Patent Publication Number: US-11045591-B2

Title: Dual in-series large and small droplet filters

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 Ser. No. 62/691,251, titled DUAL IN-SERIES LARGE AND SMALL DROPLET FILTERS, filed Jun. 28, 2018, the disclosure of which is herein incorporated by reference in its entirety. 
     This application claims the benefit of priority under 35 U.S.C. § 119(e) to U.S. Provisional Patent Application Ser. No. 62/650,887, titled SURGICAL SYSTEMS WITH OPTIMIZED SENSING CAPABILITIES, filed Mar. 30, 2018, to U.S. Provisional Patent Application Ser. No. 62/650,877, titled SURGICAL SMOKE EVACUATION SENSING AND CONTROLS, filed Mar. 30, 2018, to U.S. Provisional Patent Application Ser. No. 62/650,882, titled SMOKE EVACUATION MODULE FOR INTERACTIVE SURGICAL PLATFORM, filed Mar. 30, 2018, and to U.S. Provisional Patent Application Ser. No. 62/650,898, titled CAPACITIVE COUPLED RETURN PATH PAD WITH SEPARABLE ARRAY ELEMENTS, filed Mar. 30, 2018, the disclosure of each of which is herein incorporated by reference in its entirety. 
     This application also claims the benefit of priority under 35 U.S.C. § 119(e) to U.S. Provisional Patent Application Ser. No. 62/640,417, titled TEMPERATURE CONTROL IN ULTRASONIC DEVICE AND CONTROL SYSTEM THEREFOR, filed Mar. 8, 2018, and to U.S. Provisional Patent Application Ser. No. 62/640,415, titled ESTIMATING STATE OF ULTRASONIC END EFFECTOR AND CONTROL SYSTEM THEREFOR, filed Mar. 8, 2018, the disclosure of each of which is herein incorporated by reference in its entirety. 
     This application also claims the benefit of priority under 35 U.S.C. § 119(e) to U.S. Provisional Patent Application Ser. No. 62/611,341, titled INTERACTIVE SURGICAL PLATFORM, filed Dec. 28, 2017, to U.S. Provisional Patent Application Ser. No. 62/611,340, titled CLOUD-BASED MEDICAL ANALYTICS, filed Dec. 28, 2017, and to U.S. Provisional Patent Application Ser. No. 62/611,339, titled ROBOT ASSISTED SURGICAL PLATFORM, filed Dec. 28, 2017, the disclosure of each of which is herein incorporated by reference in its entirety. 
    
    
     BACKGROUND 
     The present disclosure relates to surgical systems and evacuators thereof. Surgical smoke evacuators are configured to evacuate smoke, as well as fluid and/or particulate, from a surgical site. For example, during a surgical procedure involving an energy device, smoke can be generated at the surgical site. 
     SUMMARY 
     In one aspect, a surgical evacuation system is provided. The surgical evacuation system comprises a pump, a motor operably coupled to the pump, and a flow path fluidically coupled to the pump. The flow path comprises a first fluid filter configured to extract a large droplet in a fluid moving through the flow path and a second fluid filter configured to extract a small droplet in the fluid moving through the flow path. The first fluid filter is coupled in series with the second fluid filter. The first fluid filter is positioned upstream of the second fluid filter. An outlet port of the second fluid filter is coupled to an inlet port of a non-fluid filter. 
     In another aspect, a surgical evacuation system is provided. The surgical evacuation system comprises a pump, a motor operably coupled to the pump, and a flow path fluidically coupled to the pump. The flow path comprises a first fluid filter configured to extract a large droplet in a fluid moving through the flow path and a second fluid filter configured to extract a small droplet in the fluid moving through the flow path. The first fluid filter comprises at least one baffle and the second fluid filter comprises a filter selected from the group consisting of a membrane filter, a honeycomb filter, and a porous structure filter, and combinations thereof. The first fluid filter is coupled in series with the second fluid filter, and the first fluid filter is positioned upstream of the second fluid filter. An outlet port of the second fluid filter is coupled to an inlet port of a non-fluid filter. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The features of various aspects are set forth with particularity in the appended claims. The various aspects, however, both as to organization and methods of operation, together with further objects and advantages thereof, may best be understood by reference to the following description, taken in conjunction with the accompanying drawings as follows. 
         FIG. 1  is perspective view of an evacuator housing for a surgical evacuation system, in accordance with at least one aspect of the present disclosure. 
         FIG. 2  is a perspective view of a surgical evacuation electrosurgical tool, in accordance with at least one aspect of the present disclosure. 
         FIG. 3  is an elevation view of a surgical evacuation tool releasably secured to an electrosurgical pencil, in accordance with at least one aspect of the present disclosure. 
         FIG. 4  is a schematic depicting internal components within an evacuator housing for a surgical evacuation system, in accordance with at least one aspect of the present disclosure. 
         FIG. 5  is a schematic of an electrosurgical system including a smoke evacuator, in accordance with at least one aspect of the present disclosure. 
         FIG. 6  is a schematic of a surgical evacuation system, in accordance with at least one aspect of the present disclosure. 
         FIG. 7  is a perspective view of a surgical system including a surgical evacuation system, in accordance with at least one aspect of the present disclosure. 
         FIG. 8  is a perspective view of an evacuator housing of the surgical evacuation system of  FIG. 7 , in accordance with at least one aspect of the present disclosure. 
         FIG. 9  is an elevation, cross-section view of a socket in the evacuator housing of  FIG. 8  along the plane indicated in  FIG. 8 , in accordance with at least one aspect of the present disclosure. 
         FIG. 10  is a perspective view of a filter for an evacuation system, in accordance with at least one aspect of the present disclosure. 
         FIG. 11  is a perspective, cross-section view of the filter of  FIG. 10  taken along a central longitudinal plane of the filter, in accordance with at least one aspect of the present disclosure. 
         FIG. 12  is a pump for a surgical evacuation system, such as the surgical evacuation system of  FIG. 7 , in accordance with at least one aspect of the present disclosure. 
         FIG. 13  is a perspective view of a portion of a surgical evacuation system, in accordance with at least one aspect of the present disclosure. 
         FIG. 14  is a front perspective view of a fluid trap of the surgical evacuation system of  FIG. 13 , in accordance with at least one aspect of the present disclosure. 
         FIG. 15  is a rear perspective view of the fluid trap of  FIG. 14 , in accordance with at least one aspect of the present disclosure. 
         FIG. 16  is an elevation, cross-section view of the fluid trap of  FIG. 14 , in accordance with at least one aspect of the present disclosure. 
         FIG. 17  is an elevation, cross-section view of the fluid trap of  FIG. 14  with portions removed for clarity and depicting liquid captured within the fluid trap and smoke flowing through the fluid trap, in accordance with at least one aspect of the present disclosure. 
         FIG. 18  is a schematic of an evacuator housing of an evacuation system, in accordance with at least one aspect of the present disclosure. 
         FIG. 19  is a schematic of an evacuator housing of another evacuation system, in accordance with at least one aspect of the present disclosure. 
         FIG. 20  is a schematic diagram of a smoke evacuation system, in accordance with at least one aspect of the present disclosure. 
         FIG. 21  is a schematic diagram of a filter communication circuit of the smoke evacuation system of  FIG. 20 , in accordance with at least one aspect of the present disclosure. 
         FIG. 22  is a schematic diagram of a filter device of the smoke evacuation system of  FIG. 20 , in accordance with at least one aspect of the present disclosure. 
         FIG. 23  is a schematic of a housing of an evacuation system, in accordance with at least one aspect of the present disclosure. 
         FIG. 24  is a block diagram of a computer-implemented interactive surgical system, in accordance with at least one aspect of the present disclosure. 
         FIG. 25  is a surgical system being used to perform a surgical procedure in an operating room, in accordance with at least one aspect of the present disclosure. 
         FIG. 26  is a surgical hub paired with a visualization system, a robotic system, and an intelligent instrument, in accordance with at least one aspect of the present disclosure. 
         FIG. 27  is a partial perspective view of a surgical hub enclosure, and of a combo generator module slidably receivable in a drawer of the surgical hub enclosure, in accordance with at least one aspect of the present disclosure. 
         FIG. 28  is a perspective view of a combo generator module with bipolar, ultrasonic, and monopolar contacts and a smoke evacuation component, in accordance with at least one aspect of the present disclosure. 
         FIG. 29  illustrates individual power bus attachments for a plurality of lateral docking ports of a lateral modular housing configured to receive a plurality of modules, in accordance with at least one aspect of the present disclosure. 
         FIG. 30  illustrates a vertical modular housing configured to receive a plurality of modules, in accordance with at least one aspect of the present disclosure. 
         FIG. 31  illustrates a surgical data network comprising a modular communication hub configured to connect modular devices located in one or more operating theaters of a healthcare facility, or any room in a healthcare facility specially equipped for surgical operations, to the cloud, in accordance with at least one aspect of the present disclosure. 
         FIG. 32  illustrates a computer-implemented interactive surgical system, in accordance with at least one aspect of the present disclosure. 
         FIG. 33  illustrates a surgical hub comprising a plurality of modules coupled to the modular control tower, in accordance with at least one aspect of the present disclosure. 
         FIG. 34  illustrates one aspect of a Universal Serial Bus (USB) network hub device, in accordance with at least one aspect of the present disclosure. 
         FIG. 35  illustrates a logic diagram of a control system of a surgical instrument or tool, in accordance with at least one aspect of the present disclosure. 
         FIG. 36  illustrates a control circuit configured to control aspects of the surgical instrument or tool, in accordance with at least one aspect of the present disclosure. 
         FIG. 37  illustrates a combinational logic circuit configured to control aspects of the surgical instrument or tool, in accordance with at least one aspect of the present disclosure. 
         FIG. 38  illustrates a sequential logic circuit configured to control aspects of the surgical instrument or tool, in accordance with at least one aspect of the present disclosure. 
         FIG. 39  illustrates a surgical instrument or tool comprising a plurality of motors which can be activated to perform various functions, in accordance with at least one aspect of the present disclosure. 
         FIG. 40  is a schematic diagram of a robotic surgical instrument configured to operate a surgical tool described herein, in accordance with at least one aspect of the present disclosure. 
         FIG. 41  illustrates a block diagram of a surgical instrument programmed to control the distal translation of a displacement member, in accordance with at least one aspect of the present disclosure. 
         FIG. 42  is a schematic diagram of a surgical instrument configured to control various functions, in accordance with at least one aspect of the present disclosure. 
         FIG. 43  is a simplified block diagram of a generator configured to provide inductorless tuning, among other benefits, in accordance with at least one aspect of the present disclosure. 
         FIG. 44  illustrates an example of a generator, which is one form of the generator of  FIG. 20 , in accordance with at least one aspect of the present disclosure. 
         FIG. 45  is a timeline depicting situational awareness of a surgical hub, in accordance with one aspect of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     Applicant of the present application owns the following U.S. Patent Applications, filed on Jun. 29, 2018, the disclosure of each of which is herein incorporated by reference in its entirety:
         U.S. patent application Ser. No. 16/024,090, titled CAPACITIVE COUPLED RETURN PATH PAD WITH SEPARABLE ARRAY ELEMENTS, now U.S. Patent Application No. 2019/0201090;   U.S. patent application Ser. No. 16/024,057, titled CONTROLLING A SURGICAL INSTRUMENT ACCORDING TO SENSED CLOSURE PARAMETERS, now U.S. Pat. No. 10,695,081;   U.S. patent application Ser. No. 16/024,067, titled SYSTEMS FOR ADJUSTING END EFFECTOR PARAMETERS BASED ON PERIOPERATIVE INFORMATION, now U.S. Pat. No. 10,595,887;   U.S. patent application Ser. No. 16/024,075, titled SAFETY SYSTEMS FOR SMART POWERED SURGICAL STAPLING, now U.S. Patent Application Publication No. 2019/0201146;   U.S. patent application Ser. No. 16/024,083, titled SAFETY SYSTEMS FOR SMART POWERED SURGICAL STAPLING, now U.S. Patent Application Publication No. 2019/0200984;   U.S. patent application Ser. No. 16/024,094, titled SURGICAL SYSTEMS FOR DETECTING END EFFECTOR TISSUE DISTRIBUTION IRREGULARITIES, now U.S. Patent Application Publication No. 2019/0201020;   U.S. patent application Ser. No. 16/024,138, titled SYSTEMS FOR DETECTING PROXIMITY OF SURGICAL END EFFECTOR TO CANCEROUS TISSUE, now U.S. Patent Application Publication No. 2019/0200985;   U.S. patent application Ser. No. 16/024,150, titled SURGICAL INSTRUMENT CARTRIDGE SENSOR ASSEMBLIES, now U.S. Patent Application Publication No. 2019/0200986;   U.S. patent application Ser. No. 16/024,160, titled VARIABLE OUTPUT CARTRIDGE SENSOR ASSEMBLY, now U.S. Patent Application Publication No. 2019/0200987;   U.S. patent application Ser. No. 16/024,124, titled SURGICAL INSTRUMENT HAVING A FLEXIBLE ELECTRODE, now U.S. Patent Application Publication No. 2019/0201079;   U.S. patent application Ser. No. 16/024,132, titled SURGICAL INSTRUMENT HAVING A FLEXIBLE CIRCUIT, now U.S. Patent Application No. 2019/0201021;   U.S. patent application Ser. No. 16/024,141, titled SURGICAL INSTRUMENT WITH A TISSUE MARKING ASSEMBLY, now U.S. Patent Application No. 2019/0201159;   U.S. patent application Ser. No. 16/024,162, titled SURGICAL SYSTEMS WITH PRIORITIZED DATA TRANSMISSION CAPABILITIES, now U.S. Patent Application Publication No. 2019/0200988;   U.S. patent application Ser. No. 16/024,066, titled SURGICAL EVACUATION SENSING AND MOTOR CONTROL, now U.S. Patent Application Publication No. 2019/0201082;   U.S. patent application Ser. No. 16/024,096, titled SURGICAL EVACUATION SENSOR ARRANGEMENTS, now U.S. Patent Application Publication No. 2019/0201083;   U.S. patent application Ser. No. 16/024,116, titled SURGICAL EVACUATION FLOW PATHS, now U.S. Patent Application Publication No. 2019/0201084;   U.S. patent application Ser. No. 16/024,149, titled SURGICAL EVACUATION SENSING AND GENERATOR CONTROL, now U.S. Patent Application Publication No. 2019/0201085;   U.S. patent application Ser. No. 16/024,180, titled SURGICAL EVACUATION SENSING AND DISPLAY, now U.S. Patent Application Publication No. 2019/0201086;   U.S. patent application Ser. No. 16/024,242, titled COMMUNICATION OF SMOKE EVACUATION SYSTEM PARAMETERS TO HUB OR CLOUD IN SMOKE EVACUATION MODULE FOR INTERACTIVE SURGICAL PLATFORM, now U.S. Pat. No. 10,755,813;   U.S. patent application Ser. No. 16/024,258, titled SMOKE EVACUATION SYSTEM INCLUDING A SEGMENTED CONTROL CIRCUIT FOR INTERACTIVE SURGICAL PLATFORM, now U.S. Patent Application Publication No. 2019/0201087; and   U.S. patent application Ser. No. 16/024,265, titled SURGICAL EVACUATION SYSTEM WITH A COMMUNICATION CIRCUIT FOR COMMUNICATION BETWEEN A FILTER AND A SMOKE EVACUATION DEVICE, now U.S. Pat. No. 10,898,622.       

