200 is described in greater detail below.

[0063] With respect to articulation of end effector assembly 140 relative to proximal segment 134 of shaft 130, actuation of articulation cables 138 may be accomplished in pairs. More specifically, in order to pitch end effector assembly 140, the upper pair of cables 138 are actuated in a similar manner while the lower pair of cables 138 are actuated in a similar manner relative to one another but an opposite manner relative to the upper pair of cables 138. With respect to yaw articulation, the right pair of cables 138 are actuated in a similar manner while the left pair of cables 138 are actuated in a similar manner relative to one another but an opposite manner relative to the right pair of cables 138. Other configurations of articulation cables 138 or other articulation actuators are also contemplated.

[0064] Continuing with reference to FIG. 5, end effector assembly 140 includes first and second jaw members 142, 144, respectively. Each jaw member 142, 144 includes a proximal flange 143a, 145a and a distal body 143b, 145b, respectively. Distal bodies 143b, 145b define opposed tissue contacting surfaces 146, 148, respectively. Proximal flanges 143a, 145a are pivotably coupled to one another about a pivot 150 and are operably coupled to one another via a cam slot assembly 152 including a cam pin slidably received within cam slots defined within the proximal flange 143a, 145a ofat least one ofthe jaw members 142, 144, respectively, to enable pivoting of jaw member 142 relative to jaw member 144 and distal segment 132 of shaft 130 between a spaced apart position (e.g., an open position of end effector assembly 140) and an approximated position (e.g., a closed position of end effector assembly 140) for grasping tissue between tissue contacting surfaces 146, 148. As an alternative to this unilateral configuration, a bilateral configuration may be provided whereby both jaw members 142, 144 are pivotable relative to one another and distal segment 132 of shaft 130. Alternatively, the above detailed configuration may be reversed, e.g., wherein jaw member 142 is the fixed jaw member and jaw member 144 is movable relative to jaw member 142. Other suitable jaw actuation mechanisms (for bilateral and/or unilateral jaw configurations) are also contemplated.

[0065] With momentary additional reference to FIGS. 8A-9B, in configurations, jaw member 144 supports a longitudinally extending cutting electrode 149 in a slot 160 defined through tissue contacting surface 148 and a portion of distal body 145b of jaw member 144, while jaw member 142 includes a compression pad 162 disposed in a slot 161 defined through tissue contacting surface 146 and a portion of distal body 143b of jaw member 142. Compression pad 162 retains a wire electrode 164 therein that opposes cutting electrode 149 in the approximated position of jaw member 142, 144. More specifically, in the approximated position of jaw members 142, 144, cutting electrode 149 is urged into contact with compression pad 162 to grasp (and, in aspects, compress) tissue therebetween with cutting electrode 149 and wire electrode 164 disposed on opposing sides of the tissue in alignment with one another. Cutting electrode 149 and/or wire electrode 164 may then be energized to conduct energy therebetween to electrically cut the tissue disposed between cutting electrode 149 and compression pad 162. Cutting electrode 149 may additionally or alternatively be used to cut tissue in an open jaw configuration, e.g., with jaw members 142, 144 disposed in the spaced apart position. Cutting electrode 149 may be configured to be energized with monopolar Radio Frequency (RF) energy from a surgical generator (not shown) to conduct RF energy to tissue to cut the tissue, wherein the RF energy is returned to the generator to complete the circuit via wire electrode 164. Alternatively or additionally, cutting electrode 149 and wire electrode 164 may be energized with bipolar RF energy at different potentials to conduct energy between cutting electrode 149 and wire electrode 164 and through tissue disposed therebetween to cut the tissue.

