Patent Publication Number: US-2023133607-A1

Title: Devices, systems, and methods for detecting tissue and foreign objects during a surgical operation

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims the benefit of priority under 35 U.S.C. § 119(e) to U.S. Provisional Patent Application No. 63/274,207, titled DEVICES, SYSTEMS, AND METHODS FOR DETECTING TISSUE AND FOREIGN OBJECTS DURING A SURGICAL OPERATION, filed on Nov. 1, 2021, and U.S. Provisional Patent Application No. 63/330,502 titled DEVICES, SYSTEMS, AND METHODS FOR DETECTING TISSUE AND FOREIGN OBJECTS DURING A SURGICAL OPERATION, filed Apr. 13, 2022, the disclosures of which are herein incorporated by reference in its entirety. 
    
    
     TECHNICAL FIELD 
     The present invention relates to surgical instruments and, in various arrangements, to surgical stapling and cutting instruments and staple cartridges for use therewith that are designed to staple and cut tissue. 
     SUMMARY 
     In one aspect, a surgical instrument is disclosed. The surgical instrument can include an end effector comprising a first jaw and a second jaw, a plurality of electrodes positioned within the jaws of the end effector, a flexible circuit comprising a conductive track configured for multiplexed transmission of a plurality of signals to and from the end effector, a control circuit communicably coupled to the plurality of electrodes via the flexible conductor, and a memory configured to store an algorithm configured to cause the control circuit to: receive signals from the plurality of electrodes; determine an impedance based on the signals received from the plurality of electrodes; detect a media positioned between the jaws of the end effector based on the impedance; determine a position of the detected media along the longitudinal axis based on the received signals; and generate an alert associated with the detected media and the determined position. 
     In one aspect, another surgical instrument is disclosed. The surgical can include: an end effector including a first jaw and a second jaw, wherein the first jaw is movably configured relative to the second jaw between an opened condition and a closed condition, and wherein the end effector defines a channel extending along a longitudinal axis; a plurality of electrodes mechanically coupled to the channel defined by the end effector, wherein each electrode of the plurality of electrodes is positioned about the longitudinal axis; a flexible circuit including a conductive track configured for multiplexed transmission of a plurality of signals to and from the end effector; and a control circuit communicably coupled to the plurality of electrodes via the flexible conductor and a memory configured to store an algorithm configured to cause the control circuit to: receive signals from the plurality of electrodes; determine an impedance signal based on the signals received from the plurality of electrodes; detect a media positioned between the jaws of the end effector based on the determined impedance signal; determine a position of the detected media along the longitudinal axis based on the signals received from the plurality of electrodes; and generate an alert associated with the detected media and the determined position. 
     In one aspect, another surgical instrument is disclosed. The surgical instrument can include: an end effector including a first jaw and a second jaw, wherein the first jaw is movably configured relative to the second jaw between an opened condition and a closed condition, wherein the end effector defines a channel; a first consumable cartridge including a first plurality of electrodes positioned about a longitudinal axis defined by the end effector, and wherein the first consumable cartridge defines a cavity configured to accommodate a second consumable cartridge configured to perform a surgical operation; a flexible circuit including a conductive track configured for multiplexed transmission of a plurality of signals to and from the end effector; and a control circuit communicably coupled to the plurality of electrodes and a memory configured to store an algorithm configured to cause the control circuit to: receive signals from the plurality of electrodes; determine an impedance signal based on the signals received from the plurality of electrodes; detect a media positioned between the jaws of the end effector based on the determined impedance signal; determine a position of the detected media along the longitudinal axis based on the signals received from the plurality of electrodes; and generate an alert associated with the detected media and the determined position. 
     In addition to the foregoing, various other method and/or system and/or program product aspects are set forth and described in the teachings such as text (e.g., claims and/or detailed description) and/or drawings of the present disclosure. 
     The foregoing is a summary and thus may contain simplifications, generalizations, inclusions, and/or omissions of detail; consequently, those skilled in the art will appreciate that the summary is illustrative only and is not intended to be in any way limiting. Other aspects, features, and advantages of the devices and/or processes and/or other subject matter described herein will become apparent in the teachings set forth herein. 
     In one or more various aspects, related systems include but are not limited to circuitry and/or programming for effecting herein-referenced method aspects; the circuitry and/or programming can be virtually any combination of hardware, software, and/or firmware configured to affect the herein-referenced method aspects depending upon the design choices of the system designer. In addition to the foregoing, various other method and/or system aspects are set forth and described in the teachings such as text (e.g., claims and/or detailed description) and/or drawings of the present disclosure. 
     Further, it is understood that any one or more of the following-described forms, expressions of forms, examples, can be combined with any one or more of the other following-described forms, expressions of forms, and examples. 
     The foregoing summary is illustrative only and is not intended to be in any way limiting. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features will become apparent by reference to the drawings and the following detailed description. 
    
    
     
       FIGURES 
       The novel features of the described forms are set forth with particularity in the appended claims. The described forms, however, both as to organization and methods of operation, may be best understood by reference to the following description, taken in conjunction with the accompanying drawings in which: 
         FIG.  1    illustrates a perspective view of a surgical instrument in accordance with at least one embodiment; 
         FIG.  2    illustrates a perspective view of a controller of a robotic surgical system; 
         FIG.  3    illustrates a perspective view of the robotic surgical system of  FIG.  2    comprising a plurality of robotic surgical arms which each operably support a surgical instrument thereon; 
         FIG.  4    illustrates a side view of a robotic surgical arm illustrated in  FIG.  3   ; 
         FIG.  5    illustrates a perspective view of a staple cartridge positioned in a cartridge jaw in accordance with at least one embodiment; 
         FIG.  5 A  illustrates a partial cross-sectional view of the staple cartridge of  FIG.  5   ; 
         FIG.  5 B  illustrates a perspective view of the staple cartridge of  FIG.  5    removed from the cartridge jaw; 
         FIG.  5 C  illustrates an exploded view of the staple cartridge of  FIG.  5   ; 
         FIG.  5 D  illustrates a perspective view of a sled of the staple cartridge of  FIG.  5   ; 
         FIG.  6    illustrates a logic flow diagram of an algorithm depicting a control program or a logic configuration for modulating a sensor parameter of the sensor array, in accordance with at least one aspect of the present disclosure; 
         FIG.  7    illustrates a top schematic view of a staple cartridge, in accordance with at least one aspect of the present disclosure; 
         FIG.  8    illustrates a diagram of a cartridge comprising a plurality of sensors coupled to a control circuit through a set of coils to transfer power and data between the cartridge and a control circuit located in an instrument housing, in accordance with at least one aspect of the present disclosure; 
         FIG.  9    illustrates a block diagram of a surgical instrument configured or programmed to control the distal translation of a displacement member, in accordance with at least one aspect of the present disclosure; 
         FIG.  10    illustrates a system for detecting tissue and foreign objects during a surgical operation, in accordance with at least one non-limiting aspect of the present disclosure; 
         FIG.  11    illustrates a user interface displayed by a computing device of the system of  FIG.  10   , in accordance with at least one non-limiting aspect of the present disclosure; 
         FIG.  12    illustrates a chart depicting a parameter measured by the system of  FIG.  10    in time, in accordance with at least one non-limiting aspect of the present disclosure; 
         FIG.  13    illustrates a logic flow diagram of a method of detecting and locating media within jaws of an end effector of a surgical instrument of the system of  FIG.  10   , in accordance with at least one non-limiting aspect of the present disclosure; 
         FIG.  14    illustrates a logic flow diagram of a method of detecting an anomaly as part of the method of  FIG.  13   , in accordance with at least one non-limiting aspect of the present disclosure; 
         FIG.  15    illustrates a logic flow diagram of a method of detecting a presence of a foreign object within jaws of an end effector, as part of the methods of  FIGS.  13  and  14   , in accordance with at least one non-limiting aspect of the present disclosure; 
         FIG.  16    illustrates a chart depicting experimental results of the methods of  FIGS.  13 - 15   , in accordance with at least one non-limiting aspect of the present disclosure; 
         FIGS.  17 A-C  illustrate another chart depicting experimental results of the methods of  FIGS.  13 - 15   , in accordance with at least one non-limiting aspect of the present disclosure; 
         FIG.  18    illustrates another user interface displayed by a computing device of the system of  FIG.  10   , in accordance with at least one non-limiting aspect of the present disclosure; 
         FIG.  19    illustrates another chart depicting experimental results of the methods of  FIGS.  13 - 15   , in accordance with at least one non-limiting aspect of the present disclosure; 
         FIG.  20    illustrates another chart depicting experimental results of the methods of  FIGS.  13 - 15   , in accordance with at least one non-limiting aspect of the present disclosure; 
         FIG.  21    illustrates a logic flow diagram of a method that collectively implements multiple patterns to distinguish detected foreign objects from detected tissue within the jaws of an end effector, in accordance with at least one non-limiting aspect; 
         FIG.  22    illustrates a logic flow diagram of a method of training an algorithmic model to intelligently classify the location of media within the jaws of an end effector, in accordance with at least one non-limiting aspect; 
         FIG.  23    illustrates a block diagram of a method of classifying a detected media after an algorithmic model has been trained via the method of  FIG.  22   , in accordance with at least one non-limiting aspect of the present disclosure; 
         FIGS.  24 A and  24 B  illustrate several charts depicting a distinction between various media detected within the jaws of an end effector, as determined via the method of  FIG.  23   , in accordance with at least one non-limiting aspect of the present disclosure; 
         FIG.  25    illustrates another chart depicting a distinction between various media detected within the jaws of an end effector, as determined via the method of  FIG.  23   , in accordance with at least one non-limiting aspect of the present disclosure; 
         FIGS.  26 A and  26 B  illustrate several charts depicting a of characterizing tissue within the jaws of an end effector, in accordance with at least one non-limiting aspect of the present disclosure; 
         FIG.  27    illustrates a flow chart of a method of detecting media, locating media, and characterizing media positioned between the jaws of an end effector, in accordance with at least one non-limiting aspect of the present disclosure; 
         FIG.  28    illustrates a surgical system configured to detect, locate, and characterize media positioned between the jaws of an end effector, in accordance with at least one non-limiting aspect of the present disclosure; 
         FIGS.  29 A-C  illustrates a robotic surgical instrument configured for use with the system of  FIG.  28   , in accordance with at least one aspect of the present disclosure; 
         FIG.  30    illustrates a block diagram of an algorithmic engine employed by the surgical instrument of  FIGS.  29 A-C , in accordance with at least one non-limiting aspect of the present disclosure; 
         FIG.  31    illustrates a handheld surgical instrument configured for use with the system of  FIG.  28   , in accordance with at least one non-limiting aspect of the present disclosure; 
         FIG.  32    illustrates an exemplary electrode array, in accordance with at least one non-limiting aspect of the present disclosure; 
         FIGS.  33 A-C  illustrates another end effector configured for use with the surgical instruments disclosed herein, in accordance with at least one non-limiting aspect of the present disclosure; 
         FIGS.  34 A-C  illustrate an articulation joint, shaft, nozzle, and control circuit configured for use with the end effectors and surgical instruments disclosed herein, according to at least one non-limiting aspect of the present disclosure; 
         FIG.  35    illustrates another end effector, in accordance with at least one non-limiting aspect of the present disclosure; 
         FIGS.  36 A-D  illustrate another end effector, in accordance with at least one non-limiting aspect of the present disclosure; 
         FIGS.  37 A and  37 B  illustrate other end effectors, in accordance with at least one non-limiting aspect of the present disclosure; 
         FIG.  38    illustrate another end effector, in accordance with at least one non-limiting aspect of the present disclosure; 
         FIGS.  39 A-C  illustrate another end effector, in accordance with at least one non-limiting aspect of the present disclosure; 
         FIG.  40    illustrates a flexible circuit configured for use with any of the end effectors disclosed herein, in accordance with at least one non-limiting aspect of the present disclosure; 
         FIG.  41    illustrates a system diagram of a system configured to use the surgical instruments and end effectors disclosed herein, in accordance with at least one non-limiting aspect of the present disclosure; 
         FIG.  42    illustrates a surgical instrument, in accordance with at least one non-limiting aspect of the present disclosure; 
         FIG.  43    illustrates a diagram illustrating several non-limiting surgical system configurations, in accordance with at least one non-limiting aspect of the present disclosure; 
         FIG.  44    illustrates a logic flow diagram of a method of identifying a particular contact between the jaws of an end effector and a media positioned within the jaws of the end effector, in accordance with at least one non-limiting aspect of the present disclosure; 
         FIG.  45    illustrates a logic flow diagram of a method of utilizing the sensing techniques disclosed herein to inform an operation performed by a second surgical instrument, in accordance with at least one non-limiting aspect of the present disclosure; and 
         FIG.  46    illustrates a logic flow diagram of a specific procedure implementing the method of  FIG.  45   , in accordance with at least one non-limiting aspect of the present disclosure. 
     
    
    
     Corresponding reference characters indicate corresponding parts throughout the several views. The exemplifications set out herein illustrate various embodiments of the invention, in one form, and such exemplifications are not to be construed as limiting the scope of the invention in any manner. 
     DESCRIPTION 
     Applicant of the present application owns U.S. Provisional Patent Application Ser. No. 63/274,207, entitled DEVICES, SYSTEMS, AND METHODS FOR DETECTING TISSUE AND FOREIGN OBJECTS DURING A SURGICAL OPERATION, filed Nov. 1, 2021, the disclosure of which is hereby incorporated by reference in its entirety. 
     Applicant of the present application owns the following U.S. Provisional Patent Applications, filed on Dec. 30, 2019, the disclosure of each of which is hereby incorporated by reference in its respective entirety: U.S. Provisional Patent Application Ser. No. 62/955,294, entitled USER INTERFACE FOR SURGICAL INSTRUMENT WITH COMBINATION ENERGY MODALITY END-EFFECTOR; U.S. Provisional Patent Application Ser. No. 62/955,299, entitled ELECTROSURGICAL INSTRUMENTS FOR COMBINATION ENERGY DELIVERY; and U.S. Provisional Patent Application Ser. No. 62/955,306, entitled SURGICAL INSTRUMENTS. 
     Applicant of the present application owns the following U.S. Patent Applications filed on May 28, 2020, each of which is hereby incorporated by reference in its respective entirety: U.S. patent application Ser. No. 16/887,499, entitled USER INTERFACE FOR SURGICAL INSTRUMENT WITH COMBINATION ENERGY MODALITY END-EFFECTOR; U.S. patent application Ser. No. 16/887,493, entitled METHOD OF OPERATING A COMBINATION ULTRASONIC/BIPOLAR RF SURGICAL DEVICE WITH A COMBINATION ENERGY MODALITY END-EFFECTOR; U.S. patent application Ser. No. 16/887,506, entitled DEFLECTABLE SUPPORT OF RF ENERGY ELECTRODE WITH RESPECT TO OPPOSING ULTRASONIC BLADE; U.S. patent application Ser. No. 16/887,515, entitled NON-BIASED DEFLECTABLE ELECTRODE TO MINIMIZE CONTACT BETWEEN ULTRASONIC BLADE AND ELECTRODE; U.S. patent application Ser. No. 16/887,519, entitled DEFLECTABLE ELECTRODE WITH HIGHER DISTAL BIAS RELATIVE TO PROXIMAL BIAS; U.S. patent application Ser. No. 16/887,532, entitled DEFLECTABLE ELECTRODE WITH VARIABLE COMPRESSION BIAS ALONG THE LENGTH OF THE DEFLECTABLE ELECTRODE; U.S. patent application Ser. No. 16/887,554, entitled ASYMMETRIC SEGMENTED ULTRASONIC SUPPORT PAD FOR COOPERATIVE ENGAGEMENT WITH A MOVABLE RF ELECTRODE; U.S. patent application Ser. No. 16/887,561, entitled VARIATION IN ELECTRODE PARAMETERS AND DEFLECTABLE ELECTRODE TO MODIFY ENERGY DENSITY AND TISSUE INTERACTION; U.S. patent application Ser. No. 16/887,568, entitled TECHNIQUES FOR DETECTING ULTRASONIC BLADE TO ELECTRODE CONTACT AND REDUCING POWER TO ULTRASONIC BLADE; U.S. patent application Ser. No. 16/887,576, entitled CLAMP ARM JAW TO MINIMIZE TISSUE STICKING AND IMPROVE TISSUE CONTROL; U.S. patent application Ser. No. 16/887,579, entitled PARTIALLY CONDUCTIVE CLAMP ARM PAD TO ENABLE ELECTRODE WEAR THROUGH AND MINIMIZE SHORT CIRCUITING; U.S. patent application Ser. No. 10/289,787, entitled ULTRASONIC CLAMP COAGULATOR APPARATUS HAVING AN IMPROVED CLAMPING END-EFFECTOR; and U.S. patent application Ser. No. 11/243,585, entitled ULTRASONIC CLAMP COAGULATOR APPARATUS HAVING AN IMPROVED CLAMPING END-EFFECTOR. 
     Applicant of the present application owns the following U.S. Patent Applications filed on May 28, 2020, each of which is hereby incorporated by reference in its respective entirety: U.S. patent application Ser. No. 16/885,813, entitled METHOD FOR AN ELECTROSURGICAL PROCEDURE; U.S. patent application Ser. No. 16/885,820, entitled ARTICULATABLE SURGICAL INSTRUMENT; U.S. patent application Ser. No. 16/885,823, entitled SURGICAL INSTRUMENT WITH JAW ALIGNMENT FEATURES; U.S. patent application Ser. No. 16/885,826, entitled SURGICAL INSTRUMENT WITH ROTATABLE AND ARTICULATABLE SURGICAL END EFFECTOR; U.S. patent application Ser. No. 16/885,838, entitled ELECTROSURGICAL INSTRUMENT WITH ASYNCHRONOUS ENERGIZING ELECTRODES; U.S. patent application Ser. No. 16/885,851, entitled ELECTROSURGICAL INSTRUMENT WITH ELECTRODES BIASING SUPPORT; U.S. patent application Ser. No. 16/885,860, entitled ELECTROSURGICAL INSTRUMENT WITH FLEXIBLE WIRING ASSEMBLIES; U.S. patent application Ser. No. 16/885,866, entitled ELECTROSURGICAL INSTRUMENT WITH VARIABLE CONTROL MECHANISMS; U.S. patent application Ser. No. 16/885,870, entitled ELECTROSURGICAL SYSTEMS WITH INTEGRATED AND EXTERNAL POWER SOURCES; U.S. patent application Ser. No. 16/885,873, entitled ELECTROSURGICAL INSTRUMENTS WITH ELECTRODES HAVING ENERGY FOCUSING FEATURES; U.S. patent application Ser. No. 16/885,879, entitled ELECTROSURGICAL INSTRUMENTS WITH ELECTRODES HAVING VARIABLE ENERGY DENSITIES; U.S. patent application Ser. No. 16/885,881, entitled ELECTROSURGICAL INSTRUMENT WITH MONOPOLAR AND BIPOLAR ENERGY CAPABILITIES; U.S. patent application Ser. No. 16/885,888, entitled ELECTROSURGICAL END EFFECTORS WITH THERMALLY INSULATIVE AND THERMALLY CONDUCTIVE PORTIONS; U.S. patent application Ser. No. 16/885,893, entitled ELECTROSURGICAL INSTRUMENT WITH ELECTRODES OPERABLE IN BIPOLAR AND MONOPOLAR MODES; U.S. patent application Ser. No. 16/885,900, entitled ELECTROSURGICAL INSTRUMENT FOR DELIVERING BLENDED ENERGY MODALITIES TO TISSUE; U.S. patent application Ser. No. 16/885,917, entitled CONTROL PROGRAM ADAPTATION BASED ON DEVICE STATUS AND USER INPUT; U.S. patent application Ser. No. 16/885,923, entitled CONTROL PROGRAM FOR MODULAR COMBINATION ENERGY DEVICE; and U.S. patent application Ser. No. 16/885,931, entitled SURGICAL SYSTEM COMMUNICATION PATHWAYS. 
     Applicant of the present application owns related U.S. patent application Ser. No. 16/951,259, filed Nov. 18, 2020 and titled MULTI-LAYER CLAMP ARM PAD FOR ENHANCED VERSATILITY AND PERFORMANCE OF A SURGICAL DEVICE, the disclosure of which is hereby incorporated by reference in its respective entirety. 
     Applicant of the present application owns related U.S. patent application Ser. No. 16/887,493, filed May 29, 2020 and titled METHOD OF OPERATING A COMBINATION ULTRASONIC/BIPOLAR RF SURGICAL DEVICE WITH A COMBINATION ENERGY MODALITY END-EFFECTOR, the disclosure of which is hereby incorporated by reference in its respective entirety. 
     Applicant of the present application owns related U.S. patent application Ser. No. 16/453,343, filed Jun. 26, 2019, and titled STAPLE CARTRIDGE RETAINER SYSTEM WITH AUTHENTICATION KEYS, the disclosure of which is hereby incorporated by reference in its respective entirety. 
     Before explaining various forms of surgical devices in detail, it should be noted that the illustrative forms are not limited in application or use to the details of construction and arrangement of parts illustrated in the accompanying drawings and description. The illustrative forms may be implemented or incorporated in other forms, variations and modifications, and may be practiced or carried out in various ways. Further, unless otherwise indicated, the terms and expressions utilized herein have been chosen for the purpose of describing the illustrative forms for the convenience of the reader and are not for the purpose of limitation thereof. As used herein, the term “surgical device” is used interchangeably with the term “surgical instrument.” 
     Further, it is understood that any one or more of the following-described forms, expressions of forms, examples, can be combined with any one or more of the other following-described forms, expressions of forms, and examples. 
     Various forms are directed to improved ultrasonic and/or electrosurgical (RF) instruments configured for effecting tissue treating, dissecting, cutting, and/or coagulation during surgical procedures. In one form, a combined ultrasonic and electrosurgical device may be configured for use in open surgical procedures, but has applications in other types of surgery, such as minimally invasive laparoscopic, orthoscopic, or thoracoscopic procedures, for example, non-invasive endoscopic procedures, either in hand held or and robotic-assisted procedures. Versatility is achieved by selective application of multiple energy modalities simultaneously, independently, sequentially, or combinations thereof. For example, versatility may be achieved by selective use of ultrasonic and electrosurgical energy (e.g., monopolar or bipolar RF energy) either simultaneously, independently, sequentially, or combinations thereof. 
     Although handheld and robotic surgical devices, such as surgical staplers, can provide numerous surgical benefits, it would be beneficial if such devices could be outfitted with sensing and feedback features, which could generate information regarding tissue location in jaws, tissue characteristics, and the presence of foreign objects within the jaws of a surgical device. Such features could bring high value to both hand-held and robotic surgical devices that could make surgical operations, such as stapling tasks, more efficient, precise, and safer for the patient. Electrical impedance spectroscopy (“EIS”) is a powerful technique that utilizes particularly configured signals to probe the impedance characteristics of objects. Accordingly, EIS techniques can be implemented to scan a tissue sample within the jaws of a surgical device using signals with a wide range of frequencies to generate an impedance spectrum for the tissue sample. Accordingly, there is a need for improved surgical devices, systems, and methods for detecting tissue locations and foreign objects. Such surgical devices, systems, and methods can employ EIS techniques to scan and characterize a tissue sample and thus, improve the efficiency, precision, and safety of a surgical operation. 