     Applicant of the present application owns the following U.S. Provisional Patent Applications, filed on Jun. 28, 2018, the disclosure of each of which is herein incorporated by reference in its entirety:
         U.S. Provisional Patent Application Ser. No. 62/691,228, titled A METHOD OF USING REINFORCED FLEX CIRCUITS WITH MULTIPLE SENSORS WITH ELECTROSURGICAL DEVICES;   U.S. Provisional Patent Application Ser. No. 62/691,227, titled CONTROLLING A SURGICAL INSTRUMENT ACCORDING TO SENSED CLOSURE PARAMETERS;   U.S. Provisional Patent Application Ser. No. 62/691,230, titled SURGICAL INSTRUMENT HAVING A FLEXIBLE ELECTRODE;   U.S. Provisional Patent Application Ser. No. 62/691,219, titled SURGICAL EVACUATION SENSING AND MOTOR CONTROL;   U.S. Provisional Patent Application Ser. No. 62/691,257, titled COMMUNICATION OF SMOKE EVACUATION SYSTEM PARAMETERS TO HUB OR CLOUD IN SMOKE EVACUATION MODULE FOR INTERACTIVE SURGICAL PLATFORM;   U.S. Provisional Patent Application Ser. No. 62/691,262, titled SURGICAL EVACUATION SYSTEM WITH A COMMUNICATION CIRCUIT FOR COMMUNICATION BETWEEN A FILTER AND A SMOKE EVACUATION DEVICE; and   U.S. Provisional Patent Application Ser. No. 62/691,251, titled DUAL IN-SERIES LARGE AND SMALL DROPLET FILTERS.       

     Applicant of the present application owns the following U.S. Provisional Patent Application, filed on Apr. 19, 2018, the disclosure of each of which is herein incorporated by reference in its entirety:
         U.S. Provisional Patent Application Ser. No. 62/659,900, titled METHOD OF HUB COMMUNICATION.       

     Applicant of the present application owns the following U.S. Patent Applications, filed on Mar. 29, 2018, the disclosure of each of which is herein incorporated by reference in its entirety:
         U.S. patent application Ser. No. 15/940,641, titled INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES;   U.S. patent application Ser. No. 15/940,648, titled INTERACTIVE SURGICAL SYSTEMS WITH CONDITION HANDLING OF DEVICES AND DATA CAPABILITIES;   U.S. patent application Ser. No. 15/940,656, titled SURGICAL HUB COORDINATION OF CONTROL AND COMMUNICATION OF OPERATING ROOM DEVICES;   U.S. patent application Ser. No. 15/940,666, titled SPATIAL AWARENESS OF SURGICAL HUBS IN OPERATING ROOMS;   U.S. patent application Ser. No. 15/940,670, titled COOPERATIVE UTILIZATION OF DATA DERIVED FROM SECONDARY SOURCES BY INTELLIGENT SURGICAL HUBS;   U.S. patent application Ser. No. 15/940,677, titled SURGICAL HUB CONTROL ARRANGEMENTS;   U.S. patent application Ser. No. 15/940,632, titled DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD;   U.S. patent application Ser. No. 15/940,640, titled COMMUNICATION HUB AND STORAGE DEVICE FOR STORING PARAMETERS AND STATUS OF A SURGICAL DEVICE TO BE SHARED WITH CLOUD BASED ANALYTICS SYSTEMS;   U.S. patent application Ser. No. 15/940,645, titled SELF DESCRIBING DATA PACKETS GENERATED AT AN ISSUING INSTRUMENT;   U.S. patent application Ser. No. 15/940,649, titled DATA PAIRING TO INTERCONNECT A DEVICE MEASURED PARAMETER WITH AN OUTCOME;   U.S. patent application Ser. No. 15/940,654, titled SURGICAL HUB SITUATIONAL AWARENESS;   U.S. patent application Ser. No. 15/940,663, titled SURGICAL SYSTEM DISTRIBUTED PROCESSING;   U.S. patent application Ser. No. 15/940,668, titled AGGREGATION AND REPORTING OF SURGICAL HUB DATA;   U.S. patent application Ser. No. 15/940,671, titled SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER;   U.S. patent application Ser. No. 15/940,686, titled DISPLAY OF ALIGNMENT OF STAPLE CARTRIDGE TO PRIOR LINEAR STAPLE LINE;   U.S. patent application Ser. No. 15/940,700, titled STERILE FIELD INTERACTIVE CONTROL DISPLAYS;   U.S. patent application Ser. No. 15/940,629, titled COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS;   U.S. patent application Ser. No. 15/940,704, titled USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT;   U.S. patent application Ser. No. 15/940,722, titled CHARACTERIZATION OF TISSUE IRREGULARITIES THROUGH THE USE OF MONO-CHROMATIC LIGHT REFRACTIVITY; and   U.S. patent application Ser. No. 15/940,742, titled DUAL CMOS ARRAY IMAGING.       

     Applicant of the present application owns the following U.S. Patent Applications, filed on Mar. 29, 2018, the disclosure of each of which is herein incorporated by reference in its entirety:
         U.S. patent application Ser. No. 15/940,636, titled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES;   U.S. patent application Ser. No. 15/940,653, titled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL HUBS;   U.S. patent application Ser. No. 15/940,660, titled CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER;   U.S. patent application Ser. No. 15/940,679, titled CLOUD-BASED MEDICAL ANALYTICS FOR LINKING OF LOCAL USAGE TRENDS WITH THE RESOURCE ACQUISITION BEHAVIORS OF LARGER DATA SET;   U.S. patent application Ser. No. 15/940,694, titled CLOUD-BASED MEDICAL ANALYTICS FOR MEDICAL FACILITY SEGMENTED INDIVIDUALIZATION OF INSTRUMENT FUNCTION;   U.S. patent application Ser. No. 15/940,634, titled CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES;   U.S. patent application Ser. No. 15/940,706, titled DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK; and   U.S. patent application Ser. No. 15/940,675, titled CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES.       

     Applicant of the present application owns the following U.S. Patent Applications, filed on Mar. 29, 2018, the disclosure of each of which is herein incorporated by reference in its entirety:
         U.S. patent application Ser. No. 15/940,627, titled DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;   U.S. patent application Ser. No. 15/940,637, titled COMMUNICATION ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;   U.S. patent application Ser. No. 15/940,642, titled CONTROLS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;   U.S. patent application Ser. No. 15/940,676, titled AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;   U.S. patent application Ser. No. 15/940,680, titled CONTROLLERS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;   U.S. patent application Ser. No. 15/940,683, titled COOPERATIVE SURGICAL ACTIONS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;   U.S. patent application Ser. No. 15/940,690, titled DISPLAY ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; and   U.S. patent application Ser. No. 15/940,711, titled SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS.       

     Applicant of the present application owns the following U.S. Provisional Patent Applications, filed on Mar. 28, 2018, the disclosure of each of which is herein incorporated by reference in its entirety:
         U.S. Provisional Patent Application Ser. No. 62/649,302, titled INTERACTIVE SURGICAL SYSTEMS WITH ENCRYPTED COMMUNICATION CAPABILITIES;   U.S. Provisional Patent Application Ser. No. 62/649,294, titled DATA STRIPPING METHOD TO INTERROGATE PATIENT RECORDS AND CREATE ANONYMIZED RECORD;   U.S. Provisional Patent Application Ser. No. 62/649,300, titled SURGICAL HUB SITUATIONAL AWARENESS;   U.S. Provisional Patent Application Ser. No. 62/649,309, titled SURGICAL HUB SPATIAL AWARENESS TO DETERMINE DEVICES IN OPERATING THEATER;   U.S. Provisional Patent Application Ser. No. 62/649,310, titled COMPUTER IMPLEMENTED INTERACTIVE SURGICAL SYSTEMS;   U.S. Provisional Patent Application Ser. No. 62/649,291, titled USE OF LASER LIGHT AND RED-GREEN-BLUE COLORATION TO DETERMINE PROPERTIES OF BACK SCATTERED LIGHT;   U.S. Provisional Patent Application Ser. No. 62/649,296, titled ADAPTIVE CONTROL PROGRAM UPDATES FOR SURGICAL DEVICES;   U.S. Provisional Patent Application Ser. No. 62/649,333, titled CLOUD-BASED MEDICAL ANALYTICS FOR CUSTOMIZATION AND RECOMMENDATIONS TO A USER;   U.S. Provisional Patent Application Ser. No. 62/649,327, titled CLOUD-BASED MEDICAL ANALYTICS FOR SECURITY AND AUTHENTICATION TRENDS AND REACTIVE MEASURES;   U.S. Provisional Patent Application Ser. No. 62/649,315, titled DATA HANDLING AND PRIORITIZATION IN A CLOUD ANALYTICS NETWORK;   U.S. Provisional Patent Application Ser. No. 62/649,313, titled CLOUD INTERFACE FOR COUPLED SURGICAL DEVICES;   U.S. Provisional Patent Application Ser. No. 62/649,320, titled DRIVE ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS;   U.S. Provisional Patent Application Ser. No. 62/649,307, titled AUTOMATIC TOOL ADJUSTMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS; and   U.S. Provisional Patent Application Ser. No. 62/649,323, titled SENSING ARRANGEMENTS FOR ROBOT-ASSISTED SURGICAL PLATFORMS.       

     Before explaining various aspects of surgical devices and generators in detail, it should be noted that the illustrative examples 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 examples may be implemented or incorporated in other aspects, variations and modifications, and may be practiced or carried out in various ways. Further, unless otherwise indicated, the terms and expressions employed herein have been chosen for the purpose of describing the illustrative examples for the convenience of the reader and are not for the purpose of limitation thereof. Also, it will be appreciated that one or more of the following-described aspects, expressions of aspects, and/or examples, can be combined with any one or more of the other following-described aspects, expressions of aspects and/or examples. 
     Energy Devices and Smoke Evacuation 
     The present disclosure relates to energy devices and intelligent surgical evacuation systems for evacuating smoke and/or other fluids and/or particulates from a surgical site. Smoke is often generated during a surgical procedure that utilizes one or more energy devices. Energy devices use energy to affect tissue. In an energy device, the energy is supplied by a generator. Energy devices include devices with tissue-contacting electrodes, such as an electrosurgical device having one or more radio frequency (RF) electrodes, and devices with vibrating surfaces, such as an ultrasonic device having an ultrasonic blade. For an electrosurgical device, a generator is configured to generate oscillating electric currents to energize the electrodes. For an ultrasonic device, a generator is configured to generate ultrasonic vibrations to energize the ultrasonic blade. Generators are further described herein. 
     Ultrasonic energy can be utilized for coagulation and cutting tissue. Ultrasonic energy coagulates and cuts tissue by vibrating an energy-delivery surface (e.g. an ultrasonic blade) in contact with tissue. The ultrasonic blade can be coupled to a waveguide that transmits the vibrational energy from an ultrasonic transducer, which generates mechanical vibrations and is powered by a generator. Vibrating at high frequencies (e.g., 55,500 times per second), the ultrasonic blade generates friction and heat between the blade and the tissue, i.e. at the blade-tissue interface, which denatures the proteins in the tissue to form a sticky coagulum. Pressure exerted on the tissue by the blade surface collapses blood vessels and allows the coagulum to form a hemostatic seal. The precision of cutting and coagulation can be controlled by the clinician&#39;s technique and by adjusting the power level, blade edge, tissue traction, and blade pressure, for example. 