[0066] Returning to FIG. 5, a drive rod 1484 is operably coupled to cam slot assembly 152 of end effector assembly 140, e.g., engaged with the cam pin thereof, such that longitudinal actuation of drive rod 1484 pivots jaw member 142 relative to jaw member 144 between the spaced apart and approximated positions. More specifically, urging drive rod 1484 proximally pivots jaw member 142 relative to jaw member 144 towards the approximated position while urging drive rod 1484 distally pivots jaw member 142 relative to jaw member 144 towards the spaced apart position. However, other suitable mechanisms and/or configurations for pivoting jaw member 142 relative to jaw member 144 between the spaced apart and approximated positions in response to selective actuation of drive rod 1484 are also contemplated. Drive rod 1484 extends proximally from end effector assembly 140 through shaft 130 and into housing 120 wherein drive rod 1484 is operably coupled with a jaw drive sub-assembly 1400 of actuation assembly 1100 (FIGS. 6A-6B) to enable selective actuation of end effector assembly 140 to grasp tissue therebetween and apply a jaw force within an appropriate jaw force range. [0067] Tissue contacting surfaces 146, 148 of jaw members 142, 144, respectively, are at least partially formed from an electrically conductive material and are energizable to different potentials to enable the conduction of RF electrical energy between tissue contacting surfaces 146, 148 and through tissue grasped therebetween, although tissue contacting surfaces 146,

148 may alternatively be configured to supply any suitable energy, e.g., thermal, microwave, light, ultrasonic, etc., through tissue grasped therebetween for energy based tissue treatment. Instrument 110 defines a conductive pathway (not shown) through housing 120 and shaft 130 to end effector assembly 140 that may include lead wires, contacts, and/or electrically conductive components to enable electrical connection of tissue contacting surfaces 146, 148 of jaw members 142, 144, respectively, cutting electrode 149 (FIGS. 9A and 9B), and wire electrode 164 (FIGS. 9A and 9B) to an energy source (not shown), e.g., an electrosurgical generator, for supplying energy to tissue contacting surfaces 146, 148 to treat, e.g., seal, tissue grasped between tissue contacting surfaces 146, 148 and to supply energy to cutting electrode

149 (FIGS. 9A and 9B) and/or wire electrode 164 (FIGS. 9A and 9B) to treat, e.g., cut, tissue grasped between cutting electrode 149 (FIGS. 9A and 9B) and compression pad 162 (FIGS. 9A and 9B) or otherwise positioned adjacent to cutting electrode 149 (FIGS. 9A and 9B).

[0068] With additional reference to FIGS. 6A-7, as noted above, actuation assembly 1100 is disposed within housing 120 and includes an articulation sub-assembly 1200, and a jaw drive sub-assembly 1400. Articulation sub-assembly 1200 is operably coupled between first and second input couplers 1110, 1120, respectively, of actuation assembly 1100 and articulation cables 138 (FIG. 5) such that, upon receipt of appropriate inputs into first and/or second input couplers 1110, 1120, articulation sub-assembly 1200 manipulates cables 138 (FIG. 5) to articulate end effector assembly 140 in a desired direction, e.g., to pitch and/or yaw end effector assembly 140. Articulation sub-assembly 1200 is described in greater detail below.

[0069] Jaw drive sub-assembly 1400 is operably coupled between fourth input coupler 1140 of actuation assembly 1100 and drive rod 1484 such that, upon receipt of appropriate input into fourth input coupler 1140, jaw drive sub-assembly 1400 pivots jaw members 142, 144 between the spaced apart and approximated positions to grasp tissue therebetween and apply a jaw force within an appropriate jaw force range.

[0070] Actuation assembly 1100 is configured to operably interface with a surgical robotic system, e.g., system 10 (FIG. 1), when instrument 110 is mounted on a robotic arm thereof, to enable robotic operation of actuation assembly 1100 to provide the above detailed functionality. That is, surgical robotic system 10 (FIG. 1) selectively provides inputs, e.g., rotational inputs to input couplers 1110-1140 of actuation assembly 1100 to articulate end effector assembly 140, grasp tissue between jaw members 142, 144, and/or cut tissue grasped between jaw members 142, 144. However, as noted above, it is also contemplated that actuation assembly 1100 be configured to interface with any other suitable surgical systems, e.g., a manual surgical handle, a powered surgical handle, etc.