     A surgical instrument  10000  is illustrated in  FIG.  1   . The surgical instrument  10000  comprises a handle  10100  including a handle housing  10120 , a shaft  10200  extending from the handle  10100 , and an end effector  10400 . The end effector  10400  comprises a first jaw  10410  configured to receive a staple cartridge and a second jaw  10420  movable relative to the first jaw  10410 . The second jaw  10420  comprises an anvil including staple forming pockets defined therein. The surgical instrument  10000  further comprises a closure actuator  10140  configured to drive a closure system of the surgical instrument  10000  and move the second jaw  10420  between an unclamped position and a clamped position. The closure actuator  10140  is operably coupled with a closure tube  10240  that is advanced distally when the closure actuator  10140  is closed. In such instances, the closure tube  10240  contacts the second jaw and cams and/or pushes the second jaw  10420  downwardly into its clamped position. 
     Further to the above, the second jaw  10420  is pivotably coupled to the first jaw  10410  about a pivot axis. In various embodiments, the second jaw can both translate and rotate as it is being moved into its clamped position. In various alternative embodiments, a surgical instrument comprises a staple cartridge jaw that is movable between an unclamped position and a clamped position relative to an anvil jaw. In any event, the handle  10100  comprises a lock configured to releasably hold the closure actuator  10140  in its clamped position. The handle  10100  further comprises release actuators  10180   b  on opposite sides thereof which, when actuated, unlock the closure actuator  10140  such that the end effector  10400  can be re-opened. In various alternative embodiments, the handle  10100  comprises an electric motor configured to move the closure tube  10240  proximally and/or distally when actuated by the clinician. 
     The end effector  10400  is attached to the shaft  10200  about an articulation joint  10500  and is rotatable within a plane about an articulation axis. The shaft  10200  defines a longitudinal axis and the end effector  10400  is articulatable between an unarticulated position in which the end effector  10400  is aligned with the longitudinal axis and articulated positions in which the end effector  10400  extends at a transverse angle relative to the longitudinal axis. In various embodiments, the surgical instrument  10000  comprises a first articulation joint which permits the end effector  10400  to be articulated in a first plane and a second articulation joint which permits the end effector  10400  to be articulated in a second plane which is orthogonal to the first plane, for example. The handle  10100  comprises at least one electric motor and a control system configured to control the operation of the electric motor in response to articulation actuators  10160  and  10170 . The electric motor comprises a brushless DC motor; however, the electric motor can comprise any suitable motor, such as a brushed DC motor, for example. 
     The entire disclosure of U.S. Pat. No. 10,149,683, entitled POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM, which issued on Dec. 11, 2018, is incorporated by reference herein. The entire disclosure of U.S. Patent Application Publication No. 2018/0125481, entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, which published on May 10, 2018, is incorporated by reference herein. The handle  10100  further comprises a replaceable and/or rechargeable battery  10300  attachable to the handle housing which powers the surgical instrument  10000 . The entire disclosure of U.S. Pat. No. 8,632,525, entitled POWER CONTROL ARRANGEMENTS FOR SURGICAL INSTRUMENTS AND BATTERIES, which issued on Jan. 21, 2014, is incorporated by reference herein. 
     Further to the above, the shaft  10200  is rotatable about a longitudinal axis extending through the shaft  10200 . The shaft  10200  is rotatably connected to the handle  10100  about a rotation joint  10220  and the shaft  10200  comprises one or more finger grooves defined therein which facilitate a clinician using the stapling instrument  10000  to rotate the shaft  10200 . In various embodiments, the surgical instrument  10000  comprises an electric motor and a rotation actuator that, when actuated by the clinician, powers the electric motor to rotate the shaft  10200  in a first direction or a second direction depending on the direction in which the rotation actuator is actuated. 
     Further to the above, the surgical instrument  10000  comprises a staple firing drive configured to eject the staples out of the staple cartridge. The staple firing drive comprises an electric motor and a firing member which is driven distally through a staple firing stroke by the electric motor. During the staple firing stroke, the firing member pushes the sled in the staple cartridge distally to eject the staples from the staple cartridge. The entire disclosure of U.S. Pat. No. 9,629,629, entitled CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, which issued on Apr. 25, 2017, is incorporated by reference herein. 
     The surgical instrument systems described herein are motivated by an electric motor; however, the surgical instrument systems described herein can be motivated in any suitable manner. In certain instances, the motors disclosed herein may comprise a portion or portions of a robotically controlled system. U.S. patent application Ser. No. 13/118,241, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now U.S. Pat. No. 9,072,535, for example, discloses several examples of a robotic surgical instrument system in greater detail, the entire disclosure of which is incorporated by reference herein. The disclosures of International Patent Publication No. WO 2017/083125, entitled STAPLER WITH COMPOSITE CARDAN AND SCREW DRIVE, published May 18, 2017, International Patent Publication No. WO 2017/083126, entitled STAPLE PUSHER WITH LOST MOTION BETWEEN RAMPS, published May 18, 2017, International Patent Publication No. WO 2015/153642, entitled SURGICAL INSTRUMENT WITH SHIFTABLE TRANSMISSION, published Oct. 8, 2015, U.S. Patent Application Publication No. 2017/0265954, filed Mar. 17, 2017, entitled STAPLER WITH CABLE-DRIVEN ADVANCEABLE CLAMPING ELEMENT AND DUAL DISTAL PULLEYS, now U.S. Pat. No. 10,350,016, U.S. Patent Application Publication No. 2017/0265865, filed Feb. 15, 2017, entitled STAPLER WITH CABLE-DRIVEN ADVANCEABLE CLAMPING ELEMENT AND DISTAL PULLEY, now U.S. Pat. No. 10,631,858, and U.S. Patent Application Publication No. 2017/0290586, entitled STAPLING CARTRIDGE, filed on Mar. 29, 2017, now U.S. Pat. No. 10,722,233, are incorporated herein by reference in their entireties. 
     Various embodiments disclosed herein may be employed in connection with a robotic surgical system, such as the robotic system  1000  depicted in  FIGS.  1 - 3   , for example.  FIG.  1    depicts a master controller  5001  that may be used in connection with a robotic arm cart  5100  depicted in  FIG.  2   . The master controller  5001  and the robotic arm cart  5100 , as well as their respective components and control systems, are collectively referred to herein as a robotic system  5000 . Examples of such systems and devices are disclosed in U.S. Pat. No. 7,524,320, entitled MECHANICAL ACTUATOR INTERFACE SYSTEM FOR ROBOTIC SURGICAL TOOLS, as well as U.S. Pat. No. 9,072,535, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, which are each hereby incorporated by reference herein in their respective entireties. The details of such systems and devices are not repeated herein for the sake of brevity. The master controller  5001  includes controls  5003  which are grasped and manipulated by the surgeon while the surgeon views the patient via a display  1002 . The controls  5003  can comprise manual input devices which move with multiple degrees of freedom, for example, and can further comprise an actuatable trigger for actuating surgical instruments, or tools, to close grasping jaws, staple and incise tissue, and/or apply an electrical potential to an electrode, for example. 
     With reference to  FIGS.  2  and  3   , the robotic arm cart  5100  is configured to actuate one or more surgical instruments, such as surgical instruments  6000 , for example, in response to inputs from the master controller  5001 . In various forms, the robotic arm cart  5100  includes a base  5002 , arm linkages including set-up joints  5104 , and instrument manipulators  5106 . Such an arrangement can facilitate the rotation of a surgical instrument  6000  around a point in space, which is described in U.S. Pat. No. 5,817,084, entitled REMOTE CENTER POSITIONING DEVICE WITH FLEXIBLE DRIVE, the entire disclosure of which is hereby incorporated by reference herein. This arrangement provides for pivoting rotation of a surgical instrument  6000  about an axis  5112   a , or pitch axis. The arrangement also provides for rotation of the surgical instrument  6000  about an axis  5112   b , or yaw axis. The pitch and yaw axes  5112   a ,  5112   b  intersect at a remote center  5114 , which is aligned along an elongate shaft of the surgical instrument  6000 . A surgical instrument  6000  may have further degrees of driven freedom, including sliding motion along a longitudinal axis LT-LT. As the surgical instrument  6000  slides along the longitudinal axis LT-LT relative to the instrument manipulator  5106  (arrow  5112   c ), the remote center  5114  remains fixed relative to a base  5116  of the instrument manipulator  5106 . To move the remote center  5114 , linkage  5108  is driven by one or more motors  5120  which move the linkage  5108  in response to commands from the master controller  5001  to position and/or manipulate the surgical instrument  6000  within the surgical site. Various other arrangements are disclosed in U.S. Pat. No. 5,878,193, entitled AUTOMATED ENDOSCOPE SYSTEM FOR OPTIMAL POSITIONING, the entire disclosure of which is hereby incorporated by reference herein. 
     Additionally, while the data communication between a robotic component and the processor of the robotic surgical system is primarily described herein with reference to communication between a surgical instrument, or tool, and the master controller  5001 , it should be understood that similar communication may take place between the circuitry of a manipulator, a set-up joint, an endoscope or other image capture device, or the like, and the processor of the robotic surgical system for component compatibility verification, component-type identification, component calibration (such as off-set or the like) communication, confirmation of coupling of the component to the robotic surgical system, or the like. In accordance with at least one aspect, various surgical instruments disclosed herein may be used in connection with other robotically-controlled or automated surgical systems and are not necessarily limited to use with the specific robotic system components shown in  FIGS.  1 - 3    and described in the aforementioned references. Various robotic surgery systems and methods are disclosed in U.S. Pat. No. 6,132,368, entitled MULTI-COMPONENT TELEPRESENCE SYSTEM AND METHOD, the entire disclosure of which is hereby incorporated by reference herein. 
     Referring to  FIG.  5   , a staple cartridge, such as staple cartridge  14000 , for example, comprises a cartridge body  11100  and an electronic circuit  11500  including sensors  11600 . The staple cartridge  14000  is similar to the other staple cartridges disclosed herein in many respects and such respects are not discussed herein for the sake of brevity. As discussed above, the cartridge body  11100  comprises a deck  11130  and longitudinal rows of staple cavities  11140  defined in the deck  11130 . Each staple cavity  11140  comprises a staple stored therein that is driven upwardly out of the staple cavity  11140  by a staple driver during a staple firing stroke. Each staple comprises a base and two legs extending from the base such that the legs extend generally upwardly and outwardly to form a V-shape configuration. In various instances, the legs of the staple are resiliently deflected inwardly by the proximal and distal end walls of the staple cavity  11140  when the staple is stored in the staple cavity  11140 . When the staple is driven upwardly out of the staple cavity  11140 , the legs of the staple emerge from the staple cavity  11140  and extend above the deck  11130  while the rest of the staple is pushed upwardly out of the staple cavity  11140 . The cartridge body  11100  comprises projections  11132  ( FIG.  5 B ) extending from the deck  11130  which are configured to guide and/or control the legs of the staples as the staples are being ejected from the staple cavities  11140 . A projection  11132  is positioned at the distal end of each staple cavity  11140  and at the proximal end of each staple cavity  11140 . However, alternative embodiments are envisioned in which a projection  11132  is positioned at only one end of each staple cavity  11140 . Moreover, various embodiments are envisioned in which some of the staple cavities  11140  do not comprise projections  11132  at the ends thereof. The projections  11132  are further configured to engage the patient tissue positioned against the deck  11130  and limit the flow or movement of the patient tissue relative to the deck  11130 . 
     In various embodiments, the electronic circuit  11500  comprises a substrate including features engaged with the projections  11132 . In at least one embodiment, the substrate comprises apertures defined therein, the sidewalls of which are engaged with the projections  11132 . The apertures are in a snap-fit and/or press-fit arrangement with the projections  11132  such that the electronic circuit  11500  is held in position relative to the cartridge body  11100 . In at least one embodiment, the projections  11132  comprise at least partially annular or circumferential shoulders which hold the sensor circuit  11500  against the cartridge body  11100 . 
     In various embodiments, a sensor circuit of a staple cartridge is comprised of a conductive material printed on the deck of the cartridge body. In at least one embodiment, the conductive material is comprised of metal particles bonded to the deck which form an electrical circuit connecting the sensors. In at least one such embodiment, the printed electrical circuit is printed onto the cartridge body with a three-dimensional printer. In various embodiments, the sensor circuit comprises electrodes, or contacts, that are printed onto the cartridge body. In at least one embodiment, the sensor circuit comprises electrodes which comprise a polygonal surface configured to contact the tissue. In at least one alternative embodiment, the electrodes comprise a curved and/or tortuous path on the deck surface which, in various instances, can increase the contact area between the electrodes and the tissue. In at least one embodiment, the electrodes comprise needles extending therefrom which are configured to penetrate the tissue. In at least one embodiment, the needles comprise a diameter of about 1 μm, for example. In various instances, the needles provide parallel signal paths between the tissue and the sensor circuit within one electrode to improve the sensitivity of the sensor circuit. In at least one embodiment, a conductive grease or conductive viscous agent covers the tissue contact points of the sensor circuit which improves the contact between the electrodes and the tissue. In various embodiments, portions of the sensor circuit are embedded in the cartridge body. In at least one such embodiment, the sensor circuit comprises flat, thin conductors that are embedded into the cartridge body when a plastic material, for example, is overmolded onto portions of the conductors. Portions of the conductors, however, remain exposed to provide tissue engaging pads and/or electrically-conductive attachment points for soldering sensors thereto. In at least one embodiment, part of the cartridge sensor circuit can be defined on the lateral sidewalls of the cartridge jaw. In at least one such embodiment, a proximal portion and a distal portion of the sensor circuit are defined on the cartridge body and an intermediate portion of the sensor circuit is defined on the cartridge jaw that electrically connects the proximal portion and the distal portion of the sensor circuit. In at least one embodiment, the portions of the sensor circuit mounted to the cartridge jaw comprise conductive strips mounted to the sidewalls. When the staple cartridge is seated in the cartridge jaw, the cartridge sensor circuit engages the conductive strips to complete the circuit. 
     As discussed above, a sensor circuit can include conductive tissue-contacting surfaces. In various embodiments, a sensor circuit can include non-conductive tissue-contacting surfaces. In at least one embodiment, a sensor circuit comprises one or more capacitive electrodes. In various instances, projected capacitance measurement techniques are used to measure the presence of the tissue over the capacitive electrodes and/or a property of the tissue over the capacitive electrodes. In at least one embodiment, each capacitive electrode comprises an insulative covering which covers capacitive pads contained therein. In various instances, further to the above, surface capacitance measurement techniques can be used. In various embodiments, a sensor circuit comprises one or more inductive sensors. In at least one embodiment, an eddy current is induced in each of the inductive sensors which changes when the tissue contacts the sensors. In such embodiments, the changes to the sensor eddy currents are detected by the control system of the staple cartridge. In various embodiments, the sensor circuit can comprise temperature sensors which are used to detect the presence of tissue over the temperature sensors. In at least one embodiment, the sensor circuit comprises electrodes comprised of a doped polycrystalline ceramic comprising barium titanate (BaTiO3), for example. The resistance of these ceramic materials changes in response to temperature changes, such as when patient tissue is positioned against the electrodes. The cartridge processor is configured to employ an algorithm to monitor the resistance fluctuations in the ceramic materials to assess whether or not tissue was positioned against the electrodes. In various instances, the electrodes of the sensor circuit are in a parallel arrangement such that a detected resistance, capacitance, voltage, and/or current change can be directly related to the position of a sensor. With this information, the processor can assess whether and where tissue is positioned over the staple cartridge. 
     Referring to  FIGS.  5 A and  5 D , the staple cartridge  14000  further comprises a laminate material  14900  mounted to one or more components of the staple cartridge  14000  to control the electrical effects created within the cartridge components by the fields emitted from and/or surrounding the staple cartridge  14000 . In at least one instance, the laminate material  14900  comprises a flux field directional material including at least two layers—a first layer  14910 , or cover, and a second layer  14920  of magnetic material attached to the first layer  14910 . The first layer  14910  is comprised of polyethylene terephthalate, for example, which protects the second layer  14920 , but can be comprised of any suitable material. The second layer  14920  is comprised of a sintered ferrite sheet, for example, but can be comprised of any suitable material. In at least one instance, an adhesive layer  14930  comprised of a pressure-sensitive adhesive, for example, is bonded to the second layer  14920  and is used to attach the laminate material  14900  to one or more components of the staple cartridge  14000 , as discussed further below. In at least one instance, the laminate material  14900  is a Flux Field Directional Material EM15TF manufactured by  3 M, for example. 
     In various embodiments, further to the above, laminate material  14900  is bonded to the cartridge body  11100  and is arranged to change and/or control the shape of the fields extending from the cartridge antennas. In at least one embodiment, the laminate material  14900  focuses the fields away from the metal cartridge jaw of the surgical instrument  10000  in which the staple cartridge  14000  is seated. In at least one instance, the cartridge body  11100  is comprised of plastic and the laminate material  14900  is mounted to the cartridge body  11100  such that the laminate material  14900  surrounds, or at least substantially surrounds, the cartridge antennas. In at least one instance, laminate material  14900  is mounted to the cartridge body  11100  at a location which is intermediate the cartridge data coil  11540 ″ and the cartridge power coil  11545 ″ such that the cartridge coils  11540 ″ and  11545 ″ are separated by the laminate material  14900 . In various embodiments, laminate material  14900  is bonded to the metal walls of the cartridge jaw  10410 . In at least one instance, laminate material  14900  is mounted to the metal walls of the cartridge jaw  10410  at a location which is intermediate the instrument data coil  10540 ″ and the power transmission coil  10545 ″. In various embodiments, the laminate material  14900  bonds the cartridge data antenna  11530 ″ and/or the cartridge power antenna  11535 ″ to the cartridge body  11100 . In at least one embodiment, the laminate material  14900  bonds the instrument data antenna  10530 ″ and/or the instrument power antenna  10535 ″ to the metal cartridge jaw  10410 . 
     In various embodiments, further to the above, laminate material  14900  is mounted to the metal pan  11700 . In at least one such instance, laminate material  14900  is positioned intermediate the metal pan  11700  and the cartridge data antenna  11530 ″ and, also, intermediate the metal pan  11700  and the cartridge power antenna  11535 ″. Such an arrangement can focus the fields created by the antennas  11530 ″ and  11535 ″ away from the metal pan  11700  to minimize the electrical effects that the fields have on the metal pan  11700 . In various embodiments, laminate material  14900  is mounted to the movable components of the staple cartridge  14000 . In at least one instance, referring to  FIG.  5 D , laminate material  14900  is mounted to the sled  11400 . In at least one such instance, laminate material  14900  is mounted to the lateral sides  11410  of the sled  11400 , for example. In at least one instance, referring to  FIG.  5 A , laminate material  14900  is mounted to one or more of the staple drivers  11300 , for example. In at least one such instance, laminate material  14900  is mounted to the lateral sides  11310  of the staple drivers  11300 . Laminate material  14900  can be mounted to all of the staple drivers  11300 , or just the staple drivers  11300  adjacent the cartridge antennas  11530 ″ and  11535 ″, for example. 
     Further to the above, the fields generated by the cartridge antennas and/or instrument antennas can affect the output of the sensors  11600 . Such an effect can be reduced or mitigated by the laminate material  14900 , for example. In various instances, the processor of the staple cartridge  14000  is configured to electronically account for the effect that the antenna fields will have on the sensors  11600 . In at least one such instance, the cartridge processor can monitor when signals are being transmitted between the antenna couples and, in such instances, modify the sensor outputs being received from the sensors  11600  before transmitting the sensor outputs to the surgical instrument processor and/or recording the sensor outputs in a memory device in the staple cartridge  14000 . When signals are not being transmitted between the antenna couples, the sensor outputs may not need to be modified by the processor before being transmitted to the surgical instrument processor and/or recorded in a memory device in the staple cartridge  14000 . In various instances, the processor can apply a first compensation factor to the sensor outputs when the power antenna couple is transmitting signals, a second compensation factor to the sensor outputs when the signal antenna couple is transmitting signals, and a third compensation factor to the sensor outputs when both antennas are transmitting signals. In at least one such instance, the third compensation factor is larger than the first compensation factor and the first compensation factor is larger than the second compensation factor, for example. 
     Further to the above, the circuit  11500  is flush with the top surface of the deck  11130  and/or recessed with respect to the top surface of the deck  11130 . In various instances, the staple cartridge  11000  further comprises latches rotatably mounted thereto which are rotatable from an unlatched position to a latched position to hold the circuit  11500  in the circuit slot  11160 . The latches engage the cartridge body  11100  in a press-fit and/or snap-fit manner when the latches are in their latched position. When the latches are in their latched position, the latches are flush with and/or recessed below the top surface of the deck  11130 . In at least one embodiment, the projections  11132  are mounted to and/or integrally-formed with the latches and/or any other suitable restraining features. In any event, the circuit  11500  comprises one or more sensors which are held in place relative to the cartridge body  11100  as a result of the above. 
       FIG.  6    is a logic flow diagram of an algorithm  1190  depicting a control program or a logic configuration for modulating a sensor parameter of the sensor array  1036 , in accordance with at least one aspect of the present disclosure. In the illustrated example, the algorithm  1190  includes detecting  1191  a tissue contact status of the staple cartridge  1046 . The algorithm  1190  further includes selectively modulating  1182  a sensor parameter of one or more sensors of the sensor array  1036  in accordance with the detected tissue contact status. In the illustrated example, the algorithm  1190  is implemented, or at least partially implemented, by the control circuit  1026 . In other examples, various aspects of the algorithm  1190  can be implemented by other control circuits such as, for example, the control circuit  1049 , or any other suitable control circuit. For brevity the following description will focus on executing various aspects of the algorithm  1190  by the control circuit  1026 . 
     In various aspects, detecting  1191  the tissue contact status of the staple cartridge  1046  is performed at each of a plurality of closure states. As the closure of the end effector  1040  commences, the size and/or position of the tissue in contact with the sensor array  1036  of the staple cartridge  1046  may change. To optimize sensor data collection, transmission, and/or processing, the control circuit  1026  can be configured to adjust one or more sensor parameters of one or more sensors, or groups of sensors, of the sensor array  1036  based on whether tissue contact is detected at the different closure states. 
     In certain exemplifications, as illustrated in  FIG.  7   , the sensor array  1036  is disposed along a length L of the staple cartridge  1046 . However, the tissue grasped by the end effector  1040  may cover a region  1193  extending only along a portion of the length L, for example extending along a length L 1 . In such instances, sensor data from sensors beyond the region  1193  can be assigned a lower priority than sensor data from sensors within the region  1193 . A control circuit  1026  can be configured to determine a priority level of the sensors of the sensor array  1036  based on their location with respect to the region  1193 , for example. Furthermore, the control circuit  1026  can be configured to switch sensors of the sensor array  1036  that are within the region  1193  to an active mode  1083  and/or switch sensors of the sensor array  1136  that are outside the region  1193  to an idler mode  1084 , for example. 