     Ultrasonic surgical instruments are finding increasingly widespread applications in surgical procedures by virtue of the unique performance characteristics of such instruments. Depending upon specific instrument configurations and operational parameters, ultrasonic surgical instruments can provide substantially simultaneous cutting of tissue and hemostasis by coagulation, which can desirably minimize patient trauma. The cutting action is typically realized by an end effector, or blade tip, at the distal end of the ultrasonic instrument. The ultrasonic end effector transmits the ultrasonic energy to tissue brought into contact with the end effector. Ultrasonic instruments of this nature can be configured for open surgical use, laparoscopic surgical procedures, or endoscopic surgical procedures, including robotic-assisted procedures, for example. 
     Electrical energy can also be utilized for coagulation and/or cutting. An electrosurgical device typically includes a handpiece and an instrument having a distally-mounted end effector (e.g., one or more electrodes). The end effector can be positioned against and/or adjacent to the tissue such that electrical current is introduced into the tissue. Electrosurgery is widely-used and offers many advantages including the use of a single surgical instrument for both coagulation and cutting. 
     The electrode or tip of the electrosurgical device is small at the point of contact with the patient to produce an RF current with a high current density in order to produce a surgical effect of coagulating and/or cutting tissue through cauterization. The return electrode carries the same RF signal back to the electrosurgical generator after it passes through the patient, thus providing a return path for the RF signal. 
     Electrosurgical devices can be configured for bipolar or monopolar operation. During bipolar operation, current is introduced into and returned from the tissue by active and return electrodes, respectively, of the end effector. During monopolar operation, current is introduced into the tissue by an active electrode of the end effector and returned through a return electrode (e.g., a grounding pad) separately located on or against a patient&#39;s body. Heat generated by the current flowing through the tissue may form hemostatic seals within the tissue and/or between tissues and, thus, may be particularly useful for sealing blood vessels, for example. The end effector of an electrosurgical device also may include a cutting member that is movable relative to the tissue and the electrodes to transect the tissue. 
     In application, an electrosurgical device can transmit low frequency RF current through tissue, which causes ionic agitation, or friction (in effect resistive heating), thereby increasing the temperature of the tissue. Because a boundary is created between the affected tissue and the surrounding tissue, clinicians can operate with a high level of precision and control, without sacrificing un-targeted adjacent tissue. The low operating temperature of RF energy is useful for removing, shrinking, or sculpting soft tissue while simultaneously sealing blood vessels. RF energy can work particularly well on connective tissue, which is primarily comprised of collagen and shrinks when contacted by heat. Other electrosurgical instruments include, without limitation, irreversible and/or reversible electroporation, and/or microwave technologies, among others. The techniques disclosed herein are applicable to ultrasonic, bipolar and/or monopolar RF (electrosurgical), irreversible and/or reversible electroporation, and/or microwave based surgical instruments, among others. 
     Electrical energy applied by an electrosurgical device can be transmitted to the instrument from a generator. The generator is configured to convert electricity to high frequency waveforms comprised of oscillating electric currents, which are transmitted to the electrodes to affect tissue. The current passes through tissue to fulgurate (a form of coagulation in which a current arc over the tissue creates tissue charring), desiccate (a direct energy application that drives water of the cells), and/or cut (an indirect energy application that vaporizes cellular fluid causing cellular explosions) tissue. The tissue&#39;s response to the current is a function of the resistance of the tissue, the current density passing through the tissue, the power output, and the duration of current application. In certain instances, as further described herein, the current waveform can be adjusted to affect a different surgical function and/or accommodate tissue of different properties. For example, different types of tissue—vascular tissue, nerve tissue, muscles, skin, fat and/or bone—can respond differently to the same waveform. 
     The electrical energy may be in the form of RF energy that may be in a frequency range described in EN 60601-2-2:2009+A11:2011, Definition 201.3.218—HIGH FREQUENCY. For example, the frequencies in monopolar RF applications are typically restricted to less than 5 MHz to minimize the problems associated with high frequency leakage current. Frequencies above 200 kHz can be typically used for monopolar applications in order to avoid the unwanted stimulation of nerves and muscles that would result from the use of low frequency current. 
     In bipolar RF applications, the frequency can be almost anything. Lower frequencies may be used for bipolar techniques in certain instances, such as if a risk analysis shows that the possibility of neuromuscular stimulation has been mitigated to an acceptable level. It is generally recognized that 10 mA is the lower threshold of thermal effects on tissue. Higher frequencies may also be used in the case of bipolar techniques. 
     In certain instances, a generator can be configured to generate an output waveform digitally and provide it to a surgical device such that the surgical device may utilize the waveform for various tissue effects. The generator can be a monopolar generator, a bipolar generator, and/or an ultrasonic generator. For example, a single generator can supply energy to a monopolar device, a bipolar device, an ultrasonic device, or a combination electrosurgery/ultrasonic device. The generator can promote tissue-specific effects via wave-shaping, and/or can drive RF and ultrasonic energy simultaneously and/or sequentially to a single surgical instrument or multiple surgical instruments. 
     In one instance, a surgical system can include a generator and various surgical instruments usable therewith, including an ultrasonic surgical instrument, an RF electrosurgical instrument, and a combination ultrasonic/RF electrosurgical instrument. The generator can be configurable for use with the various surgical instruments as further described in U.S. patent application Ser. No. 15/265,279, titled TECHNIQUES FOR OPERATING GENERATOR FOR DIGITALLY GENERATING ELECTRICAL SIGNAL WAVEFORMS AND SURGICAL INSTRUMENTS, filed Sep. 14, 2016, now U.S. Patent Application Publication No. 2017/0086914, which is herein incorporated by reference in its entirety. 
     As described herein, medical procedures of cutting tissue and/or cauterizing blood vessels are often performed by utilizing RF electrical energy, which is produced by a generator and transmitted to a patient&#39;s tissue through an electrode that is operated by a clinician. The electrode delivers an electrical discharge to cellular matter of the patient&#39;s body adjacent to the electrode. The discharge causes the cellular matter to heat up in order to cut tissue and/or cauterize blood vessels. 
     The high temperatures involved in electrosurgery can cause thermal necrosis of the tissue adjacent to the electrode. The longer time at which tissue is exposed to the high temperatures involved with electrosurgery, the more likely it is that the tissue will suffer thermal necrosis. In certain instances, thermal necrosis of the tissue can decrease the speed of cutting the tissue and increase post-operative complications, eschar production, and healing time, as well as increasing incidences of heat damage to the tissue positioned away from the cutting site. 
     The concentration of the RF energy discharge affects both the efficiency with which the electrode is able to cut tissue and the likelihood of tissue damage away from the cutting site. With a standard electrode geometry, the RF energy tends to be uniformly distributed over a relatively large area adjacent to the intended incision site. A generally uniform distribution of the RF energy discharge increases the likelihood of extraneous charge loss into the surrounding tissue, which may increase the likelihood of unwanted tissue damage in the surrounding tissue. 
     Typical electrosurgical generators generate various operating frequencies of RF electrical energy and output power levels. The specific operating frequency and power output of a generator varies based upon the particular electrosurgical generator used and the needs of the physician during the electrosurgical procedure. The specific operating frequency and power output levels can be manually adjusted on the generator by a clinician or other operating room personnel. Properly adjusting these various settings requires great knowledge, skill, and attention from the clinician or other personnel. Once the clinician has made the desired adjustments to the various settings on the generator, the generator can maintain those output parameters during electrosurgery. Generally, wave generators used for electrosurgery are adapted to produce RF waves with an output power in the range of 1-300 Win a cut mode and 1-120 W in coagulation mode, and a frequency in the range of 300-600 kHz. Typical wave generators are adapted to maintain the selected settings during the electrosurgery. For example, if the clinician were to set the output power level of the generator to 50 W and then touch the electrode to the patient to perform electrosurgery, the power level of the generator would quickly rise to and be maintained at 50 W. While setting the power level to a specific setting, such as 50 W, will allow the clinician to cut through the patient&#39;s tissue, maintaining such a high power level increases the likelihood of thermal necrosis of the patient&#39;s tissue. 
     In some forms, a generator is configured to provide sufficient power to effectively perform electrosurgery in connection with an electrode that increases the concentration of the RF energy discharge, while at the same time limiting unwanted tissue damage, reducing post-operative complications, and facilitating quicker healing. For example, the waveform from the generator can be optimized by a control circuit throughout the surgical procedure. The subject matter claimed herein, however, is not limited to aspects that solve any disadvantages or that operate only in environments such as those described above. Rather, this background is only provided to illustrate one example of a technology area where some aspects described herein may be practiced. 
     As provided herein, energy devices delivery mechanical and/or electrical energy to target tissue in order to treat the tissue (e.g. to cut the tissue, cauterize blood vessels and/or coagulate the tissue within and/or near the targeted tissue). The cutting, cauterization, and/or coagulation of tissue can result in fluids and/or particulates being released into the air. Such fluids and/or particulates emitted during a surgical procedure can constitute smoke, for example, which can comprise carbon particles and/or other particles suspended in air. In other words, a fluid can comprise smoke and/or other fluidic matter. Approximately 90% of endoscopic and open surgical procedures generate some level of smoke. The smoke can be unpleasant to the olfactory senses of the clinician(s), the assistant(s), and/or the patient(s), may obstruct the clinician(s)&#39;s view of the surgical site, and may be unhealthy to inhale in certain instances. For example, smoke generated during an electrosurgical procedure can contain toxic chemicals including acrolein, acetonitrile, acrylonitrile, acetylene, alkyl benzenes, benzene, butadiene, butene, carbon monoxide, creosols, ethane, ethylene, formaldehyde, free radicals, hydrogen cyanide, isobutene, methane, phenol, polycyclic aromatic hydrocarbons, propene, propylene, pyridene, pyrrole, styrene, toluene, and xylene, as well as dead and live cellular material (including blood fragments), and viruses. Certain material that has been identified in surgical smoke has been identified as known carcinogens. It is estimated that one gram of tissue cauterized during an electrosurgical procedure can be equivalent to the toxins and carcinogens of six unfiltered cigarettes. Additionally, exposure to the smoke released during an electrosurgical procedure has been reported to cause eye and lung irritation to health care workers. 
     In addition to the toxicity and odors associated with the material in surgical smoke, the size of particulate matter in surgical smoke can be harmful to the respiratory system of the clinician(s), the assistant(s), and/or the patient(s). In certain instances, the particulates can be extremely small. Repeated inhalation of extremely small particulate matter can lead to acute and chronic respiratory conditions in certain instances. 
     Many electrosurgical systems employ a surgical evacuation system that captures the resultant smoke from a surgical procedure, and directs the captured smoke through a filter and an exhaust port away from the clinician(s) and/or from the patient(s). For example, an evacuation system can be configured to evacuate smoke that is generated during an electrosurgical procedure. The reader will appreciate that such an evacuation system can be referred to as a “smoke evacuation system” though such evacuation systems can be configured to evacuate more than just smoke from a surgical site. Throughout the present disclosure, the “smoke” evacuated by an evacuation system is not limited to just smoke. Rather, the smoke evacuation systems disclosed herein can be used to evacuate a variety of fluids, including liquids, gases, vapors, smoke, steam, or combinations thereon. The fluids can be biologic in origin and/or can be introduced to the surgical site from an external source during a procedure. The fluids can include water, saline, lymph, blood, exudate, and/or pyogenic discharge, for example. Moreover, the fluids can include particulates or other matter (e.g. cellular matter or debris) that is evacuated by the evacuation system. For example, such particulates can be suspended in the fluid. 
     Evacuation systems often include a pump and a filter. The pump creates suction that draws the smoke into the filter. For example, suction can be configured to draw smoke from the surgical site into a conduit opening, through an evacuation conduit, and into an evacuator housing of the evacuation system. An evacuator housing  50018  for a surgical evacuation system  50000  is shown in  FIG. 1 . In one aspect of the present disclosure, a pump and a filter are positioned within the evacuator housing  50018 . Smoke drawn into the evacuator housing  50018  travels to the filter via a suction conduit  50036 , and harmful toxins and offensive smells are filtered out of the smoke as it moves through the filter. The suction conduit can also be referred to as vacuum and/or evacuation conduit and/or tube, for example. Filtered air may then exit the surgical evacuation system as exhaust. In certain instances, various evacuation systems disclosed herein can also be configured to deliver fluids to a desired location, such as a surgical site. 
     Referring now to  FIG. 2 , the suction conduit  50036  from the evacuator housing  50018  ( FIG. 1 ) may terminate at a hand piece, such as the handpiece  50032 . The handpiece  50032  comprises an electrosurgical instrument that includes an electrode tip  50034  and an evacuation conduit opening near and/or adjacent to the electrode tip  50034 . The evacuation conduit opening is configured to capture the fluid and/or particulates that are released during a surgical procedure. In such an instance, the evacuation system  50000  is integrated into the electrosurgical instrument  50032 . Referring still to  FIG. 2 , smoke S is being pulled into the suction conduit  50036 . 
     In certain instances, the evacuation system  50000  can include a separate surgical tool that comprises a conduit opening and is configured to suck the smoke out into the system. In still other instances, a tool comprising the evacuation conduit and opening can be snap fit onto an electrosurgical tool as depicted in  FIG. 3 . For example, a portion of a suction conduit  51036  can be positioned around (or adjacent to) an electrode tip  51034 . In one instance, the suction conduit  51036  can be releasably secured to a handpiece  51032  of an electrosurgical tool comprising the electrode tip  51034  with clips or other fasteners. 