[0071] Turning to FIGS. 8A-9B, end effector assembly 140 is shown with jaw members 142, 144 disposed in the spaced apart position (FIGS. 8A and 9A) and the approximated position (FIGS. 8B and 9B). In aspects, either or both tissue contacting surfaces 146, 148 of jaw members 142, 144, respectively, are defined by respective tissue contacting plates 166, 168 disposed on the opposing surfaces of distal bodies 143b, 145b of jaw members 142, 144, respectively. As noted above, jaw member 144 supports cutting electrode 149 in slot 160 defined through tissue contacting surface 148 (and through tissue contacting plate 168 and a portion of distal body 145b of jaw member 144), while jaw member 142 includes compression pad 162 disposed in slot 161 defined through tissue contacting surface 146 (and through tissue contacting plate 166 and a portion of distal body 143b of jaw member 142) and configured to oppose cutting electrode 149 in the approximated position of jaw members 142, 144 (FIG. 9B). Further, as also noted above, and as described in greater detail below, compression pad 162 retains wire electrode 164 therein. Tissue contacting surfaces 146, 148 may define substantially U-shaped configurations wherein the slots 161, 160 defined therethrough terminate at positions proximally spaced from the distal ends of tissue contact surfaces 146, 148.

[0072] Cutting electrode 149 protrudes from jaw member 144 beyond tissue contacting plate 168 and towards jaw member 142. Compression pad 162 may protrude from tissue contacting surface 146 of tissue contacting plate 166 towards jaw member 144, may be recessed relative to tissue contacting surface 146 of tissue contacting plate 166, or may be substantially flush with tissue contacting surface 146 of tissue contacting plate 166. Compression pad 162 and jaw member 142 are configured, in conjunction with cutting electrode 149 and wire electrode 164, such that, in the approximated position of jaw members 142, 144 (see FIG. 9B), cutting electrode 149 is urged into compression pad 162 to at least partially compress compression pad 162 (with tissue grasped therebetween under compression), thus facilitating electrical tissue cutting upon activation of cutting electrode 149 and/or wire electrode 164 to conduct energy therebetween and through the grasped tissue. The contact between cutting electrode 149 and compression pad 162 may also maintain a spacing between tissue contacting surfaces 146, 148 to inhibit electrical shorting via contact between tissue contacting surfaces 146, 148. Further, wire electrode 164 is retained within compression pad 162 in alignment with cutting electrode 149 and with a spacing maintained between cutting electrode 149 and wire electrode 164 in the approximated position of jaw members 142, 144 to inhibit electrical shorting via contact between cutting electrode 149 and wire electrode 164.

[0073] Continuing with reference to FIGS. 8A-9B, either or both jaw members 142, 144 may include a structural jaw support 172, 174 defining the respective proximal flange 143a, 145a of the jaw member 142, 144 and extending into the respective distal body 143b, 145b. In such configurations, distal body 143b, 145b of either or both jaw members 142, 144 may further include jaw housings 173, 175 surrounding structural jaw supports 172, 174 and supporting tissue contacting plates 166, 168, respectively, thereon. Jaw housings 173, 175 may be formed from insulative materials and, in aspects, may be overmolded about jaw supports 172, 174 and a portion of tissue contacting plates 166, 168 to form jaw members 142, 144 and secure the components thereof to one another. In other configurations, jaw housings 173, 175 are conductive and electrically isolated from the other components of jaw members 142, 144 via suitable insulation. Alternatively or additionally, either or both jaw members 142, 144 may be formed from a monolithic, electrically conductive piece of material defining the structural jaw support, tissue contacting surface, and jaw housing thereof. At least a portion of the jaw housing, in such configurations, may be coated with an insulative material. Further, with respect to configurations where jaw member 144 is formed from a monolithic piece of material, cutting electrode 149 may be electrically isolated from the remainder of jaw member 144, e.g., via an insulator disposed therebetween. Additionally or alternatively, with respect to configurations where jaw member 142 is formed from a monolithic piece of material, wire electrode 164 may be electrically isolated from the remainder of jaw member 142 e.g., via an insulator disposed therebetween. Thus, as utilized herein, reference to jaw housings 173, 175 includes insulative jaw housings, conductive jaw housings, and/or monolithic jaw structures defining jaw housings. Further, both jaw members 142, 144 may be similarly configured or may define different configurations, such as any combination of the jaw configurations detailed herein.