     In various aspects, tissue contact detection can be accomplished by a tissue contact circuit  2830 , as described in greater detail elsewhere in the present disclosure. The tissue contact circuit  2830  is in open circuit mode with no tissue located against the sensors  2788   a ,  2788   b . The tissue contact circuit  2830  is transitioned to a closed circuit mode by the tissue  2820 . The sensors  2788   a ,  2788   b  are powered by voltage source V and a sensors circuit  2790  measures a signal generated by the sensors  2788   a ,  2788   b . In some aspects, the sensors  2788   a ,  2788   b  may include a pair of opposing electrode plates to make electrical contact with the tissue  2820 . 
     Any of the sensors  2788   a ,  2788   b  disclosed herein may include, and are not limited to, electrical contacts placed on an inner surface of a jaw which, when in contact with tissue, close a sensing circuit that is otherwise open. The contact sensors may also include sensitive force transducers that detect when the tissue being clamped first resists compression. Force transducers may include, and are not limited to, piezoelectric elements, piezoresistive elements, metal film or semiconductor strain gauges, inductive pressure sensors, capacitive pressure sensors, and resistive sensors. 
     Further to the above, a control circuit  1026 , for example, may receive one or more signals from the sensor circuit  2790  and/or sensors  2788   a ,  2788   b  indicative of a tissue contact status of one or more regions along the length L of the staple cartridge  1046 . In response, the adjust one or more sensor parameters of one or more sensors, or groups of sensors, the control circuit  1026  can be configured to adjust sensor parameters of one or more sensors of the sensor array  1036  in the one or more regions based on the tissue contact status. 
     Additional details are disclosed in U.S. Pat. No. 10,595,887, titled SYSTEMS FOR ADJUSTING END EFFECTOR PARAMETERS BASED ON PERIOPERATIVE INFORMATION, and issued Mar. 24, 2020, U.S. Pat. No. 9,724,094, titled ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION, and issued Aug. 8, 2017, and U.S. Pat. No. 9,808,246, titled METHOD OF OPERATING A POWERED SURGICAL INSTRUMENT, and issued Nov. 7, 2017, the entireties of disclosures of which are hereby incorporated by reference herein. 
     In one general aspect, the present disclosure provides methods of monitoring multiple sensors over time to detect moving characteristics of tissue located in the jaws of the end effector. In one aspect, the end effector comprises a cartridge. More than one sensor can be located on a cartridge to sense the motion of the tissue from one sensor towards an adjacent sensor. In a stapling cartridge, multiple sensors may be located on the stapling cartridge to sense movement of tissue by monitoring a property of the tissue. In one aspect, the tissue property could be an electrical property of the tissue such as impedance or capacitance. In another aspect, monitoring the impedance of the tissue from one time point to the next can allow the system to detect the motion of the tissue from one sensor towards the next. 
     In one aspect, a method of monitoring multiple sensors over time to detect moving characteristics of the tissue comprises monitoring multiple sensors over time to detect tissue movement relative to at least two sensed locations. The method provides real-time tissue flow sensing through monitoring a sensed tissue property through time. 
     Turning now to  FIG.  8   , which illustrates a diagram of a surgical instrument  2750  comprising an instrument housing  2800  and an end effector  2752  inductively coupled to the instrument housing  2800  via a set of coils  2818  implementing a wireless power and data communication system, in accordance with at least one aspect of the present disclosure. The instrument housing  2800  comprises an energy source  2762  and a control circuit  2760  inductively coupled to the end effector  2752 . Power from the energy source  2762  is inductively coupled to the end effector  2752  from a primary coil  2802  tuned for power located in the instrument housing  2800  to a secondary coil  2804  tuned for power located in the end effector  2752 . Data is transmitted between the control circuit  2760  and the end effector sensor circuits  2790  between a primary coil  2816  tuned for data located in the instrument housing  2800  and a secondary coil  2814  tuned for data located in the end effector  2752 . 
       FIG.  8    illustrates one implementation of the transmission system  1045  for wireless transmission of power and data. In the implementation illustrated in  FIG.  8   , power and data are transmitted separately. In other implementations, as described supra, power and data are transmitted sequentially or simultaneously. For brevity, the following description focuses on the implementation of the transmission system  1045  that is configured to separately transmit power and data. However, it is understood that the other implementations of the transmission system  1045  can be equally utilized. 
     In various aspects, the end effector  2752  comprises a cartridge  2768  and an anvil  2766  pivotally coupled to the cartridge  2768 . A plurality of sensors  2788  may be disposed in the cartridge  2768 , the anvil  2766 , or both. As described supra, the end effector  2752  comprises secondary coils  2804 ,  2814  to receive power from the instrument housing  2800  and communicate between the end effector  2752  circuits and the instrument housing  2800  circuits, respectively. Power from the secondary coil  2804  is rectified by a rectifier circuit  2806  and filter capacitor  2808  and is provided to a plurality of sensors  2788  via an analog multiplexer  2810  or other analog switching circuit. Signals from the sensors  2788  are transmitted through the analog multiplexer  2810 , coupled to a near field communication (NFC) tag  2812 , and coupled to the control circuit  2760  from the secondary coil  2814  located in the end effector  2752  and the primary coil  2816  located in the instrument housing  2800 . The NFC tag  2812  is configured to transmit data from the cartridge  2768 . The sensors  2788  may be configured to measure tissue impedance, tissue temperature, tissue capacitance, tissue inductance, elapsed time, among other tissue parameters explained in the following description. 
     In other aspects, the cartridge  2768  portion of the end effector  2752  may comprise electrodes to receive electrosurgical energy to assist or enhance the tissue sealing process. In such aspects, some or all of the plurality of sensors  2788  may act as electrodes to deliver the electrosurgical energy through the tissue clamped between the anvil  2766  and the cartridge  2768 . In such aspects, the plurality of sensors  2788  may be configured to measure tissue parameters such as impedance, capacitance, among other tissue parameters explained in the following description. 
     In other aspects, the end effector  2752  may comprise a clamp arm assembly and an ultrasonic blade for cutting and sealing tissue clamped between the clamp arm assembly and the ultrasonic blade instead of the anvil  2766  and cartridge  2768  as shown in the example of  FIG.  8   . Is such aspects comprising a clamp arm assembly and ultrasonic blade, the plurality of sensors  2788  may be disposed in the clamp arm assembly and the electrical return path may be provided through the electrically conductive ultrasonic blade. The plurality of sensors  788  may be configured to measure tissue parameters such as impedance, capacitance, among other tissue parameters explained in the following description. 
     In other aspects, the end effector  2752  may comprise a pair of jaws configured with electrodes to deliver electrosurgical energy to seal tissue clamped between the jaws instead of the anvil  2766  and cartridge  2768  as shown in the example of  FIG.  8   . One of the jaws may be configured with a knife slot for cutting through the tissue after sealing. In such aspects, the plurality of sensors  2788  may be disposed in either jaw or both. The plurality of sensors  2788  may be configured to measure tissue parameters such as impedance, capacitance, among other tissue parameters explained in the following description. 
     In other aspects, the end effector  2752  may comprise a clamp arm assembly and an ultrasonic blade instead of the anvil  2766  and cartridge  2768  as shown in the example of  FIG.  8   . In such aspects, the clamp arm assembly is configured with electrodes for receiving electrosurgical energy for sealing tissue located between the clamp arm assembly and the ultrasonic blade. The electrical return path for the electrosurgical energy is provided through the electrically conductive ultrasonic blade. In such aspects, the ultrasonic blade is utilized to cut the sealed tissue clamped between the clamp arm assembly and the ultrasonic blade. The plurality of sensors  2788  may be configured to measure tissue parameters such as impedance, capacitance, among other tissue parameters explained in the following description. 
     In certain instances, as described in greater detail elsewhere in the present disclosure, wireless power and/or data transmission between an instrument housing  2800  and the end effector  2752  encompasses a wireless power and/or data transmission between the surgical instrument  2750  and the staple cartridge  2768 . For example, the primary coils  2802 ,  2816  can be disposed on a cartridge channel of the end effector  2752 , and the secondary coils  2804 ,  2814  can be disposed on the staple cartridge  2768  such that the primary coils  2802 ,  2816  and the secondary coils  2804 ,  2814  are aligned for a wireless connection when the staple cartridge  2768  is seated in the cartridge channel. In such instances, the instrument housing  2800  may encompass a proximal housing including the energy source  2762  and the control circuit  2760 , a shaft extending distally from the proximal housing, and the cartridge channel. 
       FIG.  9    illustrates a block diagram of the surgical instrument  2750  shown in  FIG.  8    comprising an instrument housing  2800  and an end effector  2752  inductively coupled to the instrument housing  2800  via a set of coils  2818  implementing a wireless power and data communication system, in accordance with at least one aspect of the present disclosure. In one aspect, the surgical instrument  2750  is configured or programmed to control the distal translation of a displacement member such as the I-beam  2764 . The surgical instrument  2750  comprises an end effector  2752  that may comprise an anvil  2766 , an I-beam  2764  (including a sharp cutting edge), and a removable cartridge  2768 . The end effector  2752  comprises sensors  2788  and a sensors circuit  2790  coupled to the sensors  2788 . Power is inductively coupled to the sensor circuit  2790  and to the sensors  2788  through coils  2802 ,  2804  via near field communication. Signals (e.g., voltage, current, resistance, impedance, capacitance, inductance, frequency, phase, etc.) from the sensors  2788  are conditioned by the sensors circuit  2790 . The signals or data corresponding to the signals are communicated between the sensors circuit  2790  in the end effector  2752  and the control circuit  2760  in the instrument housing  2800  via near field communication inductive coupling between the coils  2814 ,  2816 . 
     It will be appreciated that the sensors  2788  may be located in any suitable location in the end effector  2752 . In one aspect, the sensors  2788  are arranged in an array in the cartridge  2768 . In another aspect, the sensors  2788  are arranged in an array in the anvil  2766 . In various aspects, the sensors  2788  are arranged in arrays in the cartridge  2768  and the anvil  2766 . The control circuit  2760  may be configured to monitor the sensors  2788  over time to detect moving characteristics of tissue located in the jaws of the end effector  2752 . In one aspect, the jaws of the end effector  2752  may be comprised of the anvil  2766  and the cartridge  2768 , for example. 
     The position, movement, displacement, and/or translation of a linear displacement member, such as the I-beam  2764 , can be measured by an absolute positioning system, sensor arrangement, and position sensor  2784 . A control circuit  2760  may be configured or programmed to control the translation of the displacement member, such as the I-beam  2764 . The control circuit  2760 , in some examples, may comprise one or more microcontrollers, microprocessors, or other suitable processors for executing instructions that cause the processor or processors to control the displacement member, e.g., the I-beam  2764 . In other aspects, the control circuit  2760  may comprise analog or digital circuits such as, for example, programmable logic devices (PLD), field programmable gate arrays (FPGA), discrete logic, or other hardware circuits, software, and/or firmware, or other machine executable instructions to perform the functions explained in the following description. 
     In one aspect, the control circuit  2760  may be configured or programmed to sense multiple longitudinal and lateral locations within the end effector  2752  independently and to use these different sensed locations with a localized predetermined return path to sense changes in the impedance of tissue grasped between the anvil  2766  and the cartridge  2768  both laterally and longitudinally to be able to detect any specific tissue mid-thickness measure by triangulating at least two interconnected session combinations. For example, the sensors  2788  may comprise an array of impedance sensors distributed laterally and longitudinally along the length of the stapler jaws, i.e., the cartridge  2768  and anvil  2766 . As the jaws are closing, the control circuit  2760  may track the local impedance over time during the course of the jaw closure for each sensor, based on readings from the timer/counter  2781 , or using software timing techniques. This time history can be used to infer, if present, regions of heterogeneous impedance values—where there are distinct changes or anomalies that mark a particular location. These baseline location(s) are noted and tracked as firing is initiated. Once initiated, the position histories of these locations is tracked and used for feedback control of the firing process. In another example, the control circuit may be configured or programmed to modify functions of the surgical instrument  2750  to alter tissue flow during firing of the I-beam  2764  including changing the firing speed, pauses (complete stops) in firing, closure force, among other parameters. 
     In other aspects, the control circuit  2760  may be configured or programmed to predict an amount of tissue flow occurring in the jaws of the end effector  2752  by monitoring the sensors  2788 . Knowledge of tissue type from situational awareness and/or other device sensed measures, e.g., rate of change of closure load during closure, rate of change of closure load after closure is complete, etc. can be used by the control circuit  2760  to predict tissue flow. Accordingly, in one aspect, the control circuit  2760  is configured or programmed to determine tissue type or condition by combining tissue flow during jaw closure with force feedback of the anvil  2766  closure system. 
     In another example, the predictions can be further refined by using the sensors  2788  to measure tissue impedance, among other parameters, detect rigid or foreign objects in the jaws, measure magnitude of tissue impedance, measure tissue flow during jaw closure, etc. In another example, the control circuit  2760  may execute a jaw closure algorithm to sense tissue movements during closure as an indicator of the potential effect of each change during firing of the I-beam  2764 . For example, at a first closure rate, the control circuit  2760  estimates the magnitude/direction of tissue flow, adjusts the closure rate of the jaws, and observes or records the changes in tissue flow within the jaws. In another example, the control circuit  2760  may be configured or programmed to predict post-fire tissue position by utilizing closure flow in combination with closure force feedback prior to firing to provide feedback to surgeon and allowing an opportunity to reposition the end effector  2752  to ensure tissue is fully captured in cut the line of the end effector  2752 . 
     In other aspects, the control circuit  2760  may be configured or programmed to receive data for various configurations of the sensors  2788  to monitor and interrogate tissue. This may include, monitoring tissue impedance, and tracking the impedance of the tissue across a single electrode or segmented electrode set configured along the length of the cartridge  2788 . The control circuit  2760  may be configured or programmed to monitor spectrographic impedance by utilizing sweeps of different frequencies and monitoring the tissue impedance to the power and frequency to determine the physiological composition of the tissue, monitoring capacitance of the tissue, and determining the tissue characteristics and gap relationship of the jaws to determine the amount of tissue present within the jaws. In another aspect, the control circuit  2760  may be configured or programmed to measure light transmissivity, refractivity or Doppler effects to determine tissue characteristics. Local light refractivity analysis may be employed to determine the surface conditions of the tissue to monitor irregularities within the tissue captured between the jaws. The control circuit  2760  may be configured or programmed to monitor local moving particles of tissue using Doppler effect frequency analysis of the light. 
     In one aspect, a timer/counter  2781  provides an output signal, such as the elapsed time or a digital count, to the control circuit  2760  to correlate the position of the I-beam  2764  as determined by the position sensor  2784  with the output of the timer/counter  2781  such that the control circuit  2760  can determine the position of the I-beam  2764  at a specific time (t) relative to a starting position. The timer/counter  2781  may be configured to measure elapsed time, count external events, or time external events. In other aspects, the timer/counter  2781  may be employed to measure elapsed time to monitor the sensors  2788  over time to detect moving characteristics of tissue located in the jaws of the end effector  2752 . 
     The control circuit  2760  may generate a motor set point signal  2772 . The motor set point signal  2772  may be provided to a motor controller  2758 . The motor controller  2758  may comprise one or more circuits configured to provide a motor drive signal  2774  to the motor  2754  to drive the motor  2754  as described herein. In some examples, the motor  2754  may be a brushed DC electric motor. For example, the velocity of the motor  2754  may be proportional to the motor drive signal  2774 . In some examples, the motor  2754  may be a brushless DC electric motor and the motor drive signal  2774  may comprise a PWM signal provided to one or more stator windings of the motor  2754 . Also, in some examples, the motor controller  2758  may be omitted, and the control circuit  2760  may generate the motor drive signal  2774  directly. 
     The motor  2754  may receive power from an energy source  2762 . The energy source  2762  may be or include a battery, a super capacitor, or any other suitable energy source. The motor  2754  may be mechanically coupled to the I-beam  2764  via a transmission  2756 . The transmission  2756  may include one or more gears or other linkage components to couple the motor  2754  to the I-beam  2764 . A position sensor  2784  may sense a position of the I-beam  2764 . The position sensor  2784  may be or include any type of sensor that is capable of generating position data that indicate a position of the I-beam  2764 . In some examples, the position sensor  2784  may include an encoder configured to provide a series of pulses to the control circuit  2760  as the I-beam  2764  translates distally and proximally. The control circuit  2760  may track the pulses to determine the position of the I-beam  2764 . Other suitable position sensors may be used, including, for example, a proximity sensor. Other types of position sensors may provide other signals indicating motion of the I-beam  2764 . Also, in some examples, the position sensor  2784  may be omitted. Where the motor  2754  is a stepper motor, the control circuit  2760  may track the position of the I-beam  2764  by aggregating the number and direction of steps that the motor  2754  has been instructed to execute. The position sensor  2784  may be located in the end effector  2752  or at any other portion of the instrument. 
     The control circuit  2760  may be in communication with one or more sensors  2788  located in the end effector  2752 . The sensors  2788  may be positioned in the end effector  2752  and adapted to operate with the surgical instrument  2750  to measure various derived parameters such as gap distance versus time, tissue compression versus time, anvil strain versus time, tissue movement versus time, tissue impedance, tissue capacitance, spectroscopic impedance, light transmissivity, refractivity or Doppler effects, among other parameters. The sensors  2788  may comprise a magnetic sensor, a magnetic field sensor, a strain gauge, a pressure sensor, a force sensor, an inductive sensor such as an eddy current sensor, a resistive sensor, a capacitive sensor, an optical sensor, and/or any other suitable sensor for measuring one or more parameters of the end effector  2752 . The sensors  2788  may include one or more sensors. 
     The one or more sensors  2788  may comprise a strain gauge, such as a micro-strain gauge, configured to measure the magnitude of the strain in the anvil  2766  during a clamped condition. The strain gauge provides an electrical signal whose amplitude varies with the magnitude of the strain. The sensors  2788  may comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil  2766  and the cartridge  2768 . The sensors  2788  may be configured to detect impedance of a tissue section located between the anvil  2766  and the cartridge  2768  that is indicative of the thickness and/or fullness of tissue located therebetween. 
     The sensors  2788  may be is configured to measure forces exerted on the anvil  2766  by a closure drive system. For example, one or more sensors  2788  can be at an interaction point between a closure tube and the anvil  2766  to detect the closure forces applied by a closure tube to the anvil  2766 . The forces exerted on the anvil  2766  can be representative of the tissue compression experienced by the tissue section captured between the anvil  2766  and the cartridge  2768 . The one or more sensors  2788  can be positioned at various interaction points along the closure drive system to detect the closure forces applied to the anvil  2766  by the closure drive system. The one or more sensors  2788  may be sampled in real time during a clamping operation by a processor of the control circuit  2760 . The control circuit  2760  receives real-time sample measurements to provide and analyze time-based information and assess, in real time, closure forces applied to the anvil  2766 . 
     A current sensor  2786  can be employed to measure the current drawn by the motor  2754 . The force required to advance the I-beam  2764  corresponds to the current drawn by the motor  2754 . The force is converted to a digital signal and provided to the control circuit  2760 . 
     The drive system of the surgical instrument  2750  is configured to drive the displacement member, cutting member, or I-beam  2764 , by a brushed DC motor with gearbox and mechanical links to an articulation and/or knife system. Another example is the electric motor  2754  that operates the displacement member and the articulation driver, for example, of an interchangeable shaft assembly. An outside influence is an unmeasured, unpredictable influence of things like tissue, surrounding bodies and friction on the physical system. Such outside influence can be referred to as drag which acts in opposition to the electric motor  2754 . The outside influence, such as drag, may cause the operation of the physical system to deviate from a desired operation of the physical system. 
     Various example aspects are directed to a surgical instrument  2750  comprising an end effector  2752  with motor-driven surgical stapling and cutting implements. For example, a motor  2754  may drive a displacement member distally and proximally along a longitudinal axis of the end effector  2752 . The end effector  2752  may comprise a pivotable anvil  2766  and, when configured for use, a cartridge  2768  positioned opposite the anvil  2766 . A clinician may grasp tissue between the anvil  2766  and the cartridge  2768 , as described herein. When ready to use the instrument  2750 , the clinician may provide a firing signal, for example by depressing a trigger of the instrument  2750 . In response to the firing signal, the motor  2754  may drive the displacement member distally along the longitudinal axis of the end effector  2752  from a proximal stroke begin position to a stroke end position distal of the stroke begin position. As the displacement member translates distally, an I-beam  2764  with a cutting element positioned at a distal end, may cut the tissue between the cartridge  2768  and the anvil  2766 . 
     In various examples, the control circuit  2760  may be configured or programmed to control the distal translation of the displacement member, such as the I-beam  2764 , for example, based on one or more tissue conditions. The control circuit  2760  may be configured or programmed to sense tissue conditions, such as thickness, flow, impedance, capacitance, light transmissivity, either directly or indirectly, as described herein. The control circuit  2760  may be configured or programmed to select a firing control program based on tissue conditions. A firing control program may describe the distal motion of the displacement member. Different firing control programs may be selected to better treat different tissue conditions. For example, when thicker tissue is present, the control circuit  2760  may be configured or programmed to translate the displacement member at a lower velocity and/or with lower power. When thinner tissue is present, the control circuit  2760  may be configured or programmed to translate the displacement member at a higher velocity and/or with higher power. 
     The entire disclosures of U.S. Pat. No. 8,622,274, entitled MOTORIZED CUTTING AND FASTENING INSTRUMENT HAVING CONTROL CIRCUIT FOR OPTIMIZING BATTERY USAGE, U.S. Pat. No. 10,135,242, entitled SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION, U.S. Pat. No. 10,548,504, entitled OVERLAID MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE TISSUE COMPRESSION, U.S. Pat. No. 9,993,248, entitled SMART SENSORS WITH LOCAL SIGNAL PROCESSING, U.S. Patent Application Publication No. 2016/0256071, entitled OVERLAID MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE TISSUE COMPRESSION, now U.S. Pat. No. 10,548,504, U.S. Patent Application No. 2018/0168625, entitled SURGICAL STAPLING INSTRUMENTS WITH SMART STAPLE CARTRIDGES, U.S. Patent Application No. 2018/0250002, entitled POWERED SURGICAL DEVICES HAVING TISSUE SENSING FUNCTION, and International Patent Publication No. WO 2018/049206, entitled STAPLER RELOAD DETECTION AND IDENTIFICATION, and U.S. patent application Ser. No. 16/354,470, entitled are incorporated by reference herein. 