     Various internal components of an evacuator housing  50518  are shown in  FIG. 4 . In various instances, the internal components in  FIG. 4  can also be incorporated into the evacuator housing  50018  of  FIG. 1 . Referring primarily to  FIG. 4 , an evacuation system  50500  includes the evacuator housing  50518 , a filter  50502 , an exhaust mechanism  50520 , and a pump  50506 . The evacuation system  50500  defines a flow path  50504  through the evacuator housing  50518  having an inlet port  50522  and an outlet port  50524 . The filter  50502 , the exhaust mechanism  50520 , and the pump  50506  are sequentially arranged in-line with the flow path  50504  through the evacuator housing  50518  between the inlet port  50522  and the outlet port  50524 . The inlet port  50522  can be fluidically coupled to a suction conduit, such as the suction conduit  50036  in  FIG. 1 , for example, which can comprise a distal conduit opening positionable at the surgical site. 
     The pump  50506  is configured to produce a pressure differential in the flow path  50504  by a mechanical action. The pressure differential is configured to draw smoke  50508  from the surgical site into the inlet port  50522  and along the flow path  50504 . After the smoke  50508  has moved through the filter  50502 , the smoke  50508  can be considered to be filtered smoke, or air,  50510 , which can continue through the flow path  50504  and is expelled through the outlet port  50524 . The flow path  50504  includes a first zone  50514  and a second zone  50516 . The first zone  50514  is upstream from the pump  50506 ; the second zone  50516  is downstream from the pump  50506 . The pump  50506  is configured to pressurize the fluid in the flow path  50504  so that the fluid in the second zone  50516  has a higher pressure than the fluid in the first zone  50514 . A motor  50512  drives the pump  50506 . Various suitable motors are further described herein. The exhaust mechanism  50520  is a mechanism that can control the velocity, the direction, and/or other properties of the filtered smoke  50510  exiting the evacuation system  50500  at the outlet port  50524 . 
     The flow path  50504  through the evacuation system  50500  can be comprised of a tube or other conduit that substantially contains and/or isolates the fluid moving through the flow path  50504  from the fluid outside the flow path  50504 . For example, the first zone  50514  of the flow path  50504  can comprise a tube through which the flow path  50504  extends between the filter  50502  and the pump  50506 . The second zone  50516  of the flow path  50504  can also comprise a tube through which the flow path  50504  extends between the pump  50506  and the exhaust mechanism  50520 . The flow path  50504  also extends through the filter  50502 , the pump  50506 , and the exhaust mechanism  50520  so that the flow path  50504  extends continuously from the inlet port  50522  to the outlet port  50524 . 
     In operation, the smoke  50508  can flow into the filter  50502  at the inlet port  50522  and can be pumped through the flow path  50504  by the pump  50506  such that the smoke  50508  is drawn into the filter  50502 . The filtered smoke  50510  can then be pumped through the exhaust mechanism  50520  and out the outlet port  50524  of the evacuation system  50500 . The filtered smoke  50510  exiting the evacuation system  50500  at the outlet port  50524  is the exhaust, and can consist of filtered gases that have passed through the evacuation system  50500 . 
     In various instances, the evacuation systems disclosed herein (e.g. the evacuation system  50000  and the evacuation system  50500 ) can be incorporated into a computer-implemented interactive surgical system, such as the system  100  ( FIG. 39 ) or the system  200  ( FIG. 47 ), for example. In one aspect of the present disclosure, for example, the computer-implemented surgical system  100  can include at least one hub  106  and a cloud  104 . Referring primarily to  FIG. 41 , the hub  106  includes a smoke evacuation module  126 . Operation of the smoke evacuation module  126  can be controlled by the hub  106  based on its situational awareness and/or feedback from the components thereof and/or based on information from the cloud  104 . The computer-implemented surgical systems  100  and  200 , as well as situational awareness therefor, are further described herein. 
     Situational awareness encompasses the ability of some aspects of a surgical system to determine or infer information related to a surgical procedure from data received from databases and/or instruments. The information can include the type of procedure being undertaken, the type of tissue being operated on, or the body cavity that is the subject of the procedure. With the contextual information related to the surgical procedure, the surgical system can, for example, improve the manner in which it controls the modular devices (e.g. a smoke evacuation system) that are connected to it and provide contextualized information or suggestions to the clinician during the course of the surgical procedure. Situational awareness is further described herein and in U.S. Provisional Patent Application Ser. No. 62/611,341, entitled INTERACTIVE SURGICAL PLATFORM, filed Dec. 28, 2017, which is incorporated by reference herein in its entirety. 
     In various instances, the surgical systems and/or evacuation systems disclosed herein can include a processor. The processor can be programmed to control one or more operational parameters of the surgical system and/or the evacuation system based on sensed and/or aggregated data and/or one or more user inputs, for example.  FIG. 5  is a schematic representation of an electrosurgical system  50300  including a processor  50308 . The electrosurgical system  50300  is powered by an AC source  50302 , which provides either 120 V or 240 V alternating current. The voltage supplied by the AC source  50302  is directed to an AC/DC converter  50304 , which converts the 120 V or 240 V of alternating current to 360 V of direct current. The 360 V of direct current is then directed to a power converter  50306  (e.g., a buck converter). The power converter  50306  is a step-down DC to DC converter. The power converter  50306  is adapted to step-down the incoming 360 V to a desired level within a range between 0-150 V. 
     The processor  50308  can be programmed to regulate various aspects, functions, and parameters of the electrosurgical system  50300 . For instance, the processor  50308  can determine the desired output power level at an electrode tip  50334 , which can be similar in many respects to the electrode tip  50034  in  FIG. 2  and/or the electrode tip  51034  in  FIG. 3 , for example, and direct the power converter  50306  to step-down the voltage to a specified level so as to provide the desired output power. The processor  50308  is coupled to a memory  50310  configured to store machine executable instructions to operate the electrosurgical system  50300  and/or subsystems thereof. 
     Connected between the processor  50308  and the power converter  50306  is a digital-to-analog converter (“DAC”)  50312 . The DAC  50312  is adapted to convert a digital code created by the processor  50308  to an analog signal (current, voltage, or electric charge) which governs the voltage step-down performed by the power converter  50306 . Once the power converter  50306  steps-down the 360 V to a level that the processor  50308  has determined will provide the desired output power level, the stepped-down voltage is directed to the electrode tip  50334  to effectuate electrosurgical treatment of a patient&#39;s tissue and is then directed to a return or ground electrode  50335 . A voltage sensor  50314  and a current sensor  50316  are adapted to detect the voltage and current present in the electrosurgical circuit and communicate the detected parameters to the processor  50308  so that the processor  50308  can determine whether to adjust the output power level. As noted herein, typical wave generators are adapted to maintain the selected settings throughout an electrosurgical procedure. In other instances, the operational parameters of a generator can be optimized during a surgical procedure based on one or more inputs to the processor  5308 , such as inputs from a surgical hub, cloud, and/or situational awareness module, for example, as further described herein. 
     The processor  50308  is coupled to a communication device  50318  to communicate over a network. The communication device includes a transceiver  50320  configured to communicate over physical wires or wirelessly. The communication device  50318  may further include one or more additional transceivers. The transceivers may include, but are not limited to cellular modems, wireless mesh network transceivers, W-Fi® transceivers, low power wide area (LPWA) transceivers, and/or near field communications transceivers (NFC). The communication device  50318  may include or may be configured to communicate with a mobile telephone, a sensor system (e.g., environmental, position, motion, etc.) and/or a sensor network (wired and/or wireless), a computing system (e.g., a server, a workstation computer, a desktop computer, a laptop computer, a tablet computer (e.g., iPad®, GalaxyTab® and the like), an ultraportable computer, an ultramobile computer, a netbook computer and/or a subnotebook computer; etc. In at least one aspect of the present disclosure, one of the devices may be a coordinator node. 
     The transceivers  50320  may be configured to receive serial transmit data via respective UARTs from the processor  50308 , to modulate the serial transmit data onto an RF carrier to produce a transmit RF signal and to transmit the transmit RF signal via respective antennas. The transceiver(s) are further configured to receive a receive RF signal via respective antennas that includes an RF carrier modulated with serial receive data, to demodulate the receive RF signal to extract the serial receive data and to provide the serial receive data to respective UARTs for provision to the processor. Each RF signal has an associated carrier frequency and an associated channel bandwidth. The channel bandwidth is associated with the carrier frequency, the transmit data and/or the receive data. Each RF carrier frequency and channel bandwidth are related to the operating frequency range(s) of the transceiver(s)  50320 . Each channel bandwidth is further related to the wireless communication standard and/or protocol with which the transceiver(s)  50320  may comply. In other words, each transceiver  50320  may correspond to an implementation of a selected wireless communication standard and/or protocol, e.g., IEEE 802.11 a/b/g/n for W-Fi® and/or IEEE 802.15.4 for wireless mesh networks using Zigbee routing. 
     The processor  50308  is coupled to a sensing and intelligent controls device  50324  that is coupled to a smoke evacuator  50326 . The smoke evacuator  50326  can include one or more sensors  50327 , and can also include a pump and a pump motor controlled by a motor driver  50328 . The motor driver  50328  is communicatively coupled to the processor  50308  and a pump motor in the smoke evacuator  50326 . The sensing and intelligent controls device  50324  includes sensor algorithms  50321  and communication algorithms  50322  that facilitate communication between the smoke evacuator  50326  and other devices to adapt their control programs. The sensing and intelligent controls device  50324  is configured to evaluate extracted fluids, particulates, and gases via an evacuation conduit  50336  to improve smoke extraction efficiency and/or reduce device smoke output, for example, as further described herein. In certain instances, the sensing and intelligent controls device  50324  is communicatively coupled to one or more sensors  50327  in the smoke evacuator  50326 , one or more internal sensors  50330  and/or one or more external sensors  50332  of the electrosurgical system  50300 . 
     In certain instances, a processor can be located within an evacuator housing of a surgical evacuation system. For example, referring to  FIG. 6 , a processor  50408  and a memory  50410  therefor are positioned within an evacuator housing  50440  of a surgical evacuation system  50400 . The processor  50408  is in signal communication with a motor driver  50428 , various internal sensors  50430 , a display  50442 , the memory  50410 , and a communication device  50418 . The communication device  50418  is similar in many respects to the communication device  50318  described above with respect to  FIG. 5 . The communication device  50418  can allow the processor  50408  in the surgical evacuation system  50400  to communicate with other devices within a surgical system. For example, the communication device  50418  can allow wired and/or wireless communication to one or more external sensors  50432 , one or more surgical devices  50444 , one or more hubs  50448 , one or more clouds  50446 , and/or one or more additional surgical systems and/or tools. The reader will readily appreciate that the surgical evacuation system  50400  of  FIG. 6  can be incorporated into the electrosurgical system  50300  of  FIG. 5  in certain instances. The surgical evacuation system  50400  also includes a pump  50450 , including a pump motor  50451  thereof, an evacuation conduit  50436 , and an exhaust  50452 . Various pumps, evacuation conduits and exhausts are further described herein. The surgical evacuation system  50400  can also include a sensing and intelligent controls device, which can be similar in many respects to the sensing and intelligent controls device  50324 , for example. For example, such a sensing and intelligent controls device can be in signal communication with the processor  50408  and/or one or more of the sensors  50430  and/or external sensors  50432 . 
     The electrosurgical system  50300  ( FIG. 5 ) and/or the surgical evacuation system  50400  ( FIG. 6 ) can be programmed to monitor one or more parameters of a surgical system and can affect a surgical function based on one or more algorithms stored in a memory in signal communication with the processor  50308  and/or  50408 . Various exemplary aspects disclosed herein can be implemented by such algorithms, for example. 
     In one aspect of the present disclosure, a processor and sensor system, such as the processors  50308  and  50408  and respective sensor systems in communication therewith ( FIGS. 5 and 6 ), are configured to sense the airflow through a vacuum source in order to adjust parameters of the smoke evacuation system and/or external devices and/or systems that are used in tandem with the smoke evacuation system, such as an electrosurgical system, energy device, and/or generator, for example. In one aspect of the present disclosure, the sensor system may include multiple sensors positioned along the airflow path of the surgical evacuation system. The sensors can measure a pressure differential within the evacuation system, in order to detect a state or status of the system between the sensors. For example, the system between two sensors can be a filter, and the pressure differential can be used to increase the speed of the pump motor as flow through the filter is reduced, in order to maintain a flow rate through the system. As another example, the system can be a fluid trap of the evacuation system, and the pressure differential can be used to determine an airflow path through the evacuation system. In still another example, the system can be the inlet and outlet (or exhaust) of the evacuation system, and the pressure differential can be used to determine the maximum suction load in the evacuation system in order to maintain the maximum suction load below a threshold value. 
     In one aspect of the present disclosure, a processor and sensor system, such as the processors  50308  and  50408  and respective sensor systems in communication therewith ( FIGS. 5 and 6 ), are configured to detect the ratio of an aerosol or carbonized particulate, i.e. smoke, in the fluid extracted from a surgical site. For example, the sensing system may include a sensor that detects the size and/or the composition of particles, which is used to select an airflow path through the evacuation system. In such instances, the evacuation system can include a first filtering path, or first filtering state, and a second filtering path, or second filtering state, which can have different properties. In one instance, the first path includes only a particulate filter, and the second path includes both a fluid filter and the particulate filter. In certain instances, the first path includes a particulate filter, and the second path includes the particulate filter and a finer particulate filter arranged in series. Additional and/or alternative filtering paths are also envisioned. 