[0074] Cutting electrode 149 of jaw member 144 and compression pad 162 and wire electrode 164 of jaw member 142 are configured to cooperate to facilitate electrical cutting of tissue grasped between jaw members 142, 144 upon activation of cutting electrode 149 and/or wire electrode 164. More specifically, as detailed below, cutting electrode 149 and compression pad 162 are configured to grasp and apply compression to tissue (as a result of the compression of compression pad 162 in response to urging of cutting electrode 149 into compression pad 162 with tissue disposed therebetween) while cutting electrode 149 and wire electrode 164 are maintained in alignment with one another on opposing sides of the tissue to define a focused energy flow path therebetween and through the tissue to electrically cut the tissue upon activation of cutting electrode 149 and/or wire electrode 164.

[0075] Turning to FIGS. 9A-10B, cutting electrode 149, as noted above, is engaged within jaw member 144. Cutting electrode 149 includes an electrically conductive element 149a and, in aspects, further includes an electrically insulative coating 149b surrounding a portion of electrically conductive element 149a. Electrically conductive element 149a may be formed from stainless steel, titanium, or other suitable electrically conductive material and may be formed via etching, grinding, or in any other suitable manner. In aspects, electrically conductive element 149a tapers in width from a base towards an apex (e.g., via one or more curvatures, angles, steps, etc. and/or other features). In other aspects, electrically conductive element 149a defines a substantially uniform width and/or a tapering width in the opposite direction.

[0076] Electrically insulative coating 149b is disposed on the outer side surfaces of electrically conductive element 149a and, in aspects, along a base surface of electrically conductive element 149a. However, an elongate tissue treating surface 149c of electrically conductive element 149a remains exposed (e.g., is not coated or is only nominally coated with electrically insulative coating 149b) such that cutting electrode 149 is configured to direct a majority of the electrosurgical energy supplied thereto to elongate tissue treating surface 149c to facilitate cutting tissue therewith. In other aspects, electrically insulative coating 149b is omitted or configured in a different manner. In aspects where provided, electrically insulative coating 149b may be formed from glass, ceramic, polyamide, thermoplastic elastomer (TPE), polyphthalamide (PPA), polyetheretherketone (PEEK), polybenzimidazole (PBI), polytetrafluoroethylene (PTFE), silicone, or other suitable material. Electrically insulative coating 149b, regardless of the particular configuration, provides dielectric strength of, in aspects, at least 400 Volts; in other aspects, at least 600 Volts; in still other aspects, at least 800 Volts; and in yet other aspects, at least 1000 Volts.

[0077] Referring to FIGS. 9A, 9B, 11A, and 11B, compression pad 162 may define a substantially uniform shape and/or material(s) along the length of compression pad 162, across the width of compression pad 162, and/or through the depth of compression pad 162 such that compression pad 162 exhibits substantially similar properties, e.g., durometer, across these dimension(s). Alternatively, compression pad 162 may define a varied shape and/or be formed from different materials along the length of compression pad 162, across the width of compression pad 162, and/or through the depth of compression pad 162 such that compression pad 162 defines an effective durometer profile across these dimension(s).

[0078] Compression pad 162 may be formed from any suitable resiliently compressible material such as, for example, silicone or polytetrafluoroethylene (PTFE). Other suitable resiliently compressible materials having sufficient thermal properties are also contemplated for forming at least a portion of compression pad 162 such as, for example, resiliently compressible materials capable of withstanding temperatures of, in aspects, at least 200°C; in other aspects, of at least 240°C; or, in still other aspects, of at least 260°C. In aspects, compression pad 162 is formed from an overmold or injection moldable material or materials. [0079] Compression pad 162, in aspects, may be formed from a single material or a substantially homogeneous mixture of materials. Alternatively or additionally, compression pad 162 may include filler materials disposed thereon (e.g., on the tissue contacting surface thereof) or therein (e.g., uniformly or non-uniformly distributed throughout compression pad 162). Such filler materials include, without limitation: calcium carbonate, talc, silica, wollastonite, clay, calcium sulfate fibers, mica, glass beads, and alumina trihydrate. Filler materials such as those noted above provide texture and/or roughness which increases gripping and reduces slippage oftissue grasped between compression pad 162 and cutting electrode 149. Such filler materials may also change the effective durometer of compression pad 162, at least in the portions of compression pad 162 where such filler materials are provided. Other suitable filler materials or structures (including rods, columns, scaffolds, matrices, etc.) incorporated into compression pad 162 may vary the structural support uniformly or selectively across one or more dimensions of compression pad 162 to achieve a particular effective durometer or effective durometer profile of compression pad 162. The selective removal of material from compression pad 162 to define one or more voids there in is also contemplated to achieve a particular effective durometer or effective durometer profile of compression pad 162.