     The entire disclosures of U.S. Pat. No. 4,785,180, titled OPTOELECTRIC SYSTEM HOUSED IN A PLASTIC SPHERE, issued Nov. 15, 1988, U.S. Pat. No. 6,804,012, titled ARRANGEMENT FOR THE DETECTION OF RELATIVE MOVEMENTS OR RELATIVE POSITION OF TWO OBJECTS, issued Oct. 12, 2004, European Patent Application No. 1,850,210, titled OPTOELECTRONIC DEVICE FOR DETERMINING RELATIVE MOVEMENTS OR RELATIVE POSITIONS OF TWO OBJECTS, published Oct. 31, 2007, U.S. Patent Application Publication No. 2008/0001919, titled USER INTERFACE DEVICE, published Jan. 3, 2008; and U.S. Pat. No. 7,516,675, titled JOYSTICK SENSOR APPARATUS, issued Apr. 14, 2009 are incorporated by reference herein. Generally, these references describe multi-dimensional input devices and/or sensor arrangements. 
     The entire disclosures of U.S. patent application Ser. No. 16/354,470 U.S., titled SEGMENTED CONTROL INPUTS FOR SURGICAL ROBOTIC SYSTEMS, filed Mar. 15, 2019, U.S. Pat. No. 4,785,180, titled OPTOELECTRIC SYSTEM HOUSED IN A PLASTIC SPHERE, issued Nov. 15, 1988, U.S. Pat. No. 6,804,012, titled ARRANGEMENT FOR THE DETECTION OF RELATIVE MOVEMENTS OR RELATIVE POSITION OF TWO OBJECTS, issued Oct. 12, 2004, European Patent Application No. 1,850,210, titled OPTOELECTRONIC DEVICE FOR DETERMINING RELATIVE MOVEMENTS OR RELATIVE POSITIONS OF TWO OBJECTS, published Oct. 31, 2007, U.S. Patent Application Publication No. 2008/0001919, titled USER INTERFACE DEVICE, published Jan. 3, 2008; U.S. Pat. No. 7,516,675, titled JOYSTICK SENSOR APPARATUS, issued Apr. 14, 2009, and U.S. patent application Ser. No. 15/940,627, titled DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS, filed Mar. 29, 2018, are hereby incorporated by reference in their entirety. Generally, these references describe robotic surgical systems and multi-dimensional input devices and/or sensor arrangements. 
     Referring now to  FIG.  10   , a system  3000  for detecting tissue and foreign objects during a surgical operation is depicted in accordance with at least one non-limiting aspect of the present disclosure. According to the non-limiting aspect of  FIG.  10   , the system  3000  can include a surgical instrument  3002 , which can be similarly configured to the surgical instrument  10000  of  FIG.  1    and a computing device  3004 . Although the surgical instrument  3002  of  FIG.  1    is connected to the computing device  3002  via a cable, the surgical instrument  3002  can be configured for any form of wired and/or wireless communication with the computing device  3004 . As used herein, the term “computing device” can include any server, personal computer, laptop, tablet, and/or mobile phone, amongst other devices communicably coupled to a display and capable of generating a user interface associated with use of the surgical instrument  3002 . According to some non-limiting aspects, the computing device  3004  can be further configured to control the surgical instrument  3002  during the surgical operation. Although, according to the non-limiting aspect of  FIG.  1   , the surgical instrument  3002  is a handheld surgical stapler, the present disclosure contemplates other non-limiting aspects wherein the surgical instrument  3002  is robotically configured. Alternately, the surgical instrument  3002  can be an electrosurgical instrument configured to perform surgical operations via ultrasonic and/or RF energy. 
     In certain aspects, the computing device  3004  is a component of a surgical hub in wired and/or in wireless communication with the surgical instrument  3000 . Various suitable surgical hubs are disclosed in U.S. patent application Ser. No. 16/209,453, titled METHOD FOR CONTROLLING SMART ENERGY DEVICES, and filed Dec. 4, 2018, which is hereby incorporated by reference herein in its entirety. 
     In further reference to  FIG.  10   , the surgical instrument  3002  can include sensors, such as one or more electrodes  3012  positioned within an end effector  3014  coupled to the distal end of a shaft  3010 . However, according to other non-limiting aspects, other sensors can be utilized to achieve a similar effect. According to some non-limiting aspects, an array of electrodes  3012  can be positioned within the end effector  3014 . For example, according to some non-limiting aspects, the array can include 16 electrodes  3012 . According to other non-limiting aspects, the electrodes  3012  can be positioned in a segmented configuration, as previously discussed. The electrodes  3012  can be electrically coupled through the inside of a hollow cavity defined by the shaft  3010  such that they can be connected to electronics positioned within a handle portion  3008  of the surgical instrument  3002 . For example, the handle portion  3008  can include processing electronics configured to process signals passed by the electrodes  3012 . Such electronics can include impedance measuring electronics, which can determine an electrical impedance of media positioned between jaws of the end effector  3014  based on the signals passed by the electrodes  3012 . Alternately and/or additionally, electronics within the handle portion  3008  can transmit signals received from the electrodes  3012  to a connected computing device  3004  for further processing. 
     Accordingly, during a surgical operation, such as an intraoperative stapling procedure, the surgical instrument  3002  can be used to generate real-time electrical impedance measurements based on signals received from the electrodes  3012 . These signals can be processed along with other variables, such as selected inputs, using a model and/or algorithm, which can be used to detect media within the jaws of the end effector  3014  and determine characteristics of said media, such as a location and/or a condition of the media. Accordingly, the system  3000  of  FIG.  10    can be used to detect both tissue and foreign objects (e.g., NGtubes, staples, etc.) within the jaws of the end effector  3014 . The algorithmic results can be communicated to a display of a communicably coupled computing device  3004 . According to some non-limiting aspects, the system  3000  does not require a computing device  3004  and the display (e.g., an LED screen, etc.) can be integrated into the handle portion  3008  of the surgical instrument  3002 . According to other non-limiting aspects, the display can be a component of a console for a robotically assisted device. In still other non-limiting aspects, no display is required by the system  3000  and either the surgical instrument  3002  or the computing device  3004  can be configured to emit an audible notification associated with the algorithmic results. Furthermore, according to some non-limiting aspects, one or more depicted components of the system  3000  of  FIG.  10    can include a clock circuit configured to measure passing time. Accordingly, the system  3000  of  FIG.  3    can be configured to communicate the algorithmic results and thus, information associated with the detected media within the jaws of the end effector  3014  to an operating clinician. 
     As such, an algorithm, which will be described in further detail herein, can be used in conjunction with various surgical instruments, including the instrument  3000  of  FIG.  10   , or the robotically controlled instrument  5100  of  FIG.  3   , to detect and/or characterize various media (e.g., tissue, foreign objects, etc.) positioned within the jaws of an end effector in real time. Referring now to  FIG.  11   , a user interface  3015  displayed by the computing device  3004  of the system  3000  of  FIG.  10    is depicted in accordance with at least one non-limiting aspect of the present disclosure. One or more components of the system  3000  ( FIG.  10   ) can include a memory configured to store the algorithm. For example, according to some non-limiting aspects, the algorithm can be stored within a memory of the computing device  3004 . However, according to other non-limiting aspects, the algorithm can be stored within a memory of the surgical instrument  3002 . Regardless, the algorithm can be implemented to generate one or more components of the user interface  3015  of  FIG.  11   . 
     According to the non-limiting aspect of  FIG.  11   , the user interface  3015  can include an image of the end effector  3014  of the surgical instrument  3002  ( FIG.  10   ) grabbing a tissue sample  3016  within a patient. For example, the image can be generated via one or more image sensors implemented by the system  3000  ( FIG.  10   ). For example, the image sensor can be mounted on or around the surgical instrument  3002  ( FIG.  10   ). The user interface  3015  can further include a widget  3018  overlaying the image, with a digital representation of the end effector  3020 . The digital representation of the end effector  3020  can include a first portion  3022  corresponding to the tissue sample  3016  within the jaws of the end effector  3014 , as detected by the electrodes  3012  ( FIG.  10   ). The digital representation of the end effector  3020  can further include a second portion  3024  corresponding to a foreign object within the jaws of the end effector  3014 , as detected by the electrodes  3012  ( FIG.  10   ). Accordingly, the widget  3018  can visually communicate the specific composition and/or location of various media positioned within the jaws of the end effector  3014  to an operating clinician. This can enhance the surgical operation because the operating clinician can identify exactly what objects are positioned within the end effector  3014  as well as the specific location of those objects within the end effector  3014 . In other words, the system  3000  of  FIG.  10    can provide in-operative, real-time feedback regarding the location of tissue and/or foreign objects within the jaws of the end effector  14 . This feedback can be implemented to prevent inadvertent damage and/or critical errors to surrounding structures during a surgical operation, such as a stapling procedure. Detection algorithms can be light and efficient and thus, suitable for on-board electronics deployment for both handheld and/or robotics surgical platforms. 
     Algorithms can generate the digital representation of the end effector  3020 —including the first and second portions  3022 ,  3024 —based on media parameters (e.g., impedance) that can be algorithmically determined based on signals received from the electrodes  3012  ( FIG.  10   ) positioned within the end effector  3014 . For example, the electrodes  3012  ( FIG.  10   ) can be utilized to detect an electrical impedance of the media positioned within the jaws of the end effector  3014 , which can vary significantly based on the material composition of the media. Accordingly, the determined electrical impedance can correspond to a particular type of media positioned within the jaws of the end effector  3014 , such as different types of tissue, other biological material with varying properties (e.g., blood, blood vessels, veins, etc.), an interaction between a tool and/or tissue, a foreign object (e.g., staples, tubes, etc.), and/or varying clinical environments the end effector is placed in, amongst other forms of media. 
     However, it may be difficult to identify the boundaries of parameter variations, such as electrical impedance, in certain situations. Accordingly, in some non-limiting aspects, an algorithm can use signals from the electrodes  3012  ( FIG.  10   ) to first detect non-tissue media within the jaws of the end effector  3014 , which may correspond to anomalous parameters (e.g., impedances) relative to biologic media positioned within the jaws. In other words, non-tissue media between the jaws of the end effector  3014  may be more easily classified, as they may only correspond to a few categories of media. Media such as air, liquids, and/or foreign objects positioned within the end effector  3014  can result in signals that will result in different algorithmically determined parameters (e.g., impedances) relative to biologic media (e.g., tissue) positioned within the end effector  3014  and thus, such media can be easier to detect and distinguish via a user interface, such as the user interface  3015  of  FIG.  11   . 
     Referring now to  FIG.  12   , a chart  3100  illustrating a parameter (e.g., impedance) measured by the system  3000  of  FIG.  10    in time is depicted in accordance with at least one non-limiting aspect of the present disclosure. According to the non-limiting aspect of  FIG.  12   , the chart  3100  can include illustrate how a magnitude of the impedance can vary by location, as illustrated by the x-axis, and time, as illustrated by the y-axis. The location can be determined via the impedance measured based on electrical parameters (e.g., voltage) generated by various groupings of electrodes  3012  ( FIG.  10   ) installed within the end effector  3014  ( FIG.  10   ). Time can be measured via any desired duration, though according to some aspects time can be measured in seconds to promote the real-time capabilities of the system  3000  ( FIG.  10   ) and algorithm. 
     In further reference to  FIG.  12   , the chart  3100  conceptually illustrates the detection results, including classifications of media detected within the end effector  3014  ( FIG.  10   ), which can be illustrated using different colors and/or patterns to enhance the visual distinction along the x-axis as time elapses, as represented along the y-axis. In other words, the chart  3000  of  FIG.  12    can represent impedance detected by various groups of electrodes  3012  ( FIG.  10   ) positioned within the end effector  3014  ( FIG.  10   ) in time, which can be used to characterize the composition and location of various media positioned within the end effector  3014  ( FIG.  10   ) as the jaws of the end effector  3014  ( FIG.  10   ) open and close, clamping down on and compressing said media. As illustrated by the chart  3100  of  FIG.  12   , an algorithm, can be used to detect a first media  3102  positioned between electrode group numbers  0  and  5 , a second media  3104  positioned between electrode group numbers  5  and  10 , a third media  3106  positioned between electrode group numbers  10  and  20 , and a fourth media  3108  positioned beyond electrode group number  20 . For example, the algorithm may determine, based on impedance determined based on signals received from the electrodes, that the first media  3102  is a fluid (e.g., blood), the second media  3104  is a foreign object (e.g., a staple, a NGtube, etc.), the third media  3106  is a tissue sample, and the fourth media  3108  is air, meaning the end effectors are open and/or nothing is positioned between the jaws beyond electrode group number  20 . In fact, the third media  3106  is identifiable as a tissue sample based upon the compression exhibited by the stepped peak of impedance signal detected between electrode group numbers  10  and  20 . It shall be appreciated that, as used herein, an impedance signal can include a variety of signal parameters, including a magnitude and/or a phase, amongst others. Moreover, impedance signals and their respective parameters can be measured in the time domain and/or the frequency domain, amongst others. 
     Referring now to  FIG.  13   , a logic flow diagram of a method  3200  of detecting and locating media within the jaws of the end effector  3014  ( FIG.  10   ) of the system  3000  of  FIG.  10    is depicted in accordance with at least one non-limiting aspect of the present disclosure. According to some non-limiting aspects, the system  3000  ( FIG.  10   ) can include a control circuit, such as the control circuit  2760  of  FIG.  9   , and a memory configured to control an algorithm, wherein the algorithm is configured to cause the control circuit to perform the method  3200  of  FIG.  13   . According to some non-limiting aspects, the control circuit and/or memory can be positioned within the surgical instrument  3002  ( FIG.  10   ). According to other non-limiting aspects, the control circuit and/or memory can be positioned within the computing device  3004  ( FIG.  10   ). According to still other non-limiting aspects, the memory can be positioned in a remotely located server (not shown), such as a cloud-based analytics system configured to communicate with various surgical instruments  3002  ( FIG.  10   ) and computing devices  3004  ( FIG.  10   ). 
     Specifically,  FIG.  13    illustrates the main steps of data flow associated with the determination of a parameter (e.g., impedance, etc.), including recordation  3206 , processing  3214 , and result generation and communication  3219 . The algorithm logic will allow the detection and feedback of tissue locations and foreign objects, if present, within the jaws of the end effector  3014  ( FIG.  10   ), with block-level placeholders for the algorithmic detection of anomalies and foreign objects  3216  and the detection foreign objects  3218 , which are described in more detail in reference to  FIGS.  14  and  15   , respectively. Of course, the method  3200  of  FIG.  13    is merely illustrative, and the illustrated processes of the method  3200  are non-exclusive. According to other non-limiting aspects, the method  3200  may include more steps or fewer steps than are depicted in  FIG.  13   . 
     According to the non-limiting aspect of  FIG.  13   , the method  3200  can include commencing  3202  the detection process, including initiating and activating  3204  the sensors (e.g., electrodes  3012  of  FIG.  10   ) to take measurements. If the sensors  3012  ( FIG.  10   ) are not activated for measurements, the sensors  3012  ( FIG.  10   ) should be activated. The method  3200  can further include recording  3206  data associated with the determined parameter (e.g., impedance, etc.) based on signals received from electrodes  3012  ( FIG.  10   ) of the surgical instrument  3002  ( FIG.  10   ) and checking  3208  the signal quality. If the quality exceeds a predetermined margin of error, the system  3000  ( FIG.  10   ) may issue a warning that the sensors have failed or are generating data of insufficient quality. According to some non-limiting aspects, the warning can be a visual alert provided via a display, such as a display coupled to the computing device  3004  ( FIG.  10   ) or embedded within the surgical instrument  3002  ( FIG.  10   ), itself. According to other non-limiting aspects, the warning can be an audible alert provided via the surgical instrument  3002  ( FIG.  10   ) and/or computing device  3004  ( FIG.  10   ). 
     Still referring to  FIG.  13   , the method  3200  can further include filtering and preprocessing  3212  data streams associated with the surgical instrument  3002  ( FIG.  10   ), and processing  3214  them accordingly using an algorithm. The method  3200  can further include algorithmically detecting  3216  whether there is a foreign object  3218  and/or fluid  3220  within the jaws of the end effector  3014  ( FIG.  10   ). If either determination is affirmative, the system  3000  ( FIG.  10   ) can issue  3219  a warning to the operating clinician. Once again, the warning can either include a visual and/or audible alert. If not, the method  3200  can include determining  3222  if there is an open circuit at the location, or, determining  3224  if there is tissue at the location. The method  3200  can further include determining  3226  whether the detection methods should be repeated for a subsequent time period and, if the determination is affirmative, the method  3200  can be repeated from the filtering and preprocessing  3212  step. If the algorithm determines that the detection method should not be repeated, the method  3200  can be terminated  3228 . 
     In other words, the method  3200  can include sensing that is automatically triggered/turned on by users (e.g., surgeons, operating clinicians, etc.) during a procedure, such as a surgical stapling procedure. The method  3200  can include the determination of real-time parameters, such as impedance measurements, based on signals received from sensors, such as each electrode  3012  ( FIG.  10   ) within the end effector  3014  ( FIG.  10   ), which are algorithmically processed to determine an impedance characteristic (or “feature”) of the media positioned within the end effector  3014  ( FIG.  10   ). According to some non-limiting aspects, the impedance feature can be the impedance magnitude at a pre-determined frequency. According to some non-limiting aspects, one or more frequencies can be selected. For example, it may be preferable to use a frequency of approximately 100 kHz. Furthermore, the method  3200  can record and track impedance features over time. Once determined, such impedance features can be used as inputs to the media detection model and/or algorithm. 
     A detection model, via built-in algorithmic logic, can differentiate the presence and/or location of various media, such as tissue and non-tissue mediums, positioned within the jaws of the end effector  3014  ( FIG.  10   ), which will be described in further detail in reference to  FIG.  14   . Non-tissue media can be air, indicating that the jaws of the end effector  3014  ( FIG.  10   ) are open. Alternately and/or additionally, non-tissue media can include liquids (e.g., blood) and/or foreign objects (e.g., staples, NGtubes, etc.). The non-tissue media can be detected via anomalies. The location of media such as tissue can then be detected after non-tissue mediums location are effectively identified. The algorithm can then classify the results, marking it as tissue, air, liquids, and/or foreign objects based on the determined impedances, and the classified results can be visually displayed via the system  3000  ( FIG.  10   ). Furthermore, the method  3200  can include combining detection results from pairs of electrodes  3012  ( FIG.  10   ) (e.g., a driven electrode and corresponding return electrode) of an array of electrodes  3012  ( FIG.  10   ) to provide the location information of the detected tissue and non-tissue media along the jaws of the end effector  3014  ( FIG.  10   ). According to some non-limiting aspects, some detection results can be selectively displayed in real-time, depending on a particular step of the surgical operation. As such, the system  3000  ( FIG.  10   ) can provide critical and timely feedback to operating clinicians. 
     Referring now to  FIG.  14   , a logic flow diagram of the method  3216  of detecting an anomaly as part of the method  3200  of  FIG.  13   , is depicted in accordance with at least one non-limiting aspect of the present disclosure. According to the non-limiting aspect of  FIG.  14   , data outputs from the processing  3214  step of the method  3200  of  FIG.  13    can be used to perform the anomaly detecting  3216  step of the method  3200  of  FIG.  13   , which begins by extracting, or algorithmically determining  3232 , an impedance signal value at selected frequencies for each electrode  3012  ( FIG.  10   ) of an electrode group positioned within the jaws of the end effector  3014  ( FIG.  10   ) of the system  3000  of  FIG.  10   . Once again, according to some non-limiting aspects, one or more frequencies can be selected. The determination  3232  can be based on signals received from each electrode  3012  ( FIG.  10   ). The determined impedance signal values can be correlated with a particular time within the time domain, illustrated along the y-axis of the chart  3100  of  FIG.  12   . According to other non-limiting aspects, the determined parameter can be another characteristic of the media positioned within the jaws of the end effector  3014  ( FIG.  10   ) and can be determined based on signals received form sensors other than the electrode  3012  ( FIG.  10   ). 
     According to the non-limiting aspect of  FIG.  14   , once the impedance value is determined, the method  316  can further include a series of comparisons  3234 ,  3236 ,  3238  of the determined impedance value to one or more predetermined thresholds. For example, according to the non-limiting aspect of  FIG.  14   , the method  3216  can include a determination  3234  of whether the determined impedance value is less than a predetermined threshold associated with an open circuit. If the determined impedance value is not less than the predetermined threshold associated with an open circuit, the algorithm can determine that open jaw (air media in jaw) has been detected, and classify the associated electrode  3012  ( FIG.  10   ) group as “open.” If the determined impedance value is less than the predetermined threshold associated with an open circuit, the method  3216  can further include a determination  3236  of whether the determined impedance value is greater than a predetermined threshold associated with a fluid. If the determined impedance value is not greater than the predetermined threshold associated with a fluid, the algorithm can determine that fluid has been detected, and classify the associated electrode  3012  ( FIG.  10   ) group as “fluid.” If the determined impedance value is greater than the predetermined threshold associated with a fluid, the method  3016  can proceed to a determination  3218  of whether a foreign object is present within the jaws of the end effector  3014  ( FIG.  10   ), as illustrated in the method  3200  of  FIG.  13   . If the algorithm determines that no foreign object is present within the jaws of the end effector  3014  ( FIG.  10   ), the algorithm can determine that tissue is present within the jaws of the end effector  3014  ( FIG.  10   ) and classify the associated electrode  3012  ( FIG.  10   ) group as “tissue.” If a foreign object is detected within the jaws of the end effector  3014  ( FIG.  10   ), the method  3016  can proceed to a determination  3240  of whether the foreign object is detected for a predetermined time and for more than two neighboring electrode  3012  ( FIG.  10   ) groups. If the algorithm determines that the foreign object is detected for a predetermined time and for more than two neighboring electrode  3012  ( FIG.  10   ) groups, the algorithm can determine that a foreign object is present within the jaws of the end effector  3014  ( FIG.  10   ), classify the associated electrode  3012  ( FIG.  10   ) groups as “foreign object,” and record a location within the end effector  3014  ( FIG.  10   ) that is associated with the foreign object. In fact, the algorithmic method  3216  can further record a location within the end effector  3014  ( FIG.  10   ) that is associated with the open classification, the fluids classification, and/or the tissue classification, as well. If the algorithm determines that the foreign object is not detected for a predetermined time and/or that the foreign object is not detected for more than two neighboring electrode  3012  ( FIG.  10   ) groups, the algorithm can determine  3241  that there is noise and/or a nuisance that led to the initial detection  3218  of the foreign object. 