     In one aspect of the present disclosure, a processor and sensor system, such as the processors  50308  and  50408  and respective sensor systems in communication therewith ( FIGS. 5 and 6 ), are configured to perform a chemical analysis on the particles evacuated from within the abdomen cavity of a patient. For example, the sensing and intelligent controls device  50324  may sense the particle count and type in order to adjust the power level of the ultrasonic generator in order to induce the ultrasonic blade to produce less smoke. In another example, the sensor systems may include sensors for detecting the particle count, the temperature, the fluid content, and/or the contamination percentage of the evacuated fluid, and can communicate the detected property or properties to a generator in order to adjust its output. For example, the smoke evacuator  50326  and/or the sensing and intelligent controls device  50324  therefor can be configured to adjust the evacuation flow rate and/or the pump&#39;s motor speed and, at a predefined particulate level, may operably affect the output power or waveform of the generator to lower the smoke generated by the end effector. 
     In one aspect of the present disclosure, a processor and sensor system, such as the processors  50308  and  50408  and respective sensor systems therewith ( FIGS. 5 and 6 ), are configured to evaluate particle count and contamination in the operating room by evaluating one or more properties in the ambient air and/or the exhaust from the evacuator housing. The particle count and/or the air quality can be displayed on the smoke evacuation system, such as on the evacuator housing, for example, in order to communicate the information to a clinician and/or to establish the effectiveness of the smoke evacuation system and filter(s) thereof. 
     In one aspect of the present disclosure, a processor, such as the processor  50308  or the processor  50408  ( FIGS. 5 and 6 ), for example, is configured to compare a sample rate image obtained from an endoscope to the evacuator particle count from the sensing system (e.g. the sensing and intelligent controls device  50324 ) in order to determine a correlation and/or to adjust the rate of the pump&#39;s revolutions-per-minute (RPM). In one instance, the activation of the generator can be communicated to the smoke evacuator such that an anticipated, required rate of smoke evacuation can be implemented. The generator activation can be communicated to the surgical evacuation system through a surgical hub, cloud communication system, and/or direct connection, for example. 
     In one aspect of the present disclosure, sensor systems and algorithms for a smoke evacuation system (see, e.g.  FIGS. 5 and 6 ) can be configured to control the smoke evacuator, and can adapt motor parameters thereof to adjust the filtering efficiency of the smoke evacuator based on the needs of the surgical field at a given time. In one instance, an adaptive airflow pump speed algorithm is provided to automatically change the motor pump speed based on the sensed particulate into the inlet of the smoke evacuator and/or out of the outlet or exhaust of the smoke evacuator. For example, the sensing and intelligent controls device  50324  ( FIG. 5 ) can include a user-selectable speed and an auto-mode speed, for example. In the auto-mode speed, the airflow through the evacuation system can be scalable based on the smoke into the evacuation system and/or a lack of filtered particles out of the smoke evacuation system. The auto-mode speed can provide automatic sensing and compensation for laparoscopic mode in certain instances. 
     In one aspect of the present disclosure, the evacuation system can include an electrical and communication architecture (see, e.g.  FIGS. 5 and 6 ) that provides data collection and communication features, in order to improve interactivity with a surgical hub and a cloud. In one example, a surgical evacuation system and/or processor therefor, such as the processor  50308  ( FIG. 5 ) and the processor  50408  ( FIG. 6 ), for example, can include a segmented control circuit that is energized in a staged method to check for errors, shorts, and/or safety checks of the system. The segmented control circuit may also be configured to have a portion energized and a portion not energized until the energized portion performs a first function. The segmented control circuit can include circuit elements to identify and display status updates to the user of attached components. The segmented control circuit also includes circuit elements for running the motor in a first state, in which the motor is activated by the user, and in a second state, in which the motor has not been activated by the user but runs the pump in a quieter manner and at a slower rate. A segmented control circuit can allow the smoke evacuator to be energized in stages, for example. 
     The electrical and communication architecture for the evacuation system (see, e.g.  FIGS. 5 and 6 ) can also provide interconnectivity of the smoke evacuator with other components within the surgical hub for interactions, as well as communication of data with a cloud. Communication of surgical evacuation system parameters to a surgical hub and/or cloud can be provided to affect the output or operation of other attached devices. The parameters can be operational or sensed. Operational parameters include airflow, pressure differentials, and air quality. Sensed parameters include particulate concentration, aerosol percentage, and chemical analysis. 
     In one aspect of the present disclosure, the evacuation system, such as the surgical evacuation system  50400 , for example, can also include an enclosure and replaceable components, controls, and a display. Circuit elements are provided for communicating the security identification (ID) between such replaceable components. For example, communication between a filter and the smoke evacuation electronics can be provided to verify authenticity, remaining life of the component, to update parameters in the component, to log errors, and/or to limit the number and/or the type of components that can be identified by the system. In various instances, the communication circuit can authenticate features for enabling and/or disabling of configuration parameters. The communication circuit can employ encryption and/or error handling schemes to manage security and proprietary relationships between the component and the smoke evacuation electronics. Disposable/re-useable components are included in certain instances. 
     In one aspect of the present disclosure, the evacuation systems can provide fluid management and extraction filters and airflow configurations. For example, a surgical evacuation system including a fluid capture mechanism is provided where the fluid capture mechanism has a first and a second set of extraction or airflow control features, which are in series with each other to extract large and small fluid droplets, respectively. In certain instances, the airflow path can contain a recirculation channel or secondary fluid channel back to the primary reservoir from downstream of the exhaust port of the main fluid management chamber. 
     In one aspect of the present disclosure, an advanced pad can be coupled to the electrosurgical system. For example, the ground electrode  50335  of the electrosurgical system  50300  ( FIG. 5 ) can include an advanced pad having localized sensing that is integrated into the pad while maintaining the capacitive coupling. For example, the capacitive coupling return path pad can have small separable array elements, which can be used to sense nerve control signals and/or movement of select anatomic locations, in order to detect the proximity of the monopolar tip to a nerve bundle. 
     An electrosurgical system can includes a signal generator, an electrosurgical instrument, a return electrode, and a surgical evacuation system. The generator may be an RF wave generator that produces RF electrical energy. Connected to the electrosurgical instrument is a utility conduit. The utility conduit includes a cable that communicates electrical energy from the signal generator to the electrosurgical instrument. The utility conduit also includes a vacuum hose that conveys captured/collected smoke and/or fluid away from a surgical site. Such an exemplary electrosurgical system  50601  is shown in  FIG. 7 . More specifically, the electrosurgical system  50601  includes a generator  50640 , an electrosurgical instrument  50630 , a return electrode  50646 , and an evacuation system  50600 . The electrosurgical instrument  50630  includes a handle  50632  and a distal conduit opening  50634  that is fluidically coupled to a suction hose  50636  of the evacuation system  50600 . The electrosurgical instrument  50630  also includes an electrode that is powered by the generator  50640 . A first electrical connection  50642 , e.g., a wire, extends from the electrosurgical instrument  50630  to the generator  50640 . A second electrical connection  50644 , e.g., a wire, extends from the electrosurgical instrument  50630  to electrode, i.e., the return electrode  50646 . In other instances, the electrosurgical instrument  50630  can be a bipolar electrosurgical instrument. The distal conduit opening  50634  on the electrosurgical instrument  50630  is fluidically coupled to the suction hose  50636  that extends to a filter end cap  50603  of a filter that is installed in an evacuator housing  50618  of the evacuation system  50600 . 
     In other instances, the distal conduit opening  50634  for the evacuation system  50600  can be on a handpiece or tool that is separate from the electrosurgical instrument  50630 . For example, the evacuation system  50600  can include a surgical tool that is not coupled to the generator  50640  and/or does not include tissue-energizing surfaces. In certain instances, the distal conduit opening  50634  for the evacuation system  50600  can be releasably attached to an electrosurgical tool. For example, the evacuation system  50600  can include a clip-on or snap-on conduit terminating at a distal conduit opening, which can be releasably attached to a surgical tool (see, e.g.,  FIG. 3 ). 
     The electrosurgical instrument  50630  is configured to deliver electrical energy to target tissue of a patient to cut the tissue and/or cauterize blood vessels within and/or near the target tissue, as described herein. Specifically, an electrical discharge is provided by the electrode tip to the patient in order to cause heating of cellular matter of the patient that is in close contact with or adjacent to electrode tip. The tissue heating takes place at an appropriately high temperature to allow the electrosurgical instrument  50630  to be used to perform electrosurgery. The return electrode  50646  is either applied to or placed in close proximity to the patient (depending on the type of return electrode), in order to complete the circuit and provide a return electrical path to the generator  50640  for energy that passes into the patient&#39;s body. 
     The heating of cellular matter of the patient by the electrode tip, or cauterization of blood vessels to prevent bleeding, often results in smoke being released where the cauterization takes place, as further described herein. In such instances, because the evacuation conduit opening  50634  is near the electrode tip, the evacuation system  50600  is configured to capture the smoke that is released during a surgical procedure. Vacuum suction may draw the smoke into the conduit opening  50634 , through the electrosurgical instrument  50630 , and into the suction hose  50636  toward the evacuator housing  50618  of the evacuation system  50600 . 
     Referring now to  FIG. 8 , the evacuator housing  50618  of the evacuation system  50600  ( FIG. 7 ) is depicted. The evacuator housing  50618  includes a socket  50620  that is dimensioned and structured to receive a filter. The evacuator housing  50618  can completely or partially encompass the internal components of the evacuator housing  50618 . The socket  50620  includes a first receptacle  50622  and a second receptacle  50624 . A transition surface  50626  extends between the first receptacle  50622  and the second receptacle  50624 . 
     Referring primarily now to  FIG. 9 , the socket  50620  is depicted along a cross sectional plane indicated in  FIG. 8 . The socket  50620  includes a first end  50621  that is open to receive a filter and a second end  50623  in communication with a flow path  50699  through the evacuator housing  50618 . A filter  50670  ( FIGS. 10 and 11 ) may be removably positioned with the socket  50620 . For example, the filter  50670  can be inserted and removed from the first end  50621  of the socket  50620 . The second receptacle  50624  is configured to receive a connection nipple of the filter  50670 . 
     Surgical evacuation systems often use filters to remove unwanted pollutants from the smoke before the smoke is released as exhaust. In certain instances, the filters can be replaceable. The reader will appreciate that the filter  50670  depicted in  FIGS. 10 and 11  can be employed in various evacuation systems disclosed herein. The filter  50670  can be a replaceable and/or disposable filter. 
     The filter  50670  includes a front cap  50672 , a back cap  50674 , and a filter body  50676  disposed therebetween. The front cap  50672  includes a filter inlet  50678 , which, in certain instances, is configured to receive smoke directly from the suction hose  50636  ( FIG. 7 ) or other smoke source. In some aspects of the present disclosure, the front cap  50672  can be replaced by a fluid trap (e.g. the fluid trap  50760  depicted in  FIGS. 14-17 ) that directs the smoke directly from the smoke source, and after removing at least a portion of the fluid therefrom, passes the partially processed smoke into the filter body  50676  for further processing. For example, the filter inlet  50678  can be configured to receive smoke via a fluid trap exhaust port, such as a port  50766  in a fluid trap  50760  ( FIGS. 14-17 ) to communicate partially processed smoke into the filter  50670 . 
     Once the smoke enters the filter  50670 , the smoke can be filtered by components housed within the filter body  50676 . The filtered smoke can then exit the filter  50670  through a filter exhaust  50680  defined in the back cap  50674  of the filter  50670 . When the filter  50670  is associated with an evacuation system, suction generated in the evacuator housing  50618  of the evacuation system  50600  can be communicated to the filter  50670  through the filter exhaust  50680  to pull the smoke through the internal filtering components of the filter  50670 . A filter often includes a particulate filter and a charcoal filter. The particulate filter can be a high-efficiency particulate air (HEPA) filter or an ultra-low penetration air (ULPA) filter, for example. ULPA filtration utilizes a depth filter that is similar to a maze. The particulate can be filtered using at least one of the following methods: direct interception (in which particles over 1.0 micron are captured because they are too large to pass through the fibers of the media filter), inertial impaction (in which particles between 0.5 and 1.0 micron collide with the fibers and remain there, and diffusional interception (in which particles less than 0.5 micron are captured by the effect of Brownian random thermal motion as the particles “search out” fibers and adhere to them). 
     The charcoal filter is configured to remove toxic gases and/or odor generated by the surgical smoke. In various instances, the charcoal can be “activated” meaning it has been treated with a heating process to expose the active absorption sites. The charcoal can be from activated virgin coconut shells, for example. 
     Referring now to  FIG. 11 , the filter  50670  includes a coarse media filter layer  50684  followed by a fine particulate filter layer  50686 . In other instances, the filter  50670  may consist of a single type of filter. In still other instances, the filter  50670  can include more than two filter layers and/or more than two different types of filter layers. After the particulate matter is removed by the filter layers  50684  and  50686 , the smoke is drawn through a carbon reservoir  50688  in the filter  50670  to remove gaseous contaminants within the smoke, such as volatile organic compounds, for example. In various instances, the carbon reservoir  50688  can comprise a charcoal filter. The filtered smoke, which is now substantially free of particulate matter and gaseous contaminants, is drawn through the filter exhaust  50680  and into the evacuation system  50600  for further processing and/or elimination. 
     The filter  50670  includes a plurality of dams between components of the filter body  50676 . For example, a first dam  50690  is positioned intermediate the filter inlet  50678  ( FIG. 10 ) and a first particulate filter, such as the coarse media filter  50684 , for example. A second dam  50692  is positioned intermediate a second particulate filter, such as the fine particulate filter  50686 , for example, and the carbon reservoir  50688 . Additionally, a third dam  50694  is positioned intermediate the carbon reservoir  50688  and the filter exhaust  50680 . The dams  50690 ,  50692 , and  50694  can comprise a gasket or O-ring, which is configured to prevent movement of the components within the filter body  50676 . In various instances, the size and shape of the dams  50690 ,  50692 , and  50694  can be selected to prevent distention of the filter components in the direction of the applied suction. 