[0080] Compression pad 162 defines a longitudinally extending channel 163 extending longitudinally alone at least a portion of a length of compression pad 162. Channel 163 has an elongate open portion 163a oriented towards jaw member 144, an opposing elongate closed portion 163b recessed within jaw member 142. Channel 163 defines a depth between the elongate open and closed portions 163a, 163b, respectively. Channel 163 tapers in width in the depth dimension thereof, e.g., from open portion 163a to closed portion 163b. Although compression pad 162 is shown including angled surfaces defining a continuous taper in width of channel 163 from open portion 163a to closed portion 163b, other suitable configurations are also contemplated such as, for example, one or more angled segments, one or more curved segments, one or more vertical segments, combinations thereof, and/or any other suitable configurations defining a continuous taper, discontinuous taper, constant taper, varying taper, and/or any other suitable taper.

[0081] Wire electrode 164 is retained within channel 163 and extends along closed portion 163b of channel 163. Wire electrode 164, more specifically, may be retained within channel 163 along closed portion 163b via press fitting wire electrode 164 into closed portion 163b of channel 163 and/or via receipt of wire electrode 164 within an enlarged recess defined along closed portion 163b of channel 163. Wire electrode 164 may additional or alternatively be retained within channel 163 via adhesion, overmolding of compression pad 162 about wire electrode 164, mechanical fastening, and/or in any other suitable manner. In aspects, as an alternative to wire electrode 164, other suitable electrode configurations are also contemplated such as, for example, a plate electrode captured (or deposited) at closed portion 163b of channel 163.

[0082] Wire electrode 164, in aspects, may be isolated from both tissue contacting surfaces 146, 148 of jaw members 142, 144, respectively, and connected to the electrosurgical generator via a separate conductive pathway (e.g., to a return electrode monitoring port of the electrosurgical generator). Alternatively, wire electrode 164 may be isolated from one of tissue contacting surfaces 146, 148 of jaw members 142, 144, respectively, and connected to the other tissue contacting surface 146, 148 to provide a shared conductive pathway for energy transmission to/from that tissue contacting surface 146, 148 and wire electrode 164.

[0083] With reference to FIGS. 12-14, in conjunction with FIGS. 9A and 9B, with jaw members 142, 144 disposed in the spaced apart position (FIGS. 9A and 12), elongate tissue treating surface 149c of cutting electrode 149 is spaced apart from compression pad 162 due to the spaced position of jaw members 142, 144 relative to one another.

[0084] As jaw members 142, 144 move from the spaced apart position (FIGS. 9A and 12) to a partially approximated position (FIG. 13), cutting electrode 149 and compression pad 162 begin to approximate one another such that elongate tissue treating surface 149c of cutting electrode 149 enters open portion 163a of channel 163 of compression pad 162. The widths and/or tapers of cutting electrode 149 and channel 163 of compression pad 162 are relatively configured such that as or shortly after cutting electrode 149 enters channel 163, cutting electrode 149 (e.g., the insulation-coated side surfaces of cutting electrode 149) is urged into contact with the walls of compression pad 162 defining channel 163, thereby compressing the portions of compression pad 162 on either side of channel 163 outwardly against jaw member 142 (i.e., expanding channel 163 in the width dimension thereof) and compressing compression pad 162 downwardly into jaw member 142. With tissue disposed between cutting electrode 149 and compression pad 162 as jaw members 142, 144 are moved from the spaced apart position (FIG. 12) to the partially approximated position (FIG. 13) as detailed above, the tissue is compressed therebetween at least partially due to the above-noted compression of compression pad 162 and the geometries of cutting electrode 149 and channel 163.