     In further reference to the non-limiting aspect of  FIG.  14   , it may be preferable to calibrate the electrodes  3014  such that impedance signal values can be determined at a specific frequency or frequencies. According to some non-limiting aspects, one or more frequencies can be selected. For example, it may be preferable to determine the impedance signal values at frequencies ranging from 5 kHz to 500 kHz. According to some non-limiting aspect, it may be preferable to determine the impedance signal values at a frequency of 100 kHz, which would allow the threshold values considered during the various comparison steps  3234 ,  3236 ,  3218 ,  3240  can be empirically learned. Accordingly, the algorithm and/or models can be particularly configured to require fewer inputs, which can reduce a computational burden, maintain the simplicity and robustness of the method  3200 , and therefore, enable the method  3200  to be deployed via real-time, on-board electronics. Accordingly, an algorithm and methods  3200 ,  3216  of  FIGS.  13  and  14    represent a technological improvement over conventional methods of detecting media within the jaws of an end effector, which can require extensive processing requirements that may be prohibitive to on-board deployments. Experimental results, such as those generated in the experiment described in reference to the user interface of  FIG.  18   , exhibit that the algorithmic methods  3200 ,  3216  of  FIGS.  13  and  14    can be more efficient and effective than conventional means of media detection, improve surgical outcomes, and can enhance patient safety relative to conventional means. 
     Referring now to  FIG.  15   , a logic flow diagram of the method  3218  of detecting the presence of a foreign object within the jaws of an end effector  3014  ( FIG.  10   ), as part of the methods  3200 ,  3216  of  FIGS.  13  and  14   , is depicted in accordance with at least one non-limiting aspect of the present disclosure. As previously discussed, the algorithmic method  3216  of  FIG.  14    can detect  3244  and classify air and/or a medium positioned within the jaws of the end effector  3014  ( FIG.  10   ). For example, the algorithmic method  3216  ( FIG.  14   ) can detect  3244  an open circuit and thus, a significant drop in the impedance value determined between one or more electrode  3012  ( FIG.  10   ) groups. Alternately and/or additionally, the algorithmic method  3216  ( FIG.  14   ) can detect  3244  a media that has contacted the jaws of the end effector  3014  ( FIG.  10   ) based on a magnitude of the determined impedance value. As previously discussed, the impedance signals can be determined as a function of frequency and/or multiple frequencies, electrode  3012  ( FIG.  10   ) group, and/or time, depending on user preference and/or intended application. 
     According to the non-limiting aspect of  FIG.  15   , the method  3218  can further include tracking  3246  the determined impedance signals over time and record certain data points of interest. For example, it may be preferable to record a minimum impedance signal value tracked during a period of time. The method  3218  can further include calculating  3248  a ratio of any determined impedance signal value relative to the data points of interest, such as a minimum impedance signal value tracked during a period of time. The method  3218  can further include determining  3250  whether the ratio is greater than a predetermined threshold, such as a predetermined threshold over a predetermined time period. If the algorithm determines that the ratio is not greater than the predetermined threshold, it will continue calculating  3248  ratio in time. However, if the algorithm determines that the ratio is greater than the predetermined threshold, it can determine  3252  that a foreign object (e.g., a staple, a bougie, an NGtube, etc.) is present within the jaws of the end effector  3014  ( FIG.  10   ). 
     Still referring to  FIG.  15   , according to some non-limiting aspects, the featured input for the algorithmic method  3218  of foreign object detection can be a calculated ratio of impedance signal at a specific frequency relative to its minimum value marked at jaw-tissue contacting moment. For example, according to some non-limiting aspects, it may be preferable to calculate the impedance signals and rations at a frequency of 100 kHz. Additionally and/or alternately, threshold values can be empirically learned. According to the non-limiting aspect of  FIG.  15   , the method  3218  can be deployed to detect foreign objects such as NGtubes, and/or other tube-like objects. However, according to other non-limiting aspect, other foreign objects can be detected using similar techniques. Experimental results of the method  3218  of  FIG.  15    are further described in reference to  FIG.  17   , including a distinct pattern of impedance responses for NGtube and/or a tissue sample positioned within the jaws of an end effector  3012  ( FIG.  10   ). It can be possible to characterize different impedance response patterns associated with different foreign objects of interest. Correspondingly, the algorithmic logic can be altered to detect various foreign objects, while employing substantially a similar functional approach, as illustrated in  FIG.  15   . 
     Referring now to  FIG.  16   , a chart  3300  illustrating example results of the methods  3200 ,  3216 ,  3218  of  FIGS.  13 - 15    is depicted in accordance with at least one non-limiting aspect of the present disclosure. As depicted by the chart  3300  of  FIG.  16   , different media  3304 ,  3306   3308 ,  3310 ,  3312  can have different determined impedance signals at different frequencies. For example, the chart  3300  of  FIG.  16    illustrates impedance signals for blood  3304 , lung tissue  3306 , peritoneal fluid  3308 , saline  3310 , and stomach tissue  3312 . Moreover, the chart of  FIG.  16    depicts impedance signals taken over a particular frequency range of interest  3302 . According to some non-limiting aspects, the frequency range of interest can be approximately between 10 kHz and 150 kHz. Furthermore, the chart  3300  of  FIG.  16    depicts how a group of fluids  3314  can have lower determined impedance signals relative to other media detected within the jaws of the end effector  3014  ( FIG.  10   ). In other words, non-tissue media, including the blood  3304 , the peritoneal fluid  3308 , and the saline  3310  can be easily differentiable from tissue, such as the lung tissue  3306  and the stomach tissue  3312 , as previously discussed. Specifically, the chart  3300  of  FIG.  16    is a bode (e.g., frequency vs magnitude) boxplot that summarizes impedance signal variation of all the data collected from various experiments for tissue and fluids, including pig lung  3306 , pig stomach tissue  3312 , saline  3310 , blood  3304 , and peritoneal fluids  3308 . However, it is anticipated that similar results, including the distinguishable difference in impedance signals determined for the fluid  3304 ,  3308 ,  3310 , would be present for human-oriented implementations. 
     Referring now to  FIGS.  17 A-C , another chart  3400  illustrating experimental results of the methods of  FIGS.  13 - 15    is depicted in accordance with at least one non-limiting aspect of the present disclosure. Specifically,  FIGS.  17 B and  17 C  illustrate portion of interest of chart  3400  in more detail. Furthermore, the chart  3400  has been annotated to illustrate notable features of the experimental results. According to the non-limiting aspect of  FIGS.  17 A-C , the chart  3400  can illustrate various impedance signals determined based on signals received from different electrode  3012  ( FIG.  10   ) groups as time elapses.  FIG.  17 C , specifically, illustrates how patterns of determined impedance responses in time can be quite different for electrode  3012  ( FIG.  10   ) groups associated with locations where a NGtube is present, especially when compared to impedance responses associated with electrode  3012  ( FIG.  10   ) groups associated with locations where a NGtube is not present and only tissue exists between the jaws of the end effector  3014  ( FIG.  10   ). As time elapses along the domain, the jaws of the end effector  3014  ( FIG.  10   ) are closing and thus, compressing media (e.g., NGtube, tissue) positioned between the jaws. As the jaws are compressing, particularly between 30 seconds and 40 seconds along the time-domain, the impedance signal is rising at a more dramatic rate for electrode groups  6 - 10 , where a foreign object, such as an NGtube, is present. This pattern is demonstrably different than the relatively stable impedance signal determined at electrode groups  5  and  11 - 13 , where only tissue is present. Accordingly, the system  3000  ( FIG.  10   ) and more specifically, the control circuit, can generate an alert that communicates the presence and specific location of the detected foreign object to an operating clinician. According to some non-limiting aspects, the alert can be visually displayed via a user interface, such as the user interface  3015  of  FIG.  11   . According to other non-limiting aspects, the alert can be audibly communicated via a speaker positioned within the surgical instrument  3002  ( FIG.  10   ) or the computing device  3004  ( FIG.  10   ). 
     Referring now to  FIG.  18   , another user interface  3500  displayed by a computing device  3004  of the system of  FIG.  10    is depicted in accordance with at least one non-limiting aspect of the present disclosure. According to the non-limiting aspect of  FIG.  18   , the user interface  3500  of  FIG.  18    can display image data and a visual representation of the algorithmic results generated during a simulated experiment utilizing the methods  3200 ,  3216 ,  3218  of  FIGS.  13 - 15   . Specifically, the user interface  3500  can include an image portion  3502  and a digital representation  3506  of an end effector. However, according to the non-limiting aspect of  FIG.  18   , test equipment is simulating the jaws of an end effector. Once again, the image can be generated via one or more image sensors implemented by the system  3000  ( FIG.  10   ). The user interface  3500  can further include a widget  3504  overlaying the image portion  3502 , with a digital representation of the end effector  3506 . 
     As illustrated in  FIG.  18   , the simulated end effector is compressing various media. For example, a distal portion of the simulated end effector has no media beneath it, a center portion of the simulated end effector has an NGtube beneath it, and a proximal end of the simulated end effector has tissue beneath it. As previously discussed one or more electrodes  3012  ( FIG.  10   ) can be positioned within an end effector  3014  ( FIG.  10   ), or in the case of  FIG.  18   , the simulated end effector. The widget  3504  and, more specifically, the digital representation of the end effector  3506  can be color coded, wherein each color can associated with a media detected by the algorithmic methods  3200 ,  3216 ,  3218  of  FIGS.  13 - 15   , based on calculated impedance signals based on signals passed by the one or more electrodes positioned within the simulated end effector. According to the non-limiting aspect of  FIG.  18   , three media have been detected, including air  3508 , tissue  3510 , and a foreign object, the NGtube  3512 . The digital representation of the end effector  3506  includes a longitudinal scale, corresponding to the relative positions within which the electrodes  3012  ( FIG.  10   ) span from a distal end of the end effector to a proximal end of the end effector. Accordingly, the digital representation of the end effector  3506  is segmented into four colored portions, wherein each portion corresponds to media determined by the algorithmic methods, as detected by the electrodes. For example, according to the non-limiting aspect of  FIG.  18   , the widget  3504  can communicate to an operating clinician that air  3508 , tissue  3510 , an NGtube  3512 , and more tissue  3510  is positioned within the jaws of the simulated end effector, from its distal to its proximal end, in order. 
     As will be appreciated, the capability to consistently identify the presence of a foreign object beneath the tissue being operated on is imperative. For example, foreign objects can include NGtubes, bougies, previous staple lines, and/or additional, non-tissue objects that could obstruct and/or adversely effect the surgical operation. For example, an operating clinician needs to know whether a surgical instrument, such as the surgical instrument  3002  of  FIG.  10   , has accidentally clamped down upon a foreign object, prior to the firing of said surgical instrument. If a foreign object, such as an NGtube, lies beneath the tissue, it can be difficult for the operating clinician to know if the surgical instrument has actually clamped on the NGtube, which is not ideal. This lack of certainty and visibility as to what media is between the jaws of the end effector can complicate a surgical operation and lead to less desirable surgical outcomes. Accordingly, to detect and differentiate the presence of these foreign objects from the surrounding tissue, several key patterns have been observed, and an algorithm has been developed to detect the presence of foreign objects. Some of the patterns contemplated by the present disclosure will be discussed in further detail, below. 
     Referring now to  FIG.  19   , another chart  3600  illustrating experimental results of the methods of  FIGS.  13 - 15    is depicted in accordance with at least one non-limiting aspect of the present disclosure. According to the non-limiting aspect of  FIG.  19   , the algorithmic methods  3200  of  FIGS.  13 - 15    have detected stomach tissue  3602  and a foreign object  3604 , such as an NGtube, between the jaws of the end effector  3014  ( FIG.  10   ). However, as the jaws of the end effector  3014  ( FIG.  10   ) close in time, the determined impedance signal associated with the NGtube  3604  increases whereas the determined impedance signal associated with the stomach tissue  3602  remains relative uniform. Accordingly, this pattern can be used by the algorithmic methods  3200 ,  3216 ,  3218  of  FIGS.  13 - 15    and the system  3000  of  FIG.  10    to generate a user interface, such as the user interface  3500  of  FIG.  18   , which can communicate to the operating clinician that a foreign object, such as the NGtube  3604 , is present between the jaws of the end effector  3014  ( FIG.  10   ), as well as the precise location of the NGtube  3604  within the jaws. 
     Referring now to  FIG.  20   , another chart  3700  illustrating experimental results of the methods of  FIGS.  13 - 15    is depicted in accordance with at least one non-limiting aspect of the present disclosure. The chart  3700  of  FIG.  20    illustrates a second identifying pattern which can be used by the algorithmic methods  3200 ,  3216 ,  3218  of  FIGS.  13 - 15    to detect media positioned between the jaws of the end effector  3014  ( FIG.  10   ). Specifically, the chart  3700  of  FIG.  20    depicts a change in impedance phase over time, which produces a pattern that can be used to differentiate foreign objects from tissue. For example, according to the non-limiting aspect of  FIG.  20   , the algorithmic methods  3200  of  FIGS.  13 - 15    have once again determined impedance signals associated with stomach tissue  3702  and a foreign object  3704 , namely, a NGtube, between the jaws of the end effector  3014  ( FIG.  10   ). However, according to the non-limiting aspect of  FIG.  20   , the phase of the foreign object  3704  decreases over time, while the phase for stomach tissue stays relatively constant. Accordingly, this pattern can be used by the algorithmic methods  3200 ,  3216 ,  3218  of  FIGS.  13 - 15    and the system  3000  of  FIG.  10    to generate a user interface, such as the user interface  3500  of  FIG.  18   , which can communicate to the operating clinician that a foreign object, such as the NGtube  3704 , is present between the jaws of the end effector  3014  ( FIG.  10   ), as well as the precise location of the NGtube  3704  within the jaws. 
     According to some non-limiting aspects, a combination of patterns and trends, including the patterns illustrated in  FIGS.  19  and  20   , can be collectively implemented to distinguish foreign objects from tissue. Referring now to  FIG.  21   , a logic flow diagram of a method  3800  that collectively implements multiple patterns to distinguish detected foreign objects from detected tissue within the jaws of an end effector is depicted in accordance with at least one non-limiting aspect. According to the non-limiting aspect of  FIG.  21   , the method  3800  can include the collection of impedance input data  3802 , feature extraction  3804 , and model development  3806 . As previously described, the method  3800  can commence via the receipt of signals from sensors, such as electrodes  3012  ( FIG.  10   ) positioned within the jaws of an end effector  3014  ( FIG.  10   ). Based on such signals, an algorithm can be configured to determine parameters such as impedance signal and impedance phase in time, as illustrated by the input step  3802  of the method  3800  of  FIG.  21   . These determined measurements can be used to characterize, or extract features  3804 , such as a phase shift in time and/or a change in impedance signal in time. These features, and other data, can also be labeled as part of the feature extraction  3804 . Finally, the model can be developed  3806 . Model development  3806  can include the use of the determined phase shift or change in impedance signal to distinguish various media within the jaws of the end effector  3014  ( FIG.  10   ). As such, an output from the method  3800  of  FIG.  21    can be used to identify various media, such as foreign objects, within the jaws of the end effector  3014  ( FIG.  10   ) and thus, used by the system  3000  ( FIG.  10   ) to provide a warning to an operating clinician. 
     According to other non-limiting aspects, the present disclosure contemplates a support vector machine model for classification of tissue location within the jaws of the end effector  3014  ( FIG.  10   ). In order to provide tissue location feedback to the surgeon, a robust algorithm that can differentiate between tissue, fluid, and air must be developed. It has been observed that this distinction can be made when using Electrical Impedance Spectroscopy (“EIS”) technology. Machine learning techniques and/or support vector machines can be used to provide such classifications. Such techniques can further assist an operating clinician in visualizing where tissue is located within the jaws of the end effector  3014  ( FIG.  10   ), to ensure that an entire vessel is fully clamped before performing a surgical operation, such as cutting and/or stapling. This can be challenging to visualize when an operating clinician is operating deep within the body and cannot see the cut line at the distal tip of the device. For example, when firing a surgical instrument, such as a stapler, across a vessel or artery, it may be important to capture the vessel fully within the jaws of the device. Capturing the vessel fully within the jaws can ensure that the surgical operation, such as a cutting and/or sealing of the vessel, occurs all the way across the vessel, thereby preventing blood loss. Sometimes during a procedure, however, it can be difficult to visually identify where the tissue is located within the jaws and if it extends past the cut line. 
     Referring now to  FIG.  22   , a logic flow diagram of a method  3900  of training an algorithmic model to intelligently classify the location of media within the jaws of an end effector  3014  ( FIG.  10   ) is depicted in accordance with at least one non-limiting aspect. Specifically, the method  3900  can include the use of a support vector machine model of classifying tissue located within the jaws of the end effector  3014  ( FIG.  10   ). According to the non-limiting aspect of  FIG.  22   , the method  3900  can include the collection of impedance input data  3902 , data scaling and feature extraction  3904 , model training  3906 , and outputting the model  3908 . As previously described, the method  3900  can commence via the receipt of signals from sensors, such as electrodes  3012  ( FIG.  10   ) positioned within the jaws of an end effector  3014  ( FIG.  10   ). Based on such signals, an algorithm can be configured to determine parameters such as impedance signal and impedance phase in time, as illustrated by the input step  3902  of the method  3900  of  FIG.  22   . These determined measurements can be used to for data scaling and feature extraction  3904 , such as scaling a phase shift (e.g., by ½ rad, etc.), scaling an impedance signal (e.g., by 1/100 Kohms, etc.), determining a phase shift in time, and/or determining a change in impedance signal in time. For example, the impedance phase (“Zphase”) can be scaled between a range of 0.001π and 2π radians and the impedance magnitude (“Zmag”) can be scaled between a range of 0.001 and 1 Mohm. The scaling can be performed using a custom scaling function. These features, and other data, can also be labeled as part of the feature extraction  3904 . Calculations can be performed on the data to extract new features such as change in Z magnitude over time. However, the scaling and feature extraction  3904  can differ from a corresponding step  3804  of the method  3800  of  FIG.  21    in that the data can be labeled with the appropriate tissue type and the input features with their tissue type labels are used to train  3906  a the algorithmic model. For example, the method  3900  can include training  3906  the model via a linear support vector machine algorithm using the open source Scikit Learn Python library. 
     The trained model produces a weight matrix and bias vector that are used for classification of future samples. 
     For example support vector machine models is one of the most popular supervised learning algorithms, which can be used for classification as well as regression problems. Specifically, the present disclosure contemplates implementing support vector machine modeling for classification of media within the jaw of an end effector  3014  ( FIG.  10   ) as a means of machine learning and thus, improving the algorithmic performance. The goal of the support vector machine algorithm is to create the best line or decision boundary that can segregate n-dimensional space into classes so that new data points (e.g., impedance measurements) can be properly and efficiently categorized in the future. This best decision boundary can be called a hyperplane. Thus, the model training  3906  can choose extreme points/vectors in time that help the algorithmic model create a hyperplane. These extreme cases are called as support vectors, and hence algorithm is known as a “support vector machine” algorithm. Then, the linear support vector machine can create a novel weight matrix, which can include weights configured to determine how significant each input feature is for each class. The training  3906  can further create a bias vector, which can be used to calculate classification scores. Finally, the model can be output  3908 . The output model  3908  can include weight matrix and/or a bias vector, as previously discussed. Ultimately, the training  3906  can be performed using a training dataset and, once trained, the algorithm can classify future samples using only a simple dot product and addition. 
     Referring now to  FIG.  23   , a block diagram of a method  4000  of classifying a detected media after an algorithmic model has been trained via the method  3900  of  FIG.  22    is depicted in accordance with at least one non-limiting aspect of the present disclosure. According to the non-limiting aspect of  FIG.  23   , the mathematical operations—which can be performed algorithmically—to classify a new sample after the model has been trained are illustrated. Specifically, the weight matrix will be an “m” by “n” matrix, where “m” (# rows) represents the number of classes the model is trained on, and “n” (# columns) represents the number of input features for the model, as extracted  3902  via the method  3900  of  FIG.  22   . It shall be appreciated that the weight matrix can include any number of rows and/or columns as needed. The model can be trained using multiple classes and multiple inputs. According to some non-limiting aspects, there can be four classes (e.g., corresponding to tissue, fluid, air, and/or foreign objects) and four input features (e.g., corresponding to Z mag, Z phase, dZ/dt, and/or dPhase/dt). For example, according to the non-limiting aspect of  FIG.  23   , the model can be trained for two distinct classes, with three input features. Sample X of  FIG.  23    illustrates feature data extracted from a new sample (e.g., an impedance measurement determined based on signals received from electrodes  3012  ( FIG.  12   )), which needs to be classified. The model consults the historical patterns, such as the relationship between determined impedance signal and impedance phase shifting in time for samples at a frequency of interest. Once classified, determined distinctions in classifications can easily be communicated to the operating clinician in accordance with any of the methods and/or means disclosed herein. 
     Referring now to  FIGS.  24 A and  24 B , several charts  4100 A,  4100 B illustrating a distinction between various media detected within the jaws of an end effector  3014  ( FIG.  10   ), as determined via the method  4000  of  FIG.  23    is depicted in accordance with at least one non-limiting aspect of the present disclosure. According to the non-limiting aspect of  FIG.  24 A , the first chart  4100 A illustrates a determined distinction between detected tissue and fluids, when impedance signal is considered relative to impedance phase. Specifically, the model has generated a linear boundary line  4101  between tissue, such as stomach tissue  4106  and lung tissue  4108  and fluid, such as saline  4102  and blood  4104  respectively. In other words, the model has established clear distinction between tissue  4106 ,  4108  and fluids  4102 ,  4104 . 
     According to the non-limiting aspect of  FIG.  24 B , the chart  4100 B once again illustrates a determined distinction between detected tissue and fluids, when impedance signal is considered relative to impedance phase. Specifically, the model has generated a linear boundary line  4103  between tissue, such as stomach tissue  4116  and lung tissue  4118  and fluid, such as saline  4110 , peri-blood  4112 , blood  4114 , and peritoneal fluid  4120  respectively. In other words, the model has established clear distinction between tissue  4116 ,  4118  and fluids  4110 ,  4112 ,  4114 ,  4120 . According to some non-limiting aspects, the algorithm can perform this classification and create the boundary line between datasets is a custom linear support vector machine. 
     Referring now to  FIG.  25   , another chart  4200  illustrating a distinction between various media detected within the jaws of an end effector  3014  ( FIG.  10   ), as determined via the method  4000  of  FIG.  23    is depicted in accordance with at least one non-limiting aspect of the present disclosure. According to the non-limiting aspect of  FIG.  25   , the phase shift and impedance signal can be scaled via the scaling process  3904  of  FIG.  23   . For example, according to the non-limiting aspect of  FIG.  25   , the phase shift can be scaled by ½ rad and the impedance signal can be scaled by 1/100 Kohms. Once again, the model has generated a boundary line  4201  that distinguishes tissue, such as stomach tissue  4204  from a foreign object, such as an NGtube  4202 . However, according to the non-limiting aspect of  FIG.  25   , the model has also generated support vectors  4203 ,  4205  which can be used by the model to further determine and refine the boundary line  4201 . 