     The coarse media filter  50684  can include a low-air-resistant filter material, such as fiberglass, polyester, and/or pleated filters that are configured to remove a majority of particulate matter larger than 10 μm, for example. In some aspects of the present disclosure, this includes filters that remove at least 85% of particulate matter larger than 10 μm, greater than 90% of particulate matter larger than 10 μm, greater than 95% of particular matter larger than 10 μm, greater than 99% of particular matter larger than 10 μm, greater than 99.9% particulate matter larger than 10 μm, or greater than 99.99% particulate matter larger than 10 μm. 
     Additionally or alternatively, the coarse media filter  50684  can include a low-air-resistant filter that removes the majority of particulate matter greater than 1 μm. In some aspects of the present disclosure, this includes filters that remove at least 85% particulate matter larger than 1 μm, greater than 90% of particulate matter larger than 1 μm, greater than 95% of particular matter larger than 1 μm, greater than 99% of particular matter larger than 1 μm, greater than 99.9% particulate matter larger than 1 μm, or greater than 99.99% particulate matter larger than 1 μm. 
     The fine particulate filter  50686  can include any filter of higher efficiency than the coarse media filter  50684 . This includes, for example, filters that are capable of filtering a higher percentage of the same sized particles as the coarse media filter  50684  and/or capable of filtering smaller sized particles than the coarse media filter  50684 . In some aspects of the present disclosure, the fine particulate filter  50686  can include a HEPA filter or an ULPA filter. Additionally or alternatively, the fine particulate filter  50686  can be pleated to increase the surface area thereof. In some aspects of the present disclosure, the coarse media filter  50684  includes a pleated HEPA filter and the fine particulate filter  50686  includes a pleated ULPA filter. 
     Subsequent to particulate filtration, smoke enters a downstream section of the filter  50670  that includes the carbon reservoir  50688 . The carbon reservoir  50688  is bounded by porous dividers  50696  and  50698  disposed between the intermediate and terminal dams  50692  and  50694 , respectively. In some aspects of the present disclosure, the porous dividers  50696  and  50698  are rigid and/or inflexible and define a constant spatial volume for the carbon reservoir  50688 . 
     The carbon reservoir  50688  can include additional sorbents that act cumulatively with or independently from the carbon particles to remove gaseous pollutants. The additional sorbents can include, for example, sorbents such as magnesium oxide and/or copper oxide, for example, which can act to adsorb gaseous pollutants such as carbon monoxide, ethylene oxide, and/or ozone, for example. In some aspects of the present disclosure, additional sorbents are dispersed throughout the reservoir  50688  and/or are positioned in distinct layers above, below, or within the reservoir  50688 . 
     Referring again to  FIG. 4 , the evacuation system  50500  includes the pump  50506  within the evacuator housing  50518 . Similarly, the evacuation system  50600  depicted in  FIG. 7  can include a pump located in the evacuator housing  50618 , which can generate suction to pull smoke from the surgical site, through the suction hose  50636  and through the filter  50670  ( FIGS. 10 and 11 ). In operation, the pump can create a pressure differential within the evacuator housing  50618  that causes the smoke to travel into the filter  50670  and out an exhaust mechanism (e.g. exhaust mechanism  50520  in  FIG. 4 ) at the outlet of the flow path. The filter  50670  is configured to extract harmful, foul, or otherwise unwanted particulates from the smoke. 
     The pump can be disposed in-line with the flow path through the evacuator housing  50618  such that the gas flowing through the evacuator housing  50618  enters the pump at one end and exits the pump at the other end. The pump can provide a sealed positive displacement flow path. In various instances, the pump can produce the sealed positive displacement flow path by trapping (sealing) a first volume of gas and decreasing that volume to a second smaller volume as the gas moves through the pump. Decreasing the volume of the trapped gas increases the pressure of the gas. The second pressurized volume of gas can be released from the pump at a pump outlet. For example, the pump can be a compressor. More specifically, the pump can comprise a hybrid regenerative blower, a claw pump, a lobe compressor, and/or a scroll compressor. Positive displacement compressors can provide improved compression ratios and operating pressures while limiting vibration and noise generated by the evacuation system  50600 . Additionally or alternatively, the evacuation system  50600  can include a fan for moving fluid therethrough. 
     An example of a positive displacement compressor, e.g. a scroll compressor pump  50650 , is depicted in  FIG. 12 . The scroll compressor pump  50650  includes a stator scroll  50652  and a moving scroll  50654 . The stator scroll  50652  can be fixed in position while the moving scroll  50654  orbits eccentrically. For example, the moving scroll  50654  can orbit eccentrically such that it rotates about the central longitudinal axis of the stator scroll  50652 . As depicted in  FIG. 12 , the central longitudinal axes of the stator scroll  50652  and the moving scroll  50654  extend perpendicular to the viewing plane of the scrolls  50652 ,  50654 . The stator scroll  50652  and the moving scroll  50654  are interleaved with each other to form discrete sealed compression chambers  50656 . 
     In use, a gas can enter the scroll compressor pump  50650  at an inlet  50658 . As the moving scroll  50654  orbits relative to the stator scroll  50652 , the inlet gas is first trapped in the compression chamber  50656 . The compression chamber  50656  is configured to move a discrete volume of gas along the spiral contour of the scrolls  50652  and  50654  toward the center of the scroll compressor pump  50650 . The compression chamber  50656  defines a sealed space in which the gas resides. Moreover, as the moving scroll  50654  moves the captured gas toward the center of the stator scroll  50652 , the compression chamber  50656  decreases in volume. This decrease in volume increases the pressure of the gas inside the compression chamber  50656 . The gas inside the sealed compression chamber  50656  is trapped while the volume decreases, thus pressurizing the gas. Once the pressurized gas reaches the center of the scroll compressor pump  50650 , the pressurized gas is released through an outlet  50659 . 
     Referring now to  FIG. 13 , a portion of an evacuation system  50700  is depicted. The evacuation system  50700  can be similar in many respects to the evacuation system  50600  ( FIG. 7 ). For example, the evacuation system  50700  includes the evacuator housing  50618  and the suction hose  50636 . Referring again to  FIG. 7 , the evacuation system  50600  is configured to produce suction and thereby draw smoke from the distal end of the suction hose  50636  into the evacuator housing  50618  for processing. Notably, the suction hose  50636  is not connected to the evacuator housing  50618  through the filter end cap  50603  in  FIG. 13 . Rather, the suction hose  50636  is connected to the evacuator housing  50618  through the fluid trap  50760 . A filter, similar to the filter  50670  can be positioned within the socket of the evacuator housing  50618  behind the fluid trap  50760 . 
     The fluid trap  50760  is a first processing point that extracts and retains at least a portion of the fluid (e.g. liquid) from the smoke before relaying the partially-processed smoke to the evacuation system  50700  for further processing and filtration. The evacuation system  50700  is configured to process, filter, and otherwise clean the smoke to reduce or eliminate unpleasant odors or other problems associated with smoke generation in the surgical theater (or other operating environment), as described herein. By extracting liquid droplets and/or aerosol from the smoke before it is further processed by the evacuation system  50700 , the fluid trap  50760  can, among other things, increase the efficiency of the evacuation system  50700  and/or increase the life of filters associated therewith, in certain instances. 
     Referring primarily to  FIGS. 14-17 , the fluid trap  50760  is depicted detached from the evacuator housing  50618  ( FIG. 13 ). The fluid trap  50760  includes an inlet port  50762  defined in a front cover or surface  50764  of the fluid trap  50760 . The inlet port  50762  can be configured to releasably receive the suction hose  50636  ( FIG. 13 ). For example, an end of the suction hose  50636  can be inserted at least partially within the inlet port  50762  and can be secured with an interference fit therebetween. In various instances, the interference fit can be a fluid tight and/or airtight fit so that substantially all of the smoke passing through the suction hose  50636  is transferred into the fluid trap  50760 . In some instances, other mechanisms for coupling or joining the suction hose  50636  to the inlet port  50762  can be employed such as a latch-based compression fitting, an O-ring, threadably coupling the suction hose  50636  with the inlet port  50762 , for example, and/or other coupling mechanisms. 
     In various instances, a fluid tight and/or airtight fit between the suction hose  50636  and the fluid trap  50760  is configured to prevent fluids and/or other materials in the evacuated smoke from leaking at or near the junction of these components. In some instances, the suction hose  50636  can be associated with the inlet port  50762  through an intermediate coupling device, such as an O-ring and/or adaptor, for example, to further ensure an airtight and/or fluid tight connection between the suction hose  50636  and the fluid trap  50760 . 
     As discussed above, the fluid trap  50760  includes the exhaust port  50766 . The exhaust port extends away from a rear cover or surface  50768  of the fluid trap  50760 . The exhaust port  50766  defines an open channel between an interior chamber  50770  of the fluid trap  50760  and the exterior environment. In some instances, the exhaust port  50766  is sized and shaped to tightly associate with a surgical evacuation system or components thereof. For example, the exhaust port  50766  can be sized and shaped to associate with and communicate at least partially processed smoke from the fluid trap  50760  to a filter housed within an evacuator housing  50618  ( FIG. 13 ). In certain instances, the exhaust port  50766  can extend away from the front plate, a top surface, or a side surface of the fluid trap  50760 . 
     In certain instances, the exhaust port  50766  includes a membrane, which spaces the exhaust port  50766  apart from the evacuator housing  50618 . Such a membrane can act to prevent water or other liquid collected in the fluid trap  50760  from being passed through the exhaust port  50766  and into the evacuator housing  50618  while permitting air, water and/or vapor to freely pass into the evacuator housing  50618 . For example, a high flow rate microporous polytetrafluoroethylene (PTFE) can be positioned downstream of the exhaust port  50766  and upstream of a pump to protect the pump or other components of the evacuation system  50700  from damage and/or contamination. 
     The fluid trap  50760  also includes a gripping region  50772 , which is positioned and dimensioned to assist a user in handling the fluid trap  50760  and/or connecting the fluid trap  50760  with the suction hose  50636  and/or the evacuator housing  50618 . The gripping region  50772  is depicted as being an elongate recess; however, the reader will readily appreciate that the gripping region  50772  may include at least one recess, groove, protrusion, tassel, and/or ring, for example, which can be sized and shaped to accommodate a user&#39;s digits or to otherwise provide a gripping surface. 
     Referring primarily now to  FIGS. 16 and 17 , the interior chamber  50770  of the fluid trap  50760  is depicted. The relative positioning of the inlet port  50762  and the exhaust port  50766  is configured to promote the extraction and the retention of fluid from the smoke as it passes into the fluid trap  50760 . In certain instances, the inlet port  50762  can comprise a notched cylindrical shape, which can direct the smoke and the accompanying fluid towards a fluid reservoir  50774  of the fluid trap  50760  or otherwise directionally away from the exhaust port  50766 . An example of such a fluid flow is depicted with arrows A, B, C, D, and E in  FIG. 17 . 
     As shown, smoke enters the fluid trap  50760  through the inlet port  50762  (illustrated by the arrow A) and exits the fluid trap  50760  through the exhaust port  50766  (illustrated by the arrow E). At least partially due to the geometry of the inlet port (e.g., a longer, upper sidewall  50761  and a shorter, lower sidewall  50763 ), the smoke entering the inlet port  50762  is initially directed primarily downward into the fluid reservoir  50774  of the fluid trap  50760  (illustrated by the arrows B). As smoke continues to be pulled downward into the fluid trap  50760  along the arrows A and B, the smoke that was initially directed downward, tumbles downward, and is directed laterally away from its source to travel in a substantially opposite but parallel path towards the upper portion of the fluid trap  50760  and out of the exhaust port  50766  (illustrated by the arrows D and E). 
     The directional flow of smoke through the fluid trap  50760  can ensure that liquids within the smoke are extracted and retained within the lower portion (e.g. the fluid reservoir  50774 ) of the fluid trap  50760 . Furthermore, the relative positioning of the exhaust port  50766  vertically above the inlet port  50762  when the fluid trap  50760  is in an upright position is configured to discourage liquid from inadvertently being carried through the exhaust port  50766  by the flow of smoke while not substantially hindering fluid flow into and out of the fluid trap  50760 . Additionally, in certain instances, the configuration of the inlet port  50762  and the outlet port  50766  and/or the size and shape of the fluid trap  50760  itself, can enable the fluid trap  50760  to be spill resistant. 
     In various instances, an evacuation system can include a plurality of sensors and intelligent controls, as further described herein with respect to  FIGS. 5 and 6 , for example. In one aspect of the present disclosure, an evacuation system can include one or more temperatures sensors, one or more fluid detection sensors, one or more pressure sensors, one or more particle sensors, and/or one or more chemical sensors. A temperature sensor can be positioned to detect the temperature of a fluid at the surgical site, moving through a surgical evacuation system, and/or being exhaust into a surgical theater from a surgical evacuation system. A pressure sensor can be positioned to detect a pressure within the evacuation system, such as within the evacuator housing. For example, a pressure sensor can be positioned upstream of the filter, between the filter and the pump, and/or downstream of the pump. In certain instances, a pressure sensor can be positioned to detect a pressure in the ambient environment outside of the evacuation system. Similarly, a particle sensor can be positioned to detect particles within the evacuation system, such as within the evacuator housing. A particle sensor can be upstream of the filter, between the filter and the pump, and/or downstream of the pump, for example. In various instances, a particle sensor can be positioned to detect particles in the ambient environment in order to determine the air quality in the surgical theater, for example. 