[0085] As jaw members 142, 144 move from the partially approximated position (FIG. 13) to the approximated position (FIGS. 9B and 14), cutting electrode 149 is urged further into channel 163 and further into contact with the walls of compression pad 162 defining channel 163, thereby further compressing compression pad 162 as detailed above. As a result, tissue disposed between cutting electrode 149 and compression pad 162 is further compressed. In the approximated position (FIG. 14), elongate tissue treating surface 149c of cutting electrode 149 is approximated relative to and vertically aligned with wire electrode 164 and surrounded by compression pad 162, thereby defining a focused energy path from elongate tissue treating surface 149c to wire electrode 164 and through the tissue disposed therebetween to facilitate electrical cutting of the tissue disposed therebetween upon activation of cutting electrode 149 and/or wire electrode 164 while inhibiting cutting or damage to tissue outside of the volume defined between cutting electrode 149 and wire electrode 164 (e.g., previously sealed tissue grasped between jaw members 142, 144 on either side of side cutting electrode 149 and wire electrode 164). Despite this approximation and alignment of cutting electrode 149 and wire electrode 164, the widths and/ortapers of cutting electrode 149 and channel 163 of compression pad 162 and/or the relative positioning of jaw members 142, 144 in the approximated position (for example, due to one or more mechanical stops inhibiting further approximation of jaw members 142, 144 and/or one or more software stops inhibit further driving of jaw members 142, 144 in the approximating direction) maintains a minimum spacing between elongate tissue treating surface 149c and wire electrode 164, thus inhibiting electrical shorting.

[0086] While several aspects of this disclosure have been shown in the drawings, it is not intended that this disclosure be limited thereto, as it is intended that the disclosure be as broad in scope as the art will allow and that the specification be read likewise. Therefore, the above description should not be construed as limiting, but merely as exemplifications of particular aspects. Those skilled in the art will envision other modifications within the scope and spirit of the claims appended hereto.

Claims

WHAT IS CLAIMED IS:

1. A surgical end effector assembly, comprising: first and second jaw members including respective first and second tissue contacting surfaces, at least one of the first or second jaw members configured to move relative to the other of the first or second jaw members between a spaced apart position and an approximated position to grasp tissue between the first and second tissue contacting surfaces, the first jaw member including a compression pad defining a longitudinally extending channel having an elongate open portion oriented towards the second jaw member and an elongate closed portion recessed within the first jaw member, the first jaw member further including a first electrode retained within the channel along the elongate closed portion of the channel, the second jaw member including a second electrode extending from the second jaw member towards the first jaw member, wherein, in the approximated position, the second electrode extends into the channel of the compression pad, compresses the compression pad, is disposed in alignment with the first electrode, and is approximated relative to the first electrode, and wherein the first and second electrodes are adapted to connect to a source of electrosurgical energy and configured to conduct electrosurgical energy therebetween and through a portion of the grasped tissue to electrically cut the portion of the grasped tissue.

2. The surgical end effector assembly according to claim 1, wherein the first tissue contacting surface extends along opposite sides of the first electrode and wherein the second tissue contacting surface extends along opposite sides of the second electrode.

3. The surgical end effector assembly according to claim 2, wherein the first and second tissue contacting surfaces are adapted to connect to a source of electrosurgical energy and configured to conduct electrosurgical energy therebetween and through the grasped tissue to seal the grasped tissue.

4. The surgical end effector assembly according to claim 1, wherein the channel tapers in width from the elongate open portion thereof to the elongate closed portion thereof.

5. The surgical end effector assembly according to claim 4, wherein the second electrode tapers in width from a first portion thereof that is recessed within the second jaw member to a second portion thereof that extends from the second jaw member towards the first jaw member.

6. The surgical end effector assembly according to claim 1, wherein, in the approximated position, the second electrode is configured to compress opposing portions of the compression pad on either side of the channel outwardly to thereby expand a width of the channel.