     According to other non-limiting aspects of the present disclosure, devices, systems, and methods of data analysis to characterization tissue via electrical impedance spectroscopy are disclosed. During a surgical procedure, surgeons may encounter various situations where information about tissue characteristics and location within a stapler jaw becomes advantageous. The ability to know the type of tissue being fired upon as well as the position of the specimen in the jaw supports the surgeon&#39;s capacity to fire the stapling device effectively. Algorithm development needs feature inputs from data to form meaningful tissue insights from electrical impedance data using minimal computing power, which can promote processing efficiency and improve the computing performance of an intelligent surgical instrument. As part of the algorithm and model development process to extract tissue insights from electrical impedance spectroscopy sensing technology, feature inputs need to be established to identify key patterns within the data. Electrical impedance measurements are composed of impedance signal and impedance phase. These two values can be studied either through the lens of time or frequency. By studying the sensed electrical impedance profiles over the time domain, different specimens may exhibit distinct and differentiable patterns which can be used to characterize both liquids and tissues. Such features represent a technical enhancement by providing continuous, real-time tissue characterization that could not be manually performed by the operating clinician and other surgical instruments and systems are incapable of. Thus, the techniques disclosed herein represent a significant technological improvement over conventional devices. 
     Referring now to  FIGS.  26 A and  2 B , several charts  4300 A,  4300 B illustrating a distinction a means of characterizing tissue within the jaws of an end effector  3014  ( FIG.  10   ) are depicted in accordance with at least one non-limiting aspect of the present disclosure. The charts  4300 A,  4300 B illustrate the use electrical impedance signal and phase shifts, as determined in the time domain via the methods and means disclosed herein, to provide innovative tissue insights. According to the non-limiting aspects of  FIGS.  26 A and  26 B , the charts  4300 A,  4300 B illustrate measured parameters determined in time, as associated with a lung lobe  4302  and a bronchus  4304 . Specifically, the chart  4300 A of  FIG.  26 A  illustrates an impedance profile in the time domain of lung lobe  4302  and bronchus  4304  tissue. The chart  4300 B of  FIG.  26 B  illustrates an impedance shift in the time domain of lung lobe  4302  and bronchus  4304  tissue. In reviewing both charts  4300 A,  4300 B, it becomes evident that the range of values between bronchus  4304  is easily differentiable from the lung lobe  4302  due to a different range of phase values uniquely exhibited by each specimen. The charts  4300 A,  4300 B further illustrate how measure values can change as a function of time, and how the time domain can also offer insights into tissue characterization. For example, the measured values may change as the operating clinician closes the jaws of the end effector  3104  ( FIG.  10   ), thereby compressing the tissue and potentially changing the measured parameters, depending on the media. Additionally, by using the time domain, a clear distinction between tissue types is possible by using only one frequency of interest. The ability to use less frequencies to obtain the necessary model inputs streamlines and thus, reduces the computing power required by the sensing modality to characterize the tissue. Furthermore, limiting the frequency range may also reduce the complexity of the sensor hardware required on the surgical instrument. 
     Referring now to  FIG.  27   , a flow chart of a method  4400  of detecting media, locating media, and characterizing media positioned between the jaws of an end effector  3104  ( FIG.  10   ) is depicted in accordance with at least one non-limiting aspect. Notably, the method  4400  of  FIG.  27    summarizes the methods and functions performed by the systems and devices described above, and illustrates how powerful the system  3000  ( FIG.  10   ) can be when implemented in a comprehensive way. 
     It shall be appreciated that, the foregoing aspects illustrate devices, systems, and methods that, when implemented via the aforementioned surgical instruments, can utilize various signals and signal parameters to generate tissue insights (e.g., tissue locations, foreign body notifications, critical structure notifications, tissue characterizations, etc.). Accordingly, the foregoing aspects illustrate devices, systems, and methods can enable intraoperative instrument-tissue interactions, which can allow an operating clinician to “see the unseen,” thereby augmenting surgical decision making, which can result in a safer, more efficient, and/or more precise surgical operation. However, when implemented via improved surgical instruments, the foregoing devices, systems, and methods can produce even more benefits, as will be discussed in further detail herein. For example, according to some non-limiting aspects, one or more electrodes can be electro-mechanically integrated into the jaws of an end effector, such that the surgical instrument can generate enhanced insights using a variety of methods, which shall include but not limited to electrical impedance spectroscopy (“EIS”). However, according to some non-limiting aspects, the electrodes can be implemented for alternate means of electrical sensing (e.g., monitoring voltage, current, power, impedance, or any combination of those). As such, the surgical instruments disclosed herein can be particularly configured to process motor load responses, based on programmable conditions (e.g., end effector opening, end effector closing, tissue compression, etc.) that generate tissue responses. The surgical instruments disclosed herein can include various combinations of electrode arrays and multiplexers configured to activate various electrodes in various ways, thereby enabling the electrodes and thus, the surgical instruments to generate the previously disclosed insights. It shall be appreciated that the following aspects can be implemented via a handheld surgical instrument, such as the surgical instrument  10000  of  FIG.  1   , or via a robotic surgical instrument, such as the surgical instrument  5100  of  FIG.  3   . 
     In order to generate those insights, the surgical instruments disclosed herein can include specifically configured electrode arrays, which are integrated into various portions of and end effector, coupled via a particular routing configuration to a system interface located proximal to the end effector and electrode array. For example, the surgical instruments disclosed herein can include electrode arrays with a variety of electrodes of varying numbers (e.g., two, four, six, eight, etc.), geometric configurations (e.g., circular, rectangular, triangular, asymmetric, etc.), materials (e.g., gold, aluminum, titanium, stainless steel, etc.), and locations (e.g., channels, cartridge, anvil). As such, the arrays of electrodes can be used for EIS measurements, which are conveyed via electrical connections that run through the surgical instrument to a connection interface. This connects the stapler to the EIS control electronics. The routing of signals within the external boundary of the stapler could be achieved using a flexible printed circuit board or via a wireless connection. As will be disclosed herein, electrodes can be integrated within a channel, a separate consumable, a cartridge, or an anvil of the end effector, amongst other locations. 
     Likewise, the way signals are routed to an from the electrodes for insight generation can further improve the performance of a surgical instrument. For example, the use and/or position of a multiplexer, or switching integrated circuit, can enhance the way the surgical instrument activates and utilizes each electrode of an array. Moreover, the position of the multiplexer can enhance performance. For example, according to some non-limiting aspects, it might make sense to position the multiplexer in a channel defined by the end effector, elsewhere in the jaws of the end effector, the shaft of the surgical instrument, the handle of the surgical instrument, in a consumable or cartridge configured for placement within the end effector, or within a standalone piece of capital equipment (e.g., an electrosurgical generator). Additionally, the means by which the electrodes interface (e.g., wired or wireless) with the surgical instrument can further enhance performance. Additionally, a control circuit configured to process signals from the electrode array and generate insights can be positioned within the surgical instrument, or external to the surgical instrument, and can likewise be configured for wired or wireless interfacing. Accordingly, a portion of a cable can be dedicated to signals associated with power and data communication and can be plugged into the surgical instrument&#39;s proximal end to enable sensing as needed (e.g., plug-n-play functionality). A second portion of the cable can be connected to system capital module (e.g., a surgical hub), which can provide the power, signal generation and/or computational signal processing capabilities. According to some non-limiting aspects, the control circuit can be configured to received signals from the electrode array via a wired or wireless interface, regardless of whether the control circuit is onboard or external to the surgical instrument. As such, various surgical instruments can include various degrees of system integration to generate the previously discussed insights as will be discussed in further detail herein. 
     For example, referring to  FIG.  28   , a surgical system  6000  is depicted in accordance with at least one aspect of the present disclosure. According to the non-limiting aspect of  FIG.  28   , the surgical system  6000  can include a hub  6001  configured to be communicably coupled to one or more modular surgical instruments  6008 ,  6010 , which can be interchangeably connected to the hub  6001 . According to some non-limiting aspects, the hub  6001  can be similar to those disclosed in U.S. patent application Ser. No. 16/562,172 titled PORT PRESENCE DETECTION SYSTEM FOR MODULAR ENERGY SYSTEM, filed on Sep. 5, 2019 and published as U.S. Patent Application Publication No. 2020/0078113 on Mar. 12, 2020, the disclosure of which is hereby incorporated by referenced in its entirety. Although the surgical instruments  6008 ,  6010  of  FIG.  28    are wired to the hub  6001 , according to some non-limiting aspects, the surgical instruments  6008 ,  6010  can be wirelessly coupled to the hub  6001 . Regardless, the hub  6001  can communicate signals and/or commands to the surgical instruments  6008 ,  6010  and can receive signals and/or feedback from the surgical instruments  6008 ,  6010 . 
     In further reference to  FIG.  28   , the surgical system  6000  can be compatibly configured for use with a robotic platform  6002  that utilizes a robotic surgical instrument  6008  and/or a handheld platform  6004  that utilizes a handheld surgical instrument  6010 , depending on the intended application. For example, according to the non-limiting aspect of  FIG.  28   , the handheld surgical instrument  6010  can be a laparoscopic device; however, according to other non-limiting aspects, the present disclosure contemplates other handheld surgical instruments. In both platforms  6002 ,  6004 , the hub  6001  can be positioned within a rack  6016 ,  6018  that includes various control units (e.g., processors, actuators, generators, etc.) configured to control the communicably coupled surgical instruments  6008 ,  6010 . For example, the robotic platform  6002 , in particular, can further include a controller of a robotic surgical system, such as the controller  5000  of  FIG.  2   . 
     Notably, the modular surgical instruments  6008 ,  6010  of  FIG.  28    can each include an end effector  6012 ,  6014  configured with a first jaw that is movable relative to a second jaw, as previously disclosed. Depending on the implementing surgical instrument  6008 ,  6010  and/or platform  6002 ,  6004 , each end effector  6012 ,  6014  can be particularly configured to perform an intended surgical operation. For example, according to some non-limiting aspects, the end effectors  6012 ,  6014  can be configured to perform a surgical stapling operation. According to other non-limiting aspects, the end effectors  6012 ,  6014  can be configured to deliver RF and/or ultrasonic energy in response to a command received from the hub  6001  and/or energy received from a generator positioned in the rack  6016 ,  6018 . For example, according to some non-limiting aspects, the end effector  6002  can be configured for an advanced bipolar surgical operation. According to still other non-limiting aspects, the end effector  6002  can be configured for Highly Articulating Tools (“HAT”), such as end effectors configured to articulate in two or more planes. Regardless, each end effector  6012 ,  6014  can include an array of electrodes  6013 ,  6015  configured to facilitates the generation of enhanced tissue insights using a variety of methods, as will be explained in further detail herein. 
     Referring now to  FIGS.  29 A-C , a robotic surgical instrument  6008  configured for use with the system  6000  of  FIG.  28    is depicted in accordance with at least one aspect of the present disclosure. According to the non-limiting aspect of  FIG.  29 A , the surgical instrument  6008  can include an end effector  6012  configured to perform a surgical operation. For example, according to some non-limiting aspects, the end effector  6012  can be configured for use a surgical stapling operation. According to other non-limiting aspects, the end effector  6012  can be configured to deliver RF and/or ultrasonic energy. For example, according to some non-limiting aspects, the end effector  6012  can be configured for an advanced bipolar surgical operation. According to still other non-limiting aspects, the end effector  6012  can be configured for HAT. 
     In reference to  FIGS.  29 B and  29 C , certain end effectors  6012   a ,  6012   b  and electrode configurations  6013   a ,  6013   b  that can be coupled to the robotic surgical instrument  6008  of  FIG.  29 A  are depicted in accordance with at least two non-limiting aspects of the present disclosure. For example,  FIG.  29 B  illustrates an end effector  6012   a  that can include electrodes that traverse a longitudinal axis defined by the end effector  6012   a  and protrude from an external wall of the end effector  6012   a . According to  FIG.  29 C , electrodes can be defined from a pad that similarly traverses a longitudinal axis defined by the end effector  6012   b , but are flush relative to an external wall of the end effector  6012   a . As will be discussed in further detail, the electrodes  6013   a ,  6013   b  can be integrated within the end effectors  6012   a ,  6012   b  and/or integrated within cartridges configured to be inserted into the end effectors  6012   a ,  6012   b . 
     In further reference to  FIGS.  29 A-C , the robotic surgical instrument  6008  can be further configured to generate data associated with the robotic surgical instrument  6008 , which can enhance the feedback received from the surgical instrument  6008  and thus, improve the insights generated by a surgical hub and/or control circuit communicably coupled to the surgical instrument  6008 , as illustrated and discussed in reference to  FIGS.  1 - 27   . For example, the surgical instrument  6008  of  FIGS.  29 A-C  can generate data associated with its position, load, and/or motor via one or more internal sensors (e.g., an encoder, torque sensors, controlled motion sensors, etc.) positioned within its housing. This data, in conjunction with electrical impedance spectroscopy (“EIS”) data generated by a plurality of electrodes  6013  positioned within the end effector  6012  can be used to inputs to the previously discussed algorithm engines, which can estimate, detect, and/or evaluate key outputs and/or insights regarding the tissue being operated on, the surgical instrument  6008  itself, and/or the operation, generally. Such outputs can provide high clinical values. For example, various combinations of tissue EIS data, position data, load data, and/or motor torque data generated by the surgical instrument  6008  of  FIG.  29 A-C  can be used by the previously discussed algorithm engines to estimate a relative tissue tension, a thickness of the tissue within the jaw, tissue characteristics, and/or the position of a critical structure (e.g., a vessel). 
     Referring now to  FIG.  30   , a block diagram  7000  of an algorithmic engine  7002  employed by the surgical instrument  6008  of  FIGS.  29 A-C  is depicted in accordance with at least one non-limiting aspect of the present disclosure. Although the algorithmic engine  7002  of  FIG.  30    is discussed in specific reference to the surgical instrument  6008  of  FIGS.  29 A-C , it shall be appreciated that the algorithmic engine  7002  of  FIG.  3    can be similarly implemented by any of the surgical instruments and/or surgical hubs disclosed herein. According to the non-limiting aspect of  FIG.  30   , the surgical instrument  6008  can generate several signals  7004 ,  7006 ,  7008  that can be provided to the algorithmic engine  7002  for processing and/or analysis. 
     For example, according to some non-limiting aspects, the surgical instrument  6008  of  FIGS.  29 A-C  can generate signals associated with tissue EIS data  7004 , position data  7006 , and/or torque/load data  7008  detected by the various sensors and/or electrodes  6013  positioned within the end effector  6012  of the surgical instrument  6008 . The algorithm engine  7002 , employing the previously discussed methods and techniques, can process these inputs and generate one or more outputs  7010 ,  7012 ,  7014 ,  7016  that could provide the clinician with insights regarding the tissue, surgical instrument  6008 , and/or operation being performed. 
     Referring now to  FIG.  31   , a handheld surgical instrument  6010  configured for use with the system  6000  of  FIG.  28    is depicted in accordance with at least one non-limiting aspect of the present disclosure. Although it is specifically configured for manual operation, the handheld instrument  6010  of  FIG.  31    can include any of the features and provide similar benefits to those discussed in reference to the robotic surgical instrument  6008  of  FIGS.  29 A-C . According to the non-limiting aspect of  FIG.  31   , the surgical instrument  6010  can include an end effector  6015  and a handle  6020 . The surgical instrument  6010  can further include a shaft  6016  with a proximal portion  6018  and a distal portion  6019 . The end effector  6014  can be coupled to the distal portion  6019  of the shaft  6016  via an articulation joint and the shaft  6016  can be coupled to the handle  6020  via a nozzle  6017 . As previously described, the end effector  6014  can include a first jaw movable relative to a second jaw, and can be configured to accommodate a plurality of electrodes  6015 . 
     Similar to the robotic surgical instrument  6008  of  FIGS.  29 A-C , the surgical instrument  6010  of  FIG.  31    can also be configured to perform a surgical operation. For example, according to some non-limiting aspects, the end effector  6014  can be configured for use a surgical stapling operation. According to other non-limiting aspects, the end effector  6014  can be configured to deliver RF and/or ultrasonic energy. For example, according to some non-limiting aspects, the end effector  6014  can be configured for an advanced bipolar surgical operation. According to still other non-limiting aspects, the end effector  6014  can be configured for HAT. 
     Referring now to  FIG.  32   , an exemplary electrode array  6015  is depicted in accordance with at least one non-limiting aspect of the present disclosure. Although the electrode array  6015  of  FIG.  32    is depicted as a component of the end effector  6014  of  FIG.  31   , it shall be appreciated that the electrode array  6015  of  FIG.  32    can be implemented via any of the end effectors employed by any of the surgical instruments disclosed herein. For example, a first jaw of the end effector  6014  of  FIG.  31    can define an elongate channel  6021  that traverses a longitudinal axis L of the end effector  6014  ( FIG.  31   ). Specifically, the channel  6021  can be defined by one or more walls  6025   a ,  6025   b  that extend along the longitudinal axis L on opposing sides of the longitudinal axis L. For example, the electrode array  6015  of  FIG.  32    includes eight pairs of electrodes  6022 ,  6024 , each having a rectangular shape and constructed from titanium. However, according to other non-limiting aspects, the array  6015  can include electrodes  6022 ,  6024  of varying numbers, geometries, and/or materials, depending on intended application and/or user preference. As further illustrated by  FIG.  32   , certain electrodes  6024  of the array  6015  can be configured different relative to other electrodes  6022 . For example, certain electrodes  6024  can be positioned about a cutline  6026  can be configured such that the electrodes  6024  provide an increased resolution at either side of the cutline  6026 . 
     According to the non-limiting aspect of  FIG.  32   , the electrode array  6015  can include one or more electrodes  6022 ,  6024  integrated into the walls  6025   a ,  6025   b  of the channel  6021  defined by one of the jaws of the end effector  6014  ( FIG.  31   ). Specifically, each electrode  6022 ,  6024  can be over-mounted, or over-molded onto the walls  6025   a ,  6025   b  of the channel  6021 . Of course, other means of integration can be employed to a achieve a similar effect. According to the non-limiting aspect of  FIG.  32   , certain electrodes  6024  can be positioned about a cutline  6026  of the end effector  6014  ( FIG.  31   ), such that those electrodes  6024 , when activated by a multiplexed signals conveyed via a multiplexer (as will discussed in further detail herein), can cut tissue about the cutline  6026 . The multiplexed signals and multiplexer can utilize the other electrodes  6022  to generate tissue insights, as previously discussed. 
     Referring now to  FIGS.  33 A-C , another end effector  6100  configured for use with the surgical instruments disclosed herein is depicted in accordance with at least one non-limiting aspect of the present disclosure. Similar to the end effector  6014  of  FIGS.  31  and  32   , the end effector  6100  of  FIGS.  33 A-C  can include a first jaw  6101  that defines a channel  6102  interspersed between two walls  6103   a ,  6103   b  of the jaw  6101 . Additionally, an array of electrodes  6104 ,  6106  can be integrated within each sidewall  6103   a ,  6103   b  of the jaw  6101 . In specific reference to  FIG.  33 B , a sectioned, isometric view of the end effector  6100  of  FIG.  33 A  is depicted in accordance with at least one non-limiting aspect. According to the non-limiting aspect of  FIG.  33 A , the end effector  6100  can further include a flexible conductor  6108  capable of carrying multiplexed signals, wherein the flexible conductor  6108  traverses through the jaw  6101 . 
     In further reference to  FIG.  33 B , the flexible conductor  6108  can be multiplexed and electrically coupled to the electrodes  6104 ,  6106  such that the electrodes  6104 ,  6106  can receive signals from transmitted by and/or through a control circuit positioned within the surgical instrument and/or surgical hub. The flexible conductor  6108  can accomplish this via multiple layers that provide electrical connections to the various electrodes  6104 ,  6106 . Accordingly, the flexible conductor  6108  can be configured as a multiplexer and/or a multiple output generator, as described further below. As such, independent signals can be transmitted to and through each electrode  6104 ,  6106 , such that each electrode  6104 ,  6106  can serve a different purpose and/or provide a separate function relative to other electrodes  6104 ,  6106  in the array. For example, tissue under each electrode  6104 ,  6106  can be treated individually according to the coagulation needs. However, relevant to the generation of surgical insights, as previously discussed, certain electrodes  6104  of the array can receive signals through the flexible conductor  6108  to generate surgical insights. Other electrodes, such as the electrodes  6106  disposed about a cutline  6026  ( FIG.  32   ), can receive signals through the flexible conductor  6108  to cut tissue that is positioned about the cutline  6026  ( FIG.  32   ). Each electrode  6104 ,  6106  in the array can be communicably coupled to a surgical hub and/or a control circuit and thus, communicably coupled to an energy source, such that the electrodes  6104 ,  6106  can receive energy via the flexible conductor  6108 . For example, according to one non-limiting aspect, the pairs of active electrodes  6104 ,  6106  on opposite sides of the channel  6102 , may be energized by the energy source at the same time. 
     According to other non-limiting aspects, different pairs of segmented electrodes  6104 ,  6106  can be energized or receive different signals via the flexible conductor  6108 . Various electrode pairs  6104 ,  6106  can be energized by the energy source (or generator) to perform certain surgical operations and other electrode pairs  6104 ,  6106  can be used to generate tissue insights, using the previously discussed techniques. The flexible conductor  6108  can convey various multiplexed signals and distribute them to the corresponding electrodes  6104 ,  6106  as desired, under the control of the control circuit, which will be discussed in further detail. According to some non-limiting aspects, the energy source, the multiplexer, and the control circuit can be positioned in the nozzle  6017 , the shaft  6016 , the handle  6020 , a housing of a robotic surgical instrument, and/or within a communicably coupled surgical hub of the surgical system. According to some non-limiting aspects, the multiplexer can be similar to those discussed in U.S. patent application Ser. No. 13/795,205, titled MOTORIZED SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING HANDLE BASED POWER SOURCE, and filed Feb. 14, 2008, which issued as U.S. Pat. No. 9,522,029 on Dec. 20, 2016, the disclosure of which is hereby incorporated by reference in its entirety. 
     According to the non-limiting aspect of  FIG.  33 C , a means of integrating the electrodes  6104 ,  6106  into the end effector  6100  is depicted in accordance with at least on non-limiting aspect of the present disclosure. The flexible conductor can be coupled to conductive tracks  3108   a ,  3108   b  that traverse each side of the end effector  3100 . Similar to the flexible conductor  3108 , each conductive track  3108   a ,  3108   b  can be configured to transmit multiplexed signals to and from the electrodes  3104 ,  3106 . An electrode material  6110 , from which the electrodes  6104 ,  6106  can be formed, can be overmolded with a material from which the sidewalls of  6103   a ,  6103   b  ( FIG.  33 A ) can be constructed. The overmolding, for example, can include a multi-step injection molding process where two or more components can be molded over top of one another, thereby resulting in a single, solid piece. Of course, according to other non-limiting aspects, other means can be employed to integrate the electrodes  6104 ,  6106  into the conductive tracks  6108   a ,  6108   b  and sidewalls of the end effector  6100  (e.g., machining, masking, insert molding, insertion into cavities and adhesion, etc.). 