     An evacuator housing  50818  for an evacuation system  50800  is schematically depicted in  FIG. 18 . The evacuator housing  50818  can be similar in many respects to the evacuator housings  50018  and/or  50618 , for example, and/or can be incorporated into various evacuation systems disclosed herein. The evacuator housing  50818  includes numerous sensors, which are further described herein. The reader will appreciate that certain evacuator housings may not include each sensor depicted in  FIG. 18  and/or may include additional sensor(s). Similar to the evacuator housings  50018  and  50618  disclosed herein, the evacuator housing  50818  of  FIG. 18  includes an inlet  50822  and an outlet  50824 . A fluid trap  50860 , a filter  50870 , and a pump  50806  are sequentially aligned along a flow path  50804  through the evacuator housing  50818  between the inlet  50822  and the outlet  50824 . 
     An evacuator housing can include modular and/or replaceable components, as further described herein. For example, an evacuator housing can include a socket or a receptacle  50871  dimensioned to receive a modular fluid trap and/or a replaceable filter. In certain instances, a fluid trap and a filter can be incorporated into a single interchangeable module  50859 , as depicted in  FIG. 18 . More specifically, the fluid trap  50860  and the filter  50870  form the interchangeable module  50859 , which can be modular and/or replaceable, and can be removably installed in the receptacle  50871  in the evacuator housing  50818 . In other instances, the fluid trap  50860  and the filter  50870  can be separate and distinct modular components, which can be assembled together and/or separately installed in the evacuator housing  50818 . 
     Referring still to the evacuator housing  50818 , the evacuator housing  50818  includes a plurality of sensors for detecting various parameters therein and/or parameters of the ambient environment. Additionally or alternatively, one or more modular components installed in the evacuator housing  50818  can include one or more sensors. For example, referring still to  FIG. 18 , the interchangeable module  50859  includes a plurality of sensors for detecting various parameters therein. 
     In various instances, the evacuator housing  50818  and/or a modular component(s) compatible with the evacuator housing  50818  can include a processor, such as the processor  50308  and  50408  ( FIGS. 5 and 6 , respectively), which is configured to receive inputs from one or more sensors and/or to communicate outputs to one more systems and/or drivers. Various processors for use with the evacuator housing  50818  are further described herein. 
     In operation, smoke from a surgical site can be drawn into the inlet  50822  to the evacuator housing  50818  via the fluid trap  50860 . The flow path  50804  through the evacuator housing  50818  in  FIG. 18  can comprise a sealed conduit or tube  50805  extending between the various in-line components. In various instances, the smoke can flow past a fluid detection sensor  50830  and a chemical sensor  50832  to a diverter valve  50834 , which is further described herein. A fluid detection sensor, such as the sensor  50830 , can detect fluid particles in the smoke. In one instance, the fluid detection sensor  50830  can be a continuity sensor. For example, the fluid detection sensor  50830  can include two spaced-apart electrodes and a sensor for detecting the degree of continuity therebetween. When no fluid is present, the continuity can be zero, or substantially zero, for example. The chemical sensor  50832  can detect the chemical properties of the smoke. 
     At the diverter valve  50834 , fluid can be directed into a condenser  50835  of the fluid trap  50860  and the smoke can continue toward the filter  50870 . Baffles  50864  are positioned within the condenser  50835  to facilitate the condensation of fluid droplets from the smoke into a reservoir in the fluid trap  50860 . A fluid detection sensor  50836  can ensure any fluid in the evacuator housing is entirely, or at least substantially, captured within the fluid trap  50860 . 
     Referring still to  FIG. 18 , the smoke can then be directed to flow into the filter  50870  of the interchangeable module  50859 . At the inlet to the filter  50870 , the smoke can flow past a particle sensor  50838  and a pressure sensor  50840 . In one form, the particle sensor  50838  can comprise a laser particle counter, as further described herein. The smoke can be filtered via a pleated ultra-low penetration air (ULPA) filter  50842  and a charcoal filter  50844 , as depicted in  FIG. 18 . 
     Upon exiting the filter, the filtered smoke can flow past a pressure sensor  50846  and can then continue along the flow path  50804  within the evacuator housing  50818  toward the pump  50806 . Upon moving through the pump  50806 , the filtered smoke can flow past a particle sensor  50848  and a pressure sensor  50850  at the outlet to the evacuator housing  50818 . In one form, the particle sensor  50848  can comprise a laser particle counter, as further described herein. The evacuator housing  50818  in  FIG. 18  also includes an air quality particle sensor  50852  and an ambient pressure sensor  50854  to detect various properties of the ambient environment, such as the environment within the surgical theater. The air quality particle sensor, or external/ambient air particle sensor,  50852  can comprise a laser particle counter in at least one form. The various sensors depicted in  FIG. 18  are further described herein. Moreover, in various instances, alternative sensing means can be utilized in the smoke evacuation systems disclosed herein. For example, alternative sensors for counting particles and/or determining particulate concentration in a fluid are further disclosed herein. 
     In various instances, the fluid trap  50860  depicted in  FIG. 18  can be configured to prevent spillage and/or leakage of the captured fluid. For example, the geometry of the fluid trap  50860  can be selected to prevent the captured fluid from spilling and/or leaking. In certain instances, the fluid trap  50860  can include baffles and/or splatter screens, such as the screen  50862 , for preventing the captured fluid from splashing out of the fluid trap  50860 . In one or more instances, the fluid trap  50860  can include sensors for detecting the volume of fluid within the fluid trap and/or determining if the fluid trap  50860  is filled to capacity. The fluid trap  50860  may include a valve for empty the fluid therefrom. The reader will readily appreciate that various alternative fluid trap arrangements and geometries can be employed to capture fluid drawn into the evacuator housing  50818 . 
     In certain instances, the filter  50870  can include additional and/or fewer filtering levels. For example, the filter  50870  can include one or more filtering layers selected from the following group of filters: a course media filter, a fine media filter, and a sorbent-based filter. The course media filter can be a low-air-resistant filter, which can be comprised of fiberglass, polyester, and/or pleated filters, for example. The fine media filter can be a high efficiency particulate air (HEPA) filter and/or ULPA filter. The sorbent-based filter can be an activated-carbon filter, for example. The reader will readily appreciate that various alternative filter arrangements and geometries can be employed to filter smoke drawn along the flow path through the evacuator housing  50818 . 
     In one or more instances, the pump  50806  depicted in  FIG. 18  can be replaced by and/or used in combination with another compressor and/or pump, such as a hybrid regenerative blower, a claw pump, and/or a lobe compressor, for example. The reader will readily appreciate that various alternative pumping arrangements and geometries can be employed to generate suction within the flow path  50804  to draw smoke into the evacuator housing  50818 . 
     The various sensors in an evacuation system, such as the sensors depicted in  FIG. 18 , can communicate with a processor. The processor can be incorporated into the evacuation system and/or can be a component of another surgical instrument and/or a surgical hub. Various processors are further described herein. An on-board processor can be configured to adjust one or more operational parameters of the evacuator system (e.g. a motor for the pump  50806 ) based on input from the sensor(s). Additionally or alternatively, an on-board processor can be configured to adjust one or more operational parameters of another device, such as an electrosurgical tool and/or imaging device based on input from the sensor(s). 
     Referring now to  FIG. 19 , another evacuator housing  50918  for an evacuation system  50900  is depicted. The evacuator housing  50918  in  FIG. 19  can be similar in many respects to the evacuator housing  50818  in  FIG. 18 . For example, the evacuator housing  50918  defines a flow path  50904  between an inlet  50922  to the evacuator housing  50918  and an outlet  50924  to the evacuator housing  50918 . Intermediate the inlet  50922  and the outlet  50924 , a fluid trap  50960 , a filter  50970 , and a pump  50906  are sequentially arranged. The evacuator housing  50918  can include a socket or a receptacle  50971  dimensioned to receive a modular fluid trap and/or a replaceable filter, similar to the receptacle  50871 , for example. At a diverter valve  50934 , fluid can be directed into a condenser  50935  of the fluid trap  50960  and the smoke can continue toward the filter  50970 . In certain instances, the fluid trap  50960  can include baffles, such as the baffles  50964 , and/or splatter screens, such as the screen  50962 , for example, for preventing the captured fluid from splashing out of the fluid trap  50960 . The filter  50970  includes a pleated ultra-low penetration air (ULPA) filter  50942  and a charcoal filter  50944 . A sealed conduit or tube  50905  extends between the various in-line components. The evacuator housing  50918  also includes the sensors  50830 ,  50832 ,  50836 ,  50838 ,  50840 ,  50846 ,  50848 ,  50850 ,  50852 , and  50854  which are further described herein and shown in  FIG. 18  and  FIG. 19 . 
     Referring still to  FIG. 19 , the evacuator housing  50918  also includes a centrifugal blower arrangement  50980  and a recirculating valve  50990 . The recirculating valve  50990  can selectively open and close to recirculate fluid through the fluid trap  50960 . For example, if the fluid detection sensor  50836  detects a fluid, the recirculating valve  50990  can be opened such that the fluid is directed back away from the filter  50970  and back into the fluid trap  50960 . If the fluid detection sensor  50836  does not detect a fluid, the valve  50990  can be closed such that the smoke is directed into the filter  50970 . When fluid is recirculated via the recirculating valve  50990 , the fluid can be drawn through a recirculation conduit  50982 . The centrifugal blower arrangement  50980  is engaged with the recirculation conduit  50982  to generate a recirculating suction force in the recirculation conduit  50982 . More specifically, when the recirculating valve  50990  is open and the pump  50906  is activated, the suction force generated by the pump  50906  downstream of the filter  50970  can generate rotation of the first centrifugal blower, or squirrel cage,  50984 , which can be transferred to the second centrifugal blower, or squirrel cage,  50986 , which draws the recirculated fluid through the recirculating valve  50990  and into the fluid trap  50960 . 
     In various aspects of the present disclosure, the control schematics of  FIGS. 5 and 6  can be utilized with the various sensor systems and evacuator housings of  FIGS. 18 and 19 . 
     Surgical Evacuation System with a Communication Circuit for Communication Between a Filter and a Smoke Evacuation Device 
     Generally, providing network services to medical devices may expose vulnerabilities of the medical devices to malicious attacks. Although there may be network-wide firewall services provided in the network system, these services may be vulnerable to security attacks from components inside the medical devices. That is, the firewall services may not have information with respect to the types, products, configurations, or authenticity of the components of the medical devices and, thus, may not be able to protect the medical device system from malicious attacks coming from unauthentic/unauthorized components of the medical devices. For example, an unauthentic/unauthorized component (e.g., filter device) may include ransomware, which may deny access of the medical device user to the medical device or the data in the medical device until a ransom payment is paid. Moreover, the unauthentic/unauthorized component may not be compatible with other authentic/authorized components of the medical device, which may result in reduction in the lifetime and/or performance of the overall medical components. This may also lead to an unexpected interruption in operation of the medical devices. 
     Aspects of the present disclosure may address the above-noted deficiencies. In some examples, a surgical evacuation system may include a communication circuit that may facilitate communication between a smoke evacuation device and a replaceable filter device having a plurality of filter components. The communication circuit may authenticate the filter device (including the plurality of filter components), verify a remaining life of the filter device, update parameters output from the filter device, and record errors output from the filter device. The communication circuit may limit a number or a type of a filter component that can be identified by the surgical evacuation system, and may enable/disable the plurality of filter components based on a result of the authentication. In some examples, the communication circuit may authenticate the filter device/components by using filter component information, which may include a product type, a product name, a unique device identifier, a product trademark, a serial number, or a configuration parameter of the filter device/components. In some examples, the filter device and/or the communication circuit may encrypt or decrypt data/parameters communicated between the filter device and the communication circuit. 
     In this way, the surgical evacuation system according to an example embodiment of the present disclosure may be able to detect an unauthentic/unauthorized component of a medical device, protect data/parameters of the medical device by encryption, and check possible issues in the filter device in advance by checking the remaining life and errors of the filter components. This may advantageously allow the surgical system to prevent possible malicious attacks and degradation in performance that may be caused by the unauthentic/unauthorized component and to continue to operate the surgical evacuation system without an unexpected interruption in the medical device operation. 
       FIG. 20  depicts a high-level component diagram of an example smoke evacuation system  58100  in accordance with one or more aspects of the present disclosure. The smoke evacuation system  58100  may include a smoke evacuation device  58105  having a pump  58160  and a motor  58165  operably coupled to the pump  58160 , a display device  58170 , a communication device  58180 , a processor  58110 , a memory  58120 , and one or more sensors  58140 A-B. In some examples, the smoke evacuation device  58105  may include a filter device  58150  and a filter communication circuit  58130 . The filter device  58150  may be in communication with the smoke evacuation device  58105  (e.g., processor  58110 ) through the filter communication circuit  58130 . 
     The smoke evacuation system  58100  may be similar to the smoke evacuation system depicted in  FIG. 6 . For example, the processor  58110  may be in signal communication with a motor driver or the motor  58165 , various sensors  58140 A-B, the display device  58170 , the memory  58120 , and the communication device  58180 . The communication device  58180  may be similar to the communication device described above with respect to  FIGS. 5 and 6 . That is, the communication device  58180  may allow the processor  58110  in the smoke evacuation system  58100  to communicate with other devices within the surgical system. For example, the communication device  58180  may allow wired and/or wireless communication to external sensors, surgical devices, hubs, clouds, and/or various additional surgical systems and/or tools. The reader will readily appreciate that the smoke evacuation system of  FIG. 20  can be incorporated into the surgical system of  FIG. 5  in certain instances. 