7. The surgical end effector assembly according to claim 1, wherein the first electrode is a wire electrode.

8. The surgical end effector assembly according to claim 1, wherein the compression pad is disposed within a first slot defined within the first jaw member and wherein the second electrode is disposed within as second slot defined within the second jaw member.

9. The surgical end effector assembly according to claim 1, wherein the second electrode includes an electrically conductive element and an insulative coating disposed on a portion of the electrically conductive element.

10. The surgical end effector assembly according to claim 9, wherein the electrically conductive element defines an exposed surface that is not coated with the insulative coating, and wherein the exposed surface is fully disposed within the channel of the compression pad in the approximated position.

11. A surgical end effector assembly, comprising: first and second jaw members, at least one of the first or second jaw members configured to move relative to the other of the first or second jaw members between a spaced apart position and an approximated position, the first jaw member including a compression pad defining a longitudinally extending channel having an elongate open portion oriented towards the second jaw member and an elongate closed portion recessed within the first jaw member, the first jaw member further including a wire electrode retained within the channel along the elongate closed portion of the channel, the second jaw member including a cutting electrode extending from the second jaw member towards the first jaw member, wherein, in the approximated position, the cutting electrode extends into the channel of the compression pad, compresses the compression pad, is disposed in alignment with the wire electrode, is approximated relative to the wire electrode, and is configured to capture tissue within the channel of the compression pad between the cutting electrode and the wire electrode, and wherein the cutting and wire electrodes are adapted to connect to a source of electrosurgical energy and configured to conduct electrosurgical energy therebetween and through the grasped tissue to electrically cut the grasped tissue.

12. The surgical end effector assembly according to claim 11, wherein the first jaw member defines a first tissue contacting surface having a U-shaped configuration and extending about the compression pad, and wherein the second jaw member defines a second tissue contacting surface having a U-shaped configuration and extending about the cutting electrode.

13. The surgical end effector assembly according to claim 12, wherein the first and second tissue contacting surfaces are adapted to connect to a source of electrosurgical energy and configured to conduct electrosurgical energy therebetween to seal tissue grasped between the first and second jaw members.

14. The surgical end effector assembly according to claim 11, wherein the channel tapers in width from the elongate open portion thereof to the elongate closed portion thereof and wherein the cutting electrode tapers in width from a first portion thereof that is recessed within the second jaw member to a second portion thereof that extends from the second jaw member towards the first jaw member.

15. The surgical end effector assembly according to claim 11, wherein, in the approximated position, the cutting electrode is configured to compress opposing portions of the compression pad on either side of the channel outwardly to thereby expand a width of the channel.

16. The surgical end effector assembly according to claim 11, wherein the cutting electrode includes an electrically conductive element and an insulative coating disposed on a portion of the electrically conductive element.

17. The surgical end effector assembly according to claim 16, wherein the electrically conductive element defines an exposed surface that is not coated with the insulative coating, and wherein the exposed surface is fully disposed within the channel of the compression pad in the approximated position.

18. A surgical instrument, comprising: a shaft assembly; and an end effector assembly disposed at a distal end of the shaft assembly, the end effector assembly including: a first jaw member including a compression pad including first and second walls defining a longitudinally extending channel having an elongate open portion and an elongate closed portion, the first jaw member further including a first electrode disposed within the channel and extending along the elongate closed portion of the channel; and the second jaw member configured to cooperate with the first jaw member to grasp tissue therebetween in an approximated position of the first and second jaw members, the second jaw member including a second electrode extending from the second jaw member towards the first jaw member, wherein, in the approximated position, the second electrode extends into the elongate open portion of the channel of the compression pad, urges the first and second walls outwardly to compress the compression pad and expand a width of the channel, and aligns with the first electrode, and wherein, the first and second electrodes are adapted to connect to a source of electrosurgical energy and configured to conduct electrosurgical energy through tissue disposed therebetween to electrically cut the tissue.

19. The surgical instrument according to claim 18, wherein the second electrode includes an electrically conductive element and an insulative coating disposed on a portion of the electrically conductive element.

20. The surgical instrument according to claim 19, wherein the electrically conductive element defines an exposed surface that is not coated with the insulative coating, and wherein the exposed surface is fully disposed within the channel of the compression pad in the approximated position.