     The non-limiting aspect of  FIGS.  33 A-C  illustrate merely one of the aforementioned integration techniques. According to the non-limiting aspect of  FIGS.  33 A-C , the array of electrodes  6104 ,  6106  can be integrated into the channel  6102 , the flexible conductor  6108  can be configured such that multiplexing takes place within the end effector  6100 , and signals, including data signals and power signals, can be routed through the end effector  6100  via tracks on the flexible conductor  6108 . The integrated techniques employed by the end effector  6100  enable signals to be transmitted through the flexible conductor  6108 , to and from the array of electrodes  6104 ,  6106 , and through an articulation joint of the surgical instrument, such as the articulation joint  6112  of  FIG.  34 A . According to the non-limiting aspect of  FIG.  34 A , the articulation joint  6112  can have one or more supports  6114  that a flexible conductor, such as the flexible conductor  6108  of  FIGS.  33 A-C , can be routed through, thereby facilitating articulation of an end effector, such as the end effector  6100  of  FIGS.  33 A-C , without interrupting any signals traversing the flexible conductor to and from the end effector. Of course, similar articulation joints  6112  can be implemented on any of the surgical instruments disclosed herein.  FIG.  34 B  depicts how the flexible conductor  6108  can be further proximally routed after the articulation joint  6112 , through a shaft  6116  of the surgical instrument and into a nozzle  6117 .  FIG.  34 C  depicts the nozzle  6117  of the surgical instrument in further detail, with the flexible conductor  6108  traversing a housing of the nozzle  6117  and electrically coupled to a control circuit  6119  positioned within the nozzle  6117 . However, according to other non-limiting aspects, the control circuit  6119  can be positioned proximal the nozzle  6117 , or within a communicably coupled surgical hub. In some non-limiting aspects, the surgical hub can be remotely positioned relative to the surgical instrument itself. Accordingly, end effectors of surgical instruments—and more specifically, arrays of electrodes—can be effectively coupled to a control circuit proximally positioned in the surgical instrument or a communicably coupled surgical hub. The control circuit can subsequently generate insights (e.g., EIS measurements) using the signals via algorithmic implementation, as previously discussed. 
     Referring now to  FIG.  35   , another end effector  6200  is depicted in accordance with at least one non-limiting aspect of the present disclosure. According to the non-limiting aspect of  FIG.  35   , the end effector  6200  can include one or more electrodes  6204  mounted on a separate consumable  6206  configured to be inserted within a channel  6202  defined by the sidewalls  6203   a ,  6203   b  of the end effector. As such, the channel  6202  and sidewalls  6203   a ,  6203   b  can be configured to accommodate the separate consumable  6206 . For example, the sidewalls  6203   a ,  6203   b  can include an interior surface composed of a conductive material, such that the conductive material is placed into electrical communication with the electrodes  6204  when the separate consumable is inserted into the channel  6202 . Alternately, the channel can include one or more electrical contacts configured to place the electrodes  6204  into electrical communication with a flexible conductor  6208  capable of carrying multiplexed signals, wherein the flexible conductor  6108  traverses through the channel  6202 . 
     In other words, according to the non-limiting aspect of  FIG.  35   , array of electrodes  3204  can be attached to a separate consumable  6206  and thus, selectively clipped into the channel  6202 . In this way, a single end effector  6200  can be configured to accommodate numerous separate consumables  6206 , wherein each separate consumable  6206  can include a different array of electrodes  6204  of varying configurations. Furthermore, the separate consumable  6206  can be define a second channel  6212  configured to accommodate a cartridge for the surgical operation (e.g., a staple cartridge, an electrosurgical cartridge, etc.). Accordingly, various combinations of separate consumables  6206  and cartridges can be used by the same end effector  6200 . Moreover, the electrodes  6204  can receive and send signals via the flexible conductor  6208 , which can be used to generate insights per the previously disclosed techniques, regardless of the cartridge type loaded into the end effector  6200 . According to some non-limiting aspects, the flexible conductor  6208  can be routed through the end effector  6200  and surgical instrument in a method similar to those described in reference to the end effector  6100  of  FIGS.  33 A-C  and  34 . 
     Referring now to  FIG.  36 A-D , another end effector  6300  is depicted in accordance with at least one non-limiting aspect of the present disclosure. According to the non-limiting aspect of  FIG.  36   , the end effector  6300  can accommodate a cartridge  6306  configured to perform a surgical operation (e.g., a staple cartridge, an electrosurgical cartridge, etc.), and an array of electrodes  6304  can be dispositioned on the cartridge  6306 , itself. In specific reference to  FIG.  36 B , the sidewalls  6303   a ,  6303   b  of the end effector  6300  can once again define a channel  6302 , and the channel  6302  can be configured to accommodate the cartridge  6306 . The end effector can further include a flexible conductor, such as the flexible conductors  6108 ,  6208  of  FIGS.  33 A-C ,  34  and  35 , capable of carrying multiplexed signals, wherein the flexible conductor  6308  traverses through the channel  6302 . The flexible conductor  6308  can be routed through the end effector  6300  and surgical instrument in a method similar to those described in reference to the end effector  6100  of  FIGS.  33 A-C  and  34 . 
     For example, the sidewalls  6303   a ,  6303   b  can include an interior surface composed of a conductive material, such that the conductive material is placed into electrical communication with the electrodes  6304  when the separate consumable is inserted into the channel  6302 , as illustrated in  FIG.  36 C . Alternately, the channel can include one or more electrical contacts configured to place the electrodes  6304  into electrical communication with a flexible conductor  6308  capable of carrying multiplexed signals, wherein the flexible conductor  6308  traverses through the channel  6302 . 
     Referring now to  FIG.  36 D , an insertion of the cartridge  6306  into the end effector  3600  is depicted in accordance with at least one non-limiting aspect of the present disclosure. According to the non-limiting aspect of  FIG.  36 D , the end effector  6300  can include a conductive element  6312  configured to electrically interface with a corresponding conductive element  6310  on the cartridge  6300 . The conductive elements  6310 ,  6312  can further be configured for multiplexed signal transmission, such that multiplexed signals transmitted through the flexible conductor  6308  of the end effector  6300  can be communicated to and from each electrode  6304  of the array, positioned on the cartridge  6306 . According to the non-limiting aspect of  FIGS.  36 A-D , the array of electrodes  6304  can be integrated onto cartridge  3606 , which can be a consumable. The electrodes  6304  can be electrically integrated within the cartridge  3606  via a multiplexing integrated circuit inside the cartridge and electrical connections between the conductive elements  6310 ,  6312 . Because the cartridge  6306  can include the multiplexing electronics, the interfaces  6310 ,  6312  between the end effector  6300  and the cartridge  6306  can be simplified. 
     Referring now to  FIGS.  37 A and  37 B , other end effectors  6400   a ,  6400   b , are depicted in accordance with at least one non-limiting aspect of the present disclosure. According to the non-limiting aspects of  FIG.  37 A  the end effector  6400   a  can be configured to accommodate a hybrid cartridge  6406   a  wherein an array of electrodes  6404   a  is positioned on the cartridge  6406   a . Each electrode  6404   a  can be configured for electrical communication with a flexible conductor  6408  capable of carrying multiplexed signals, when the cartridge  6406   a  is installed within the end effector  6400   a  wherein the flexible conductor  6308  traverses through a channel defined by the end effector  6400   a  and can be routed through the end effector  6400  and surgical instrument in a method similar to those described in reference to the end effector  6100  of  FIGS.  33 A-C  and  34 . 
     In reference to  FIG.  37 B , a similar, albeit subtly different, end effector  6400   b  is depicted in accordance with at least one non-limiting aspect of the present disclosure. Notably, the array of electrodes  6404   b  is different than the electrodes  6404   a  of  FIG.  37 A . As such, a plurality of conductive elements  6412  that correspond to each electrode  6404   b  are dispositioned in each wall  6403   a ,  6043   b  of the end effector  6400   b . Accordingly, each electrode  6404   b  of the array can receive an intended signal from the multiplexed signals traversing the flexible conductor  6408 . 
     It shall be appreciated that, according to the non-limiting aspects of  FIGS.  37 A and  37 B , the array of electrodes  3404   a ,  3404   b  can be positioned on the cartridge  3406   a ,  3406   b , which can be electrically configured with one or more electrical surfaces (e.g., metal plating, metal pieces bent around the sides, vias through the cartridge, etc.) for an intended connection of each electrode  3404   a ,  3404   b  to an appropriate portion of the flexible conductor  3408 . Accordingly, multiplexing takes place in the end effector  3400  but each electrode  3404   a ,  3404   b  still receives the appropriate signal via the electrical connections. 
     Referring now to  FIG.  38   , another end effector  3500  is depicted in accordance with at least one non-limiting aspect of the present disclosure. Similar to the end effectors  3400   a ,  3400   b  of  FIGS.  37 A and  37 B , the array of electrodes  3504  can be integrated on the cartridge  3506 , itself. Multiplexing, however, can occur either within the cartridge  3506  or end effector  3500  via a flexible conductor  6508  capable of carrying multiplexed signals. Regardless, the end effector  6500  of  FIG.  38    can further include a wireless communication module  6514  configured to transmit and receive multiplexed signals to and from a control circuit and/or a surgical hub wirelessly via an infrastructure network (e.g., WiFi®, cellular, etc.) or an ad hoc network (e.g., Bluetooth®, Near Field Communications, RFID, etc.). Accordingly, the wireless communication module  6514  can serve as a communication interface between the end effector  6500  and the surgical hub and/or control circuit, thereby eliminating the need for the routing described in reference to  FIGS.  33 A-C  and  34 . It shall be appreciated that a wireless communication module  6514  of  FIG.  38    can be similarly applied to any of the surgical instruments and/or end effectors disclosed herein, thereby simplifying—and in some aspects, eliminating—the routing of the flexible conductors disclosed herein. 
     Referring now to  FIGS.  39 A-D , another end effector  6600  is depicted in accordance with at least one non-limiting aspect of the present disclosure. According to the non-limiting aspect of  FIGS.  39 A-D , the end effector  6600  can include a first jaw and a second jaw. For example, the second jaw can be configured as an anvil of the end effector  6600  and a separate consumable  6606  can be configured to be selectively coupled to the second jaw. Whereas the separate consumable  6206  ( FIG.  35   ) was shown as coupled to a bottom jaw of the end effector  6200  of  FIG.  35   , the separate consumable  6606  can be coupled to the second, or top, jaw  6602  of the end effector  6600  of  FIG.  39 A . Nonetheless, the array of electrodes  6604  can be coupled to the separate consumable  6606  of  FIG.  39 A  and, when coupled to conductive elements on the second jaw  6602 , electrically coupled to a flexible conductor  6608 . The flexible conductor  6608  can be capable of carrying multiplexed signals, wherein the flexible conductor  6608  traverses through the end effector  6600  and surgical instrument in a method similar to those described in reference to the end effector  6100  of  FIGS.  33 A-C  and  34 . Alternately, the wireless embodiment of  FIG.  38    can be employed to transmit signals to and from the array of electrodes  6604 . 
     In reference to  FIG.  39 C , a method of coupling the separate consumable  6606  to the second jaw  6602  of the end effector  6600  of  FIGS.  39 A and  39 B  is depicted in accordance with at least one non-limiting aspect of the present disclosure. According to the non-limiting aspect of  FIG.  39 C , an adhesive layer  6610  can be deposited on a top surface of the second jaw  6602  and the separate consumable  6606  can be deposited on top of the adhesive layer  6610 . As such, the separate consumable  6606 , including its electrodes  6604  can be coupled to the second jaw  6602 , as depicted in the cross-sectioned view of  FIG.  39 D . Accordingly, the electrodes  6604  can be positioned on the underside of a printed circuit board of the separate consumable  6606 , such that they can generate signals for Of course, according to other non-limiting aspects, the separate consumable  6606  can be alternately coupled to the second jaw  6602 , for example, via corresponding geometric components, clips, fasteners, and/or a pressure fit. 
     Referring now to  FIG.  40   , a flexible circuit  6700  configured for use with any of the end effectors disclosed herein is depicted in accordance with at least one non-limiting aspect of the present disclosure. According to the non-limiting aspect of  FIG.  40   , the flexible circuit  6700  can be a multiple switching integrated circuit (e.g., a multiplexer) that includes one or more switch circuits  6702  positioned on a flexible printed circuit board  6704  for signal switching and control to and from an end effector. The flexible circuit  6700  can be routed through a shaft of the surgical instrument and integrated into the end effector to provide signal selection and control of electrodes at the end-effector. The flexible circuit  6700  can include a portion that is extended through the articulating joint to the end-effector where electrodes are connected. Another side of the flexible circuit  6700  can extend through the shaft to the proximal side of the tool, where signal conditioning and processing electronics can be placed. The switches  6702  can be configured to turn on/off certain electrodes, thereby resulting in different electrode configurations being activated during impedance measurements. 
     Referring now to  FIG.  41   , a system diagram of a system  6800  configured to use the surgical instruments and end effectors disclosed herein is depicted in accordance with at least one non-limiting aspect of the present disclosure. according to the non-limiting aspect of  FIG.  41   , the system  6800  can utilize a surgical instrument  6801 , that includes electronics  6802  for switching and buffering signals to and from a control circuit positioned within the surgical instrument  6801 . The surgical instrument  6801  can further include an end effector  6804  configured for a surgical operation (e.g., stapling, sealing, cutting, etc.). An electrode array  6806  can be positioned within the end effector  6804  according to any of the aspects disclosed herein. For example, the electrode array  6806  can include a specifically configured number and arrangement of electrodes (e.g., eight pairs of electrodes, sixteen electrodes in total, etc.). The surgical instrument  6801  can further include electrical connections  6812  routed through the inside of an articulation joint and shaft of the surgical instrument  6801  using any of the flexible conductors and arrangements disclosed herein. A nozzle  6808  of the surgical instrument  6801  can include a control circuit. The nozzle  6808  can be stationary, or further configured to rotate the shaft. The surgical instrument can be further connected to a lab system  6814  or surgical hub configured to display a graphical user interface, which can include a plotting window configured to present the algorithmic insights, as previously described. The system  6800  can be compatible with a plurality of surgical instruments  6816 , each configured for use with a plurality of separate consumables and/or cartridges  6818 , as disclosed herein. Accordingly, the system  6800  can facilitate the use of numerous, customizable electrode configurations, each capable of performing different surgical operations and generating different insights. 
     Referring now to  FIG.  42   , a surgical instrument  6900  is depicted in accordance with at least one non-limiting aspect of the present disclosure. According to the non-limiting aspect of  FIG.  42   , the surgical instrument  6900  can include a first cable  6902  input and a second cable input  6904  that enter the nozzle  6906  of the surgical instrument  6900 . As such, a control circuit  6908  positioned within the nozzle  6906  can process inputs from both the first cable  6902  and the second cable  6904  into a multiplexed signal that can traverse a flexible conductor routed through the surgical instrument  6900  using any of the methods disclosed herein. 
     Referring now to  FIG.  43   , a diagram illustrating several non-limiting surgical system configurations  7002 ,  7004 ,  7006  is depicted in accordance with at least one non-limiting aspect of the present disclosure. According to the non-limiting aspect of  FIG.  43   , each of the configurations  7002 ,  7004 ,  7006  can employ various electrode configurations, switching circuitry, signal conditioning circuits, signal generators, signal processing circuits, and/or graphical user interfaces to generate and display the insights disclosed herein. For example, a first configuration  7002  employs an electrode array in the end effector, switching circuitry in the tool shaft, and signal conditioning in the tool stage. The signal generator and processor can be located in a surgical hub, and results can be displayed via a graphical user interface on a separate unit. According to the second configuration  7004 , an electrode array can be included in the end effector, and switching circuitry as well as signal conditioning can occur in the tool shaft. Once again, the signal generator and processor can be located in a surgical hub, and results can be displayed via a graphical user interface on a separate unit. According to the second configuration  7004 , an electrode array can be included in the end effector, and switching circuitry as well as signal conditioning can occur in the tool shaft. Once again, the signal generator and processor can be located in a surgical hub, and results can be displayed via a graphical user interface on a separate unit. According to the third configuration  7006 , an electrode array can be included in the end effector, switching circuitry can occur in the tool shaft, and as signal conditioning can occur in the tool stage. However, the signal generator and processor can be located in a surgical instrument, and results can be displayed via a graphical user interface on a separate unit, thereby bypassing the surgical hub altogether. 
     As previously described, the use of one or more electrodes to generate enhanced insights (e.g., tissue locations, foreign body notifications, critical structure notifications, tissue characterizations, etc.) using a variety of methods, which shall include but shall not be limited to EIS. However, according to some non-limiting aspects, similar devices, systems, and methods can be employed to expand those insights to include the identification of a particular contact and/or a particular timing of contact between the jaws of an end effector and a particular media positioned within those jaws. In other words, certain insights can be used to identify a particular contact of interest between the jaws of an end effector and a media positioned within the jaws of the end effector, which can be used as a point of reference from which other measurements can be taken. For example, such aspects can include the detection of an initial contact with a tissue, which can be subsequently used as a timing mechanism to trigger other sensors that take tissue thickness and/or jaw displacement measurements, as will be disclosed in further detail herein. 
     Such applications of the aforementioned devices, systems, and methods can be particularly useful as sensing technologies are developed to measure tissue thickness and/or jaw displacement on surgical instruments. Although useful, these enhancements can make it difficult to discern exactly when the required measurements should be taken, as it can be difficult to visually identify when initial contact is made with a tissue sample. In other words, it can be difficult to determine when a sensor begins contacting the tissue while it is simultaneously sensing tissue thickness and/or end effector displacement. These problems can be addressed using the aforementioned devices, systems, and methods in accordance with the following non-limiting aspects of the present disclosure. 
     Referring now to  FIG.  44   , a logic flow diagram of a method  4400  of identifying a particular contact between the jaws of an end effector and a media positioned within the jaws of the end effector is depicted in accordance with at least one non-limiting aspect of the present disclosure. Generally, the method  4400  of  FIG.  44    utilizes the aforementioned sensing techniques (e.g., electrical impedance sensing techniques, etc.) to enable a sensor—such as a tissue-thickness detecting sensor—to be used as a timing mechanism by which the surgical instrument, or a system communicably coupled to the surgical instrument, knows when to begin taking measurements. Previously, the aforementioned sensing techniques were discussed in reference to detecting a particular media&#39;s location within the jaws of an end effector. However, according to the non-limiting aspect of  FIG.  44   , similar techniques are employed to establish a particular time of contact, such as the identification of when an initial tissue contact is made. Accordingly, the method  4400  of  FIG.  44    can enable baseline measurements to be taken immediately when tissue contact is initiated, such that changes in one or more sensed parameters can be tracked over time from the initial point of contact. 
     For example, according to the non-limiting aspect of  FIG.  44   , the method  4400  can be specifically employed to perform RF impedance-based sensing to identify an initial point of tissue contact. The identified point of tissue contact can be used as a point of reference for the purposes of timing when other measurements should be taken. According to the non-limiting aspect, the method  4400  can include detecting  4402  a particular contact between the jaws of an end effector and a media positioned within the jaws of the end effector based on the aforementioned sensing techniques. For example, according to the non-limiting aspect of  FIG.  44   , an initial tissue contact can be detected  4402  via the aforementioned RF impedance sensing techniques. It shall be appreciated that the detection  4402  step of the method  4400  of  FIG.  44    can be performed via any of the aforementioned methods, including those discussed in reference to  FIGS.  6  and  13 - 15   . 
     According to the non-limiting aspect of  FIG.  44   , the method  4400  can further include initiating  4404  a sensing-based characterization process based on the detection  4402  of the particular contact between the jaws of an end effector and a media positioned within the jaws of the end effector. For example, according to the non-limiting aspect of  FIG.  44   , a tissue-thickness sensing method can be initiated  4404  based on the detected  4402  initial contact between the jaws of the end effector and the tissue. Of course, any number of sensors can be configured to characterize any number of media positioned within the jaws of the end effector in any way and thus, according to other non-limiting aspects, the initiated  4404  characterization can include any other sensing functions of any other sensors. 
     In further reference to  FIG.  44   , the method  4400  can further include determining  4406  a tissue characteristic based on sensing method. For example, according to the non-limiting aspect of  FIG.  44   , the method  4400  can further include determining  4406  a tissue thickness based on thickness sensing method. If the characteristic cannot be determined, the method  4400  can further include continually taking  4408  measurements and comparing the results to an initial baseline. However, if the characteristic can be determined, the method  4400  can further include outputting  4410  the determined characteristic. For example, according to some non-limiting aspects, the determined characteristic can be output to a communicably coupled computing device, such as a surgical hub connected to the surgical instrument. However, according to other non-limiting aspects, the determined characteristic can be output to an on-board display of the surgical instrument, a cloud-computing device, and/or a mobile computing device of the technician, amongst other communicably coupled computing devices. 
     Likewise, information gained from the aforementioned sensing techniques performed by a first surgical instrument can be alternately applied to a second surgical instrument, illustrating the possibilities of a connected operating room environment. In other words, the present disclosure contemplates non-limiting aspects wherein information from previous firings of different devices could then be used to inform the firing of a second device, regardless of whether the second device is configured to perform the aforementioned sensing techniques. Whereas a fully “smart instrument ecosystem” may require sensors and communication modules installed within each instrument, such systems could result in inefficiencies and might drive costs beyond a point of acceptability where multiple surgical instruments are used in single procedure. Accordingly, it would be extremely beneficial if the aforementioned sensing techniques could be performed by a first surgical instrument and alternately applied to a second surgical instrument. 
     For example, information gained from the sensing capabilities of a first surgical instrument can be leveraged to inform the firing of one or more separate surgical instruments used during a procedure. This can be accomplished via algorithmic control of the firing sequence of a second device and/or the display of information to the surgeon. As such, the aforementioned sensing techniques can enable an operating clinician to benefit from their use of an entire range of surgical instrument, so long as at least one instrument is configured to generate insights, as previously disclosed. When combined with knowledge of the steps in a surgical procedure, on-screen prompts via a display system, including a heads-up display, could enable the sensed parameters from the first device (e.g., a smart instrument) to inform on-screen recommendations based on the anticipated next step and additional surgical instruments to be used in the procedure, regardless of whether or not those additional instruments are “smart.” 
     Referring now to  FIG.  45   , a logic flow diagram of a method  4500  of utilized the sensing techniques disclosed herein to inform an operation performed by a second surgical instrument is depicted in accordance with at least one non-limiting aspect of the present disclosure. According to the non-limiting aspect of  FIG.  45   , the method  4500  can include sensing  4502 , via a first surgical instrument, a tissue parameter via the aforementioned sensing techniques. For example, it shall be appreciated that the sensing  4502  step of the method  4500  of  FIG.  45    can be performed via any of the aforementioned methods, including those discussed in reference to  FIGS.  6  and  13 - 15   . The method  4500  can further include communicating  4504  the sensed parameter to a computing device, such as a central hub, communicably coupled to the first surgical instrument. 
     Having communicated  4504  the sensed parameter, the method  4500  of  FIG.  45    can further include determining  4506  if a second surgical instrument is required by the surgical procedure and whether or not the second surgical instrument is a “smart” instrument, meaning the second instrument is connected and able to receive inputs to inform its operation. Assuming the second surgical instrument is not a “smart” instrument, the method  4500  can further include anticipating  4510  a use of the second instrument based on procedure steps and informing  4512  an operation of the second instrument based on the parameter sensed by the first surgical instrument, and terminating  4518  the process. In other words, the hub itself can provide useful information for the operation of the second surgical instrument that are derived from the parameter sensed by the first surgical instrument via a display, such as a heads-up display, for example. Even though the insights generated by the first surgical instrument cannot be directly implemented via the second surgical instrument, they can be presented to the operating clinician to inform the operation. 
     However, assuming it is determined that the second surgical instrument is a “smart” instrument, the method  4500  of  FIG.  45    can include transmitting  4514  the parameter sensed by the first instrument to the second instrument and performing  4516  the aforementioned sensing techniques via the second instrument. The parameter sensed by the first instrument can be used to supplement or otherwise autonomously influence  4516  operation of the second surgical instrument. For example, the transmission  4514  can include some or all of the insights generated by the first surgical instrument and can inform firing, sensing, or other device functions performed by the second surgical instrument. In other words, because the second surgical instrument is connected, the second surgical instrument can autonomously influence its own operation based on algorithmic inputs provided by the first surgical instrument, without intervention from the operating clinician. Once complete, the method  4500  can include terminating  4518  the process. In other words, the method  4500  of  FIG.  45    can be especially valuable if the sensed parameters from the first instrument can be used as inputs to algorithms used for sensing on the second instrument, because the method  4500  can enable the second instrument to have relevant data that it may not have been able to otherwise collect. In other words, only the first surgical instrument need to be configured to sense and generate insights, as previously described, but other devices—including both connected and disconnected device, alike—can benefit from those insights. Thus, a “smart instrument ecosystem” can be both effectively and efficiently achieved via the devices, systems, and methods disclosed herein. 
     Referring now to  FIG.  46   , a logic flow diagram of a specific procedure  4600  implementing the method  4500  of  FIG.  45    is depicted in accordance with at least one non-limiting aspect of the present disclosure. According to the non-limiting aspect of  FIG.  4600   , the procedure  4600  can include a colectomy, wherein the first surgical instrument includes an endocutter, for example, and the second surgical instrument includes a circular stapler, for example. Of course,  FIG.  46    is merely illustrative of the method  4500  of  FIG.  45    and, according to other non-limiting aspects, the procedure can include any number of surgical operations performed by any number of surgical instruments. 
     Nonetheless, the procedure  4600  of  FIG.  46    can include sensing  4602  a tissue thickness and disease state via the aforementioned sensing techniques performed by the endocutter. For example, the sensing  4602  step can be performed via any of the aforementioned methods, including those discussed in reference to  FIGS.  6  and  13 - 15   . The procedure can further include communicating  4604  the sensed tissue thickness and disease state to a communicably coupled computing device, such as a central hub. Having communicated  4604  the sensed parameter, the procedure  4600  can further include determining  4606  that the circular stapler is required by the colectomy and whether or not the circular stapler is a “smart” instrument. Assuming the circular stapler is not a “smart” instrument, the procedure  4600  can further include anticipating  4610  a use of the circular stapler based on procedure  4600  steps and informing  4612  an operation of the circular stapler based on the parameter sensed by the first surgical instrument and terminating  4618  the process. Once again, informing  4612  the operation of the circular stapler can include displaying insights generated by the endocutter to the operating clinician to inform the operation. 
     However, assuming it is determined that the circular stapler is a “smart” instrument, the procedure  4600  of  FIG.  46    can include transmitting  4614  the tissue thickness and disease state to the circular stapler for implementation, which can include slowing  4616  the rate of fire and/or limiting a force to fire based on the thickness and disease state. For example, the circular stapler can employ algorithmic intelligence to determine that less speed and/or force to fire may be necessary to cut the diseased tissue. In other words, because the circular stapler is connected, the circular stapler can influence its operation without intervention from the operating clinician. Once complete, the method  4500  can include terminating  4518  the process. In other words, the method  4500  of  FIG.  45    can be especially valuable if the sensed parameters from the first instrument can be used as inputs to algorithms used for operating the second instrument, because the method  4500  can enable the second instrument to have relevant data that it may not have been otherwise able to collect. 
     In other words, in the non-limiting example wherein the procedure  4600  is a colectomy, an endocutter may be used to cut out a portion of the colon, and then a circular stapler could be used for end to end anastomosis. If the circular stapler is a “dumb” device, but the endocutter is a “smart” device, a communicably coupled computing device, such as a central surgical hub, could interpret the insights generated by the endocutter in conjunction with inferred surgical procedure steps to make recommendations for something such as a staple cartridge selection for the circular stapler. If the circular stapler is a “smart” device, it could utilize the insights generated by the endocutter as algorithmic inputs to autonomously influence and/or improve operation of the circular stapler, as previously described. 
     While the foregoing methods, algorithms, instruments, and systems provided various examples of differentiating media grasped by a surgical end effector mainly based on impedance data, it is understood that the methods, algorithms, instruments, and systems of the present disclosure can be equally applied to other sensed parameters such as current, temperature, and pressure, for example. In at least one instance, for example, methods, algorithms, instruments, and systems can be utilized to differentiate tissue from a foreign object based on detected differences between tissue and a foreign object. 
     Examples 
     Examples of various aspects of end-effectors and surgical instruments of the present disclosure are provided below. An aspect of the end-effector or surgical instrument may include any one or more than one, and any combination of, the examples described below: 
     Example 1. A surgical instrument, including: an end effector including a first jaw and a second jaw, wherein the first jaw is movably configured relative to the second jaw between an opened condition and a closed condition; a plurality of electrodes positioned within the jaws of the end effector, wherein each electrode of the plurality of electrodes is positioned about a longitudinal axis defined by the end effector; a flexible circuit including a conductive track configured for multiplexed transmission of a plurality of signals to and from the end effector a control circuit communicably coupled to the plurality of electrodes via the flexible conductor and a memory configured to store an algorithm configured to cause the control circuit to: receive signals from the plurality of electrodes; determine an impedance signal based on the signals received from the plurality of electrodes; detect a media positioned between the jaws of the end effector based on the determined impedance signal; determine a position of the detected media along the longitudinal axis based on the signals received from the plurality of electrodes; and generate an alert associated with the detected media and the determined position. 
     Example 2. The surgical instrument of Example 1, wherein the end effector defines a channel extending along the longitudinal axis, and wherein the plurality of electrodes are mechanically coupled to the channel. 
     Example 3. The surgical instrument of any one of Examples 1-2, wherein the plurality of signals includes a signal configured to power a surgical operation and a signal to be transmitted between a first electrode of the plurality of electrodes and second electrode of the plurality of electrodes. 
     Example 4. The surgical instrument of any one of Examples 1-3, further including a first consumable cartridge configured for use during a surgical operation of the surgical instrument. 
     Example 5. The surgical instrument of any one of Examples 1-4, wherein the first jaw is configured to mechanically accommodate the first consumable cartridge, wherein the plurality of electrodes are mechanically coupled to the first consumable cartridge, and wherein the first jaw includes a first electrical contact configured to communicably couple the control circuit to the plurality of electrodes. 
     Example 6. The surgical instrument of any one of Examples 1-5, wherein the first electrical contact is one of a plurality of electrical contacts, wherein each electrical contact of the plurality corresponds to an electrode of the plurality of electrodes. 
     Example 7. The surgical instrument of any one of Examples 1-6, further including a second consumable cartridge configured to be mechanically coupled to the first jaw, wherein the plurality of electrodes are mechanically coupled to the second consumable cartridge, and wherein the first jaw includes an electrical contact configured to communicably couple the control circuit to the plurality of electrodes. 
     Example 8. The surgical instrument of any one of Examples 1-7, wherein the first jaw is configured to mechanically accommodate the second consumable cartridge, and wherein the second consumable cartridge is configured to mechanically accommodate the first consumable cartridge. 
     Example 9. The surgical instrument of any one of Examples 1-8, wherein the second consumable cartridge is configured to mechanically accommodate the first jaw. 
     Example 10. The surgical instrument of any one of Examples 1-9, wherein the first jaw is an anvil of the end effector. 
     Example 11. The surgical instrument of any one of Examples 1-10, wherein the first jaw is an anvil of the end effector, and wherein the plurality of electrodes are integrated into the anvil of the end effector. 
     Example 12. The surgical instrument of any one of Examples 1-11, further including a wireless communication module configured to communicably couple the plurality of electrodes to the control circuit. 
     Example 13. A surgical instrument, including: an end effector including a first jaw and a second jaw, wherein the first jaw is movably configured relative to the second jaw between an opened condition and a closed condition, and wherein the end effector defines a channel extending along a longitudinal axis; a plurality of electrodes mechanically coupled to the channel defined by the end effector, wherein each electrode of the plurality of electrodes is positioned about the longitudinal axis; a flexible circuit including a conductive track configured for multiplexed transmission of a plurality of signals to and from the end effector; and a control circuit communicably coupled to the plurality of electrodes via the flexible conductor and a memory configured to store an algorithm configured to cause the control circuit to: receive signals from the plurality of electrodes; determine an impedance signal based on the signals received from the plurality of electrodes; detect a media positioned between the jaws of the end effector based on the determined impedance signal; determine a position of the detected media along the longitudinal axis based on the signals received from the plurality of electrodes; and generate an alert associated with the detected media and the determined position. 
     Example 14. A surgical instrument, including: an end effector including a first jaw and a second jaw, wherein the first jaw is movably configured relative to the second jaw between an opened condition and a closed condition, wherein the end effector defines a channel; a first consumable cartridge including a first plurality of electrodes positioned about a longitudinal axis defined by the end effector, and wherein the first consumable cartridge defines a cavity configured to accommodate a second consumable cartridge configured to perform a surgical operation; a flexible circuit including a conductive track configured for multiplexed transmission of a plurality of signals to and from the end effector; and a control circuit communicably coupled to the plurality of electrodes and a memory configured to store an algorithm configured to cause the control circuit to: receive signals from the plurality of electrodes; determine an impedance signal based on the signals received from the plurality of electrodes; detect a media positioned between the jaws of the end effector based on the determined impedance signal; determine a position of the detected media along the longitudinal axis based on the signals received from the plurality of electrodes; and generate an alert associated with the detected media and the determined position. 
     Example 15. The surgical instrument of Example 14, wherein the first consumable cartridge is configured to be inserted within the channel defined by the end effector. 
     Example 16. The surgical instrument of either of Examples 13 or 14, wherein the first consumable cartridge is configured to be mechanically coupled to an exterior surface of the first jaw of the end effector. 
     Example 17. The surgical instrument of any of Examples 14-16, further including a third consumable cartridge configured to be inserted into the channel defined by the end effector, wherein the third consumable cartridge defines a cavity configured to accommodate the second consumable cartridge, wherein the third consumable cartridge includes a second plurality of electrodes positioned about a longitudinal axis defined by the end effector, wherein the first plurality of electrodes is arranged in a different configuration than the first plurality of electrodes, and wherein the first consumable cartridge is interchangeable with the third consumable cartridge. 
     Example 18. The surgical instrument of any of Examples 14-17, further including a wireless communication module, wherein the control circuit is communicably coupled to the plurality of electrodes via the wireless communication module. 
     Example 19. The systems disclosed herein. 
     Example 20. The apparatuses disclosed herein. 
     Example 21. The methods disclosed herein. 
     While several forms have been illustrated and described, it is not the intention of Applicant to restrict or limit the scope of the appended claims to such detail. Numerous modifications, variations, changes, substitutions, combinations, and equivalents to those forms may be implemented and will occur to those skilled in the art without departing from the scope of the present disclosure. Moreover, the structure of each element associated with the described forms can be alternatively described as a means for providing the function performed by the element. Also, where materials are disclosed for certain components, other materials may be used. It is therefore to be understood that the foregoing description and the appended claims are intended to cover all such modifications, combinations, and variations as falling within the scope of the disclosed forms. The appended claims are intended to cover all such modifications, variations, changes, substitutions, modifications, and equivalents. 
     The foregoing detailed description has set forth various forms of the devices and/or processes via the use of block diagrams, flowcharts, and/or examples. Insofar as such block diagrams, flowcharts, and/or examples contain one or more functions and/or operations, it will be understood by those within the art that each function and/or operation within such block diagrams, flowcharts, and/or examples can be implemented, individually and/or collectively, by a wide range of hardware, software, firmware, or virtually any combination thereof. Those skilled in the art will recognize that some aspects of the forms disclosed herein, in whole or in part, can be equivalently implemented in integrated circuits, as one or more computer programs running on one or more computers (e.g., as one or more programs running on one or more computer systems), as one or more programs running on one or more processors (e.g., as one or more programs running on one or more microprocessors), as firmware, or as virtually any combination thereof, and that designing the circuitry and/or writing the code for the software and or firmware would be well within the skill of one of skill in the art in light of this disclosure. In addition, those skilled in the art will appreciate that the mechanisms of the subject matter described herein are capable of being distributed as one or more program products in a variety of forms, and that an illustrative form of the subject matter described herein applies regardless of the particular type of signal bearing medium used to actually carry out the distribution. 
     Instructions used to program logic to perform various disclosed aspects can be stored within a memory in the system, such as dynamic random access memory (DRAM), cache, flash memory, or other storage. Furthermore, the instructions can be distributed via a network or by way of other computer readable media. Thus a machine-readable medium may include any mechanism for storing or transmitting information in a form readable by a machine (e.g., a computer), but is not limited to, floppy diskettes, optical disks, compact disc, read-only memory (CD-ROMs), and magneto-optical disks, read-only memory (ROMs), random access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic or optical cards, flash memory, or a tangible, machine-readable storage used in the transmission of information over the Internet via electrical, optical, acoustical or other forms of propagated signals (e.g., carrier waves, infrared signals, digital signals, etc.). Accordingly, the non-transitory computer-readable medium includes any type of tangible machine-readable medium suitable for storing or transmitting electronic instructions or information in a form readable by a machine (e.g., a computer). 
     As used in any aspect herein, the term “control circuit” may refer to, for example, hardwired circuitry, programmable circuitry (e.g., a computer processor including one or more individual instruction processing cores, processing unit, processor, microcontroller, microcontroller unit, controller, digital signal processor (DSP), programmable logic device (PLD), programmable logic array (PLA), or field programmable gate array (FPGA)), state machine circuitry, firmware that stores instructions executed by programmable circuitry, and any combination thereof. The control circuit may, collectively or individually, be embodied as circuitry that forms part of a larger system, for example, an integrated circuit (IC), an application-specific integrated circuit (ASIC), a system on-chip (SoC), desktop computers, laptop computers, tablet computers, servers, smart phones, etc. Accordingly, as used herein “control circuit” includes, but is not limited to, electrical circuitry having at least one discrete electrical circuit, electrical circuitry having at least one integrated circuit, electrical circuitry having at least one application specific integrated circuit, electrical circuitry forming a general purpose computing device configured by a computer program (e.g., a general purpose computer configured by a computer program which at least partially carries out processes and/or devices described herein, or a microprocessor configured by a computer program which at least partially carries out processes and/or devices described herein), electrical circuitry forming a memory device (e.g., forms of random access memory), and/or electrical circuitry forming a communications device (e.g., a modem, communications switch, or optical-electrical equipment). Those having skill in the art will recognize that the subject matter described herein may be implemented in an analog or digital fashion or some combination thereof. 
     As used in any aspect herein, the term “logic” may refer to an app, software, firmware and/or circuitry configured to perform any of the aforementioned operations. Software may be embodied as a software package, code, instructions, instruction sets and/or data recorded on non-transitory computer readable storage medium. Firmware may be embodied as code, instructions or instruction sets and/or data that are hard-coded (e.g., nonvolatile) in memory devices. 
     As used in any aspect herein, the terms “component,” “system,” “module” and the like can refer to a computer-related entity, either hardware, a combination of hardware and software, software, or software in execution. 
     As used in any aspect herein, an “algorithm” refers to a self-consistent sequence of steps leading to a desired result, where a “step” refers to a manipulation of physical quantities and/or logic states which may, though need not necessarily, take the form of electrical or magnetic signals capable of being stored, transferred, combined, compared, and otherwise manipulated. It is common usage to refer to these signals as bits, values, elements, symbols, characters, terms, numbers, or the like. These and similar terms may be associated with the appropriate physical quantities and are merely convenient labels applied to these quantities and/or states. 
     A network may include a packet switched network. The communication devices may be capable of communicating with each other using a selected packet switched network communications protocol. One example communications protocol may include an Ethernet communications protocol which may be capable permitting communication using a Transmission Control Protocol/Internet Protocol (TCP/IP). The Ethernet protocol may comply or be compatible with the Ethernet standard published by the Institute of Electrical and Electronics Engineers (IEEE) titled “IEEE 802.3 Standard”, published in December, 2008 and/or later versions of this standard. Alternatively or additionally, the communication devices may be capable of communicating with each other using an X.25 communications protocol. The X.25 communications protocol may comply or be compatible with a standard promulgated by the International Telecommunication Union-Telecommunication Standardization Sector (ITU-T). Alternatively or additionally, the communication devices may be capable of communicating with each other using a frame relay communications protocol. The frame relay communications protocol may comply or be compatible with a standard promulgated by Consultative Committee for International Telegraph and Telephone (CCITT) and/or the American National Standards Institute (ANSI). Alternatively or additionally, the transceivers may be capable of communicating with each other using an Asynchronous Transfer Mode (ATM) communications protocol. The ATM communications protocol may comply or be compatible with an ATM standard published by the ATM Forum titled “ATM-MPLS Network Interworking 2.0” published August 2001, and/or later versions of this standard. Of course, different and/or after-developed connection-oriented network communication protocols are equally contemplated herein. 
     Unless specifically stated otherwise as apparent from the foregoing disclosure, it is appreciated that, throughout the foregoing disclosure, discussions using terms such as “processing,” “computing,” “calculating,” “determining,” “displaying,” or the like, refer to the action and processes of a computer system, or similar electronic computing device, that manipulates and transforms data represented as physical (electronic) quantities within the computer system&#39;s registers and memories into other data similarly represented as physical quantities within the computer system memories or registers or other such information storage, transmission or display devices. 
     One or more components may be referred to herein as “configured to,” “configurable to,” “operable/operative to,” “adapted/adaptable,” “able to,” “conformable/conformed to,” etc. Those skilled in the art will recognize that “configured to” can generally encompass active-state components and/or inactive-state components and/or standby-state components, unless context requires otherwise. 
     The terms “proximal” and “distal” are used herein with reference to a clinician manipulating the handle portion of the surgical instrument. The term “proximal” refers to the portion closest to the clinician and the term “distal” refers to the portion located away from the clinician. It will be further appreciated that, for convenience and clarity, spatial terms such as “vertical”, “horizontal”, “up”, and “down” may be used herein with respect to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and/or absolute. 
     Those skilled in the art will recognize that, in general, terms used herein, and especially in the appended claims (e.g., bodies of the appended claims) are generally intended as “open” terms (e.g., the term “including” should be interpreted as “including but not limited to,” the term “having” should be interpreted as “having at least,” the term “includes” should be interpreted as “includes but is not limited to,” etc.). It will be further understood by those within the art that if a specific number of an introduced claim recitation is intended, such an intent will be explicitly recited in the claim, and in the absence of such recitation no such intent is present. For example, as an aid to understanding, the following appended claims may contain usage of the introductory phrases “at least one” and “one or more” to introduce claim recitations. However, the use of such phrases should not be construed to imply that the introduction of a claim recitation by the indefinite articles “a” or “an” limits any particular claim containing such introduced claim recitation to claims containing only one such recitation, even when the same claim includes the introductory phrases “one or more” or “at least one” and indefinite articles such as “a” or “an” (e.g., “a” and/or “an” should typically be interpreted to mean “at least one” or “one or more”); the same holds true for the use of definite articles used to introduce claim recitations. 
     In addition, even if a specific number of an introduced claim recitation is explicitly recited, those skilled in the art will recognize that such recitation should typically be interpreted to mean at least the recited number (e.g., the bare recitation of “two recitations,” without other modifiers, typically means at least two recitations, or two or more recitations). Furthermore, in those instances where a convention analogous to “at least one of A, B, and C, etc.” is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., “a system having at least one of A, B, and C” would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B, and C together, etc.). In those instances where a convention analogous to “at least one of A, B, or C, etc.” is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., “a system having at least one of A, B, or C” would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B, and C together, etc.). It will be further understood by those within the art that typically a disjunctive word and/or phrase presenting two or more alternative terms, whether in the description, claims, or drawings, should be understood to contemplate the possibilities of including one of the terms, either of the terms, or both terms unless context dictates otherwise. For example, the phrase “A or B” will be typically understood to include the possibilities of “A” or “B” or “A and B.” 
     With respect to the appended claims, those skilled in the art will appreciate that recited operations therein may generally be performed in any order. Also, although various operational flow diagrams are presented in a sequence(s), it should be understood that the various operations may be performed in other orders than those which are illustrated, or may be performed concurrently. Examples of such alternate orderings may include overlapping, interleaved, interrupted, reordered, incremental, preparatory, supplemental, simultaneous, reverse, or other variant orderings, unless context dictates otherwise. Furthermore, terms like “responsive to,” “related to,” or other past-tense adjectives are generally not intended to exclude such variants, unless context dictates otherwise. 
     It is worthy to note that any reference to “one aspect,” “an aspect,” “an exemplification,” “one exemplification,” and the like means that a particular feature, structure, or characteristic described in connection with the aspect is included in at least one aspect. Thus, appearances of the phrases “in one aspect,” “in an aspect,” “in an exemplification,” and “in one exemplification” in various places throughout the specification are not necessarily all referring to the same aspect. Furthermore, the particular features, structures or characteristics may be combined in any suitable manner in one or more aspects. 
     Any patent application, patent, non-patent publication, or other disclosure material referred to in this specification and/or listed in any Application Data Sheet is incorporated by reference herein, to the extent that the incorporated materials is not inconsistent herewith. As such, and to the extent necessary, the disclosure as explicitly set forth herein supersedes any conflicting material incorporated herein by reference. Any material, or portion thereof, that is said to be incorporated by reference herein, but which conflicts with existing definitions, statements, or other disclosure material set forth herein will only be incorporated to the extent that no conflict arises between that incorporated material and the existing disclosure material. 
     In summary, numerous benefits have been described which result from employing the concepts described herein. The foregoing description of the one or more forms has been presented for purposes of illustration and description. It is not intended to be exhaustive or limiting to the precise form disclosed. Modifications or variations are possible in light of the above teachings. The one or more forms were chosen and described in order to illustrate principles and practical application to thereby enable one of ordinary skill in the art to utilize the various forms and with various modifications as are suited to the particular use contemplated. It is intended that the claims submitted herewith define the overall scope.