     In some examples, the filter device  58150  may be coupled to a sucking conduit  58155 . An exhaust mechanism  58190  may be coupled to the pump  58160 . The exhaust mechanism  58190  may be similar to the exhaust mechanism  50520 . In some examples, the suction conduit  58155 , the filter device  58150 , the pump  58160 , and the exhaust mechanism  58190  may be sequentially arranged in-line with a flow path (e.g., the flow path  50504 ) between an inlet port (e.g., inlet port  50522 ) and an outlet port (e.g., outlet port  50524 ). The inlet may be fluidically coupled to the suction conduit  58155  comprising a distal conduit opening at the surgical site. Although the exhaust mechanism  58190  is depicted as located outside of the smoke evacuation device  58105 , in some examples, the exhaust mechanism  58190  may be located in the smoke evacuation device  58105 . 
     In some examples, the processor  58110  may be in signal communication with the filter communication circuit  58130  for communication between the filter device  58150  and the smoke evacuation device  58105 . In some examples, the filter communication circuit  58130  may be located in the smoke evacuation device  58105  or the filter device  58150 . In other examples, the communication circuit  58130  may be located outside of the smoke evacuation device  58105 . In some examples, the communication circuit  58130  may be part of the sensing and intelligent controls device depicted in  FIG. 5 . 
       FIG. 21  illustrates a filter communication circuit  58130  according to an example embodiment of the present disclosure. The filter communication circuit  58220  may include a master controller  58210 , an authentication unit  58220 , an error logging unit  58230 , an updating unit  58240 , an encryption/description unit  58250 , a remaining life verification unit  58260 , and a data storage unit  58270 . In some examples, the master controller  58210  may be in signal communication with the processor  58110  and control other units  58220 - 58270  in the filter communication circuit  58130 . In other examples, the processor  58110  may act as the master controller  58210 . 
       FIG. 22  illustrates a filter device  58150  according to an example embodiment of the present disclosure. The filter device  58150  may include a plurality of filter components. The filter components may include a controller  58310 , a filter element unit  58320 , and a filter sensor unit  58330 . The filter element unit  58320  may include one or more filter elements  58325 A-C. The filter sensor unit  58330  may include one or more filter sensors  58335 A-C. The controller  58310  may control and be in communication with the filter element unit  58320  and the filter sensor unit  58330 . The filter device  58150  may be similar to the examples (e.g., filter  50670 ) depicted in  FIGS. 10, 11, 18, and 19 . In some examples, the one or more filter elements  58325 A-C may be the fluid filter, coarse media filter  50684 , fine particulate filter  50686 , particulate filter, carbon reservoir  50688 , or charcoal filter depicted in  FIGS. 10, 11, 18, and 19  or any other filters in the filter device  58150 . The filter elements  58325 A-C may also include the diverter valve, the baffles, the squirrel cage, or any other elements (e.g., dams  50690 ,  50692 ,  50694 , back cap  50674 , etc.) in the filter device other than the sensors. In some examples, the one or more filter sensors  58335 A-C may be similar to the examples (e.g., fluid detect sensors  50830 , chemical sensor  50832 , fluid sensor  50836 , pressure sensor  50840 , laser particle counter  50838 , etc.) depicted in  FIGS. 18 and 19 . 
     In some examples, the controller  58310  in the filter device  58150  may be in signal communication with the master controller  58210  of the filter communication circuit  58130 . In some examples, the filter device  58150  may encrypt the parameters output from the plurality of filter components before sending the parameters to the communication circuit  58130 . Upon receiving the encrypted parameters, the communication circuit (e.g., encryption/description unit  58250 ) may decrypt the encrypted parameters as discussed below. 
     Referring to  FIG. 21  again, the authentication unit  58220  may authenticate/verify the filter device  58150  or the plurality of filter components. In some examples, the authentication unit  58220  may identify the number of filter components that is attached in the filter device  58150 . The authentication unit  58220  may also limit the number or type of a filter component that can be identified by the communication circuit. For example, if the filter component is not the type of a component authorized to be used in the filter device  58150 , or the number of filter components used in the filter device  58150  is equal to or greater than a predetermined value (e.g., 10, 20, 50, etc.), the authentication unit  58220  may disable the filter component or the filter device  58150 . The authentication unit  58220  may also enable or disable the filter device  58150  or the plurality of filter components based on a result of the authentication. 
     The error logging unit  58230  may record errors or error messages from the plurality of filter components or the filter device  58150 . In some examples, the error logging unit  58230  may record the errors and error messages in the data storage unit  58270 . The filter communication circuit  58130  may read the error messages and use the error messages to figure out what happened in the filter device  58150 . Examples of the errors and error messages may include errors that occur due to sensor/filter failures, strange/dangerous chemicals detected by sensors/filters, moisture detected in particulate filters; clogged filters, pressure differential (e.g., between the pressure sensors  50840  and  50846 ) over a predetermined value, and unauthentic/unauthorized filter device/component. 
     The updating unit  58240  may update parameters output from the plurality of filter components. The parameters updated may be operational or sensed. Operational parameters may include airflow, pressure differentials, air quality, or any other parameters related to the operation of the filter device  58150 . Sensed parameters may include particulate concentration, aerosol percentage, chemical analysis, or any other values sensed by the sensors (e.g., pressure, fluid, chemical, particle) in the filter device  58150 . These parameters may be stored in the data storage unit  58270 , and automatically or manually updated by the updating unit  58240 . For example, the updating unit  58240  may update the pressure differential values stored in the data storage unit  58270  when a change in the pressure differentials is detected by the pressure sensors (e.g.,  50840 ,  50846 ). The filter communication circuit  58130  may receive these parameters directly from each of the filter components (e.g., filter elements  58325 A-C/filter sensors  58335 A-C) or through the slave controller  58310 . 
     The encryption/description unit  58250  may encrypt or decrypt the parameters output from the plurality of filter components. The encryption/description unit  58250  may encrypt or decrypt any data or packet received from the filter device  58150 . In some examples, the filter device  58150  may also include an encryption/description unit similar to the encryption/description unit  58250 . The encryption/description unit of the filter device  58150  may encrypt the parameters output from the plurality of filter components before sending the parameters to the filter communication circuit  58130  and decrypt the data from the filter communication circuit  58130 . The encrypted data/parameters communicated between the filter device  58150  and the filter communication circuit  58130  may not be visible/readable to filter components, filter device  58150 , and the smoke evacuation device  58105  unless the encrypted data/parameters are decrypted. 
     In some examples, the encryption/description unit  58250  and the filter device  58150  may encrypt or decrypt the data/parameters by symmetrical encryption, which uses the same (secret) key to encrypt and decrypt the data. In other examples, the encryption/description unit  58250  and the filter device  58150  may encrypt or decrypt the data/parameters by asymmetrical encryption, which uses public and private keys to encrypt and decrypt data. In the asymmetrical encryption, one of the private/public key may be used to encrypt the data, and the other key may be used to decrypt the data. 
     The remaining life verification unit  58260  may verify/predict the remaining life of the plurality of filter components. In some examples, the remaining life verification unit  58260  may use usage information about the plurality of filter components to verify the remaining life of the filter components. The filter component usage information may include time of use data, the number of times each filter component was used, the number or type of errors that each filter component generated, a standard lifetime of each filter component, and pressure differentials between the pressure sensors located upstream (e.g.,  50840 ) and downstream (e.g.,  50846 ) of the filter elements  58325 A-C. In some examples, if the pressure differential value of a filter element  58325 A (e.g., ULPA filter) exceeds a predetermined value, which may indicate that the filter element  58325 A is clogged, the remaining life verification unit  58260  may determine that the remaining life of the filter element  58325 A is zero or will become zero soon, for example, within a predetermined time period (e.g., 1-5 hours, 1-5 days, 1-5 weeks, or 1-5 months) and it should be replaced. If the filter component usage information indicates that a significant amount of moisture was entered into a particulate or charcoal filter, the remaining life verification unit  58260  may determine that the remaining life of the particulate or charcoal filter is zero or will become zero soon, for example, within a predetermined time period (e.g., 1-5 hours, 1-5 days, 1-5 weeks, or 1-5 months) and it should be replaced. If the filter component usage information indicates that there is an error in a filter sensor  58335 A or filter element  58325 A (e.g., not operate properly), the remaining life verification unit  58260  may determine that the filter sensor  58335 A or filter element  58325 A is zero or will become zero soon, for example, within a predetermined time period (e.g., 1-5 hours, 1-5 days, 1-5 weeks, or 1-5 months) and it should be replaced. In some examples, the filter component usage information may be stored in the data storage unit  58270 . 
     The data storage unit  58270  may store information about the filter components. The filter component information may include a product type, a product name, a unique device identifier, a product trademark, a serial number, and a configuration parameter of the plurality of filter components. In some examples, the information about the filter components may be generated, for example, from the filter component when the authentication unit  58220  authenticates/verifies the filter components. In some examples, the data storage unit  58270  may also include information about authentic/authorized filter components. The authentic filter component information may include a list of product types, product names, unique device identifiers, product trademarks, serial numbers, and configuration parameters of authentic/authorized filter components. In some examples, the filter component information and/or the authentic filter component information may be stored in plain text. In other examples, the filter component information and/or the authentic filter component information may be stored in an encrypted form. In some examples, the data storage unit  58270  may also store information about features disabled and enabled and algorithm or instructions for how the smoke evacuation device  58105  may use the filter components. 
     In some examples, the data/parameters from the filter device  58150  may be delivered to the smoke evacuation device  58105  (e.g., data storage unit  58270 ) nonsequentially, for example, as a data packet. As used herein, a data packet may refer to the unit of data that is communicated between two devices (e.g., filter device  58150  and smoke evacuation device  58105 ). The smoke evacuation device  58105  (e.g., processor  58110 , master controller  58210 ) may know how to combine the received data packets into the original data/parameters. 
     In some examples, the authentication unit  58220  may authenticate/verify the plurality of filter components in the filter device  58150  by using the filter component information and/or the authentic filter component information. For example, the authentication unit  58220  may compare the filter component information of the filter components with the authentic filter component information. That is, the authentication unit  58220  may check whether the filter component information (e.g., unique device identifier/trademark/serial number of a filter in the filter device  58150 ) matches the prestored authentic filter component information (e.g., in the list of unique device identifiers/trademarks/serial numbers of authentic filter components). If it is determined that the filter component information of a filter component does not match the authentic filter component information, the authentication unit  58220  may determine that the filter component is not authentic/authorized. If it is determined that a filter component is not authentic, the authentication unit  58220  may disable part or the whole filter device functions (e.g., smoke filtering, smoke sensing, data processing, etc.) or the filter device/components. In some examples, the authentication unit  58220  may disable the filter device/components or filter device functions by stopping the pump  58160 /motor  58165  or closing an input port of one of the filters. 
     In some examples, the serial number may be located in a chip, such as Erasable Programmable Read-Only Memory (EPROM) or Electrically Erasable Programmable Read-Only Memory (EEPROM) of the filter device/components (e.g., slave controller  58310 ). For example, in some cases, only certain family of chips may be used for authentic filter devices/components and the serial numbers on those chips may indicate that the filter devices/components having the chips are authentic. In some examples, when the filter device  58150  is connected to the smoke evacuation device  58105 , the authentication unit  58220  may read the serial number of the chip (e.g., EPROM/EEPROM) in the filter components and check whether it is authentic. In some examples, the authentication unit  58220  may be programmed to accept a set serial number range. 
     In some examples, the filter communication circuit  58130  (e.g., master controller  58210 ) may act as a master device and the filter device  58150  (e.g., plurality of filter components, including the slave controller  58310 ) may act as a slave device. In some examples, the communication between the master device and the slave device may be unidirectional from the master device to the slave device when performing the authentication step. That is, it may be only the master device that is able to authenticate/verify the slave device, and the slave device cannot authenticate/verify the master device. In this case, the slave device may only provide information (e.g., filter component information, including a product type, a product name, a unique device identifier, a product trademark, a serial number, and a configuration parameter of the filter components) requested from the master device. In some examples, the communication between the master device and the slave device may be bidirectional. 
     In some examples, the plurality of filter components may have a tiered structure. For example, one (e.g., slave controller  58310 ) of the filter components may act as a master component and the rest of the filter components may act as a slave component. In this case, the rest of the filter components may report data/parameters directly to the master component, which in turn may report the received data/parameters to the master device (master controller  58210 ). In other examples, each of the filter components may report data/parameters directly to the master device. 
     In some examples, the smoke evacuation device  58105  and the filter device  58150  may communicate with each other, for example, through the filter communication circuit  58130 , using a (bidirectional or unidirectional) wireless connection. Examples of the wireless connection may include RFID (read only or read/write), Bluetooth, Zigbee, IR, or any other suitable wireless protocols. In other examples, the smoke evacuation device  58105  and the filter device  58150  may communicate with each other using a wire connection. In this case, an electrical connector is provided between the smoke evacuation device  58105  and the filter device  58150 . For example, referring back to  FIGS. 13-14 , the electrical connector may be located on the socket  2120  that is configured to receive the filter device  58150 . In some examples, the first receptacle  2122  and/or the second receptacle  2124  may act as the electrical connector electrically connecting the smoke evacuation device  58105  (e.g., processor  58110 , master controller  58210 ) and the filter device  58150  (e.g., slave controller  58310  or other filter components  58325 A-C,  58335 A-C). In some examples, the electrical connector may be a pogo pin or a plug type connector. 
     Referring back to  FIG. 7 , in some examples, there may be a cable connector, e.g., a wire, extends from the smoke evacuation device  50600 ,  58100  to the generator  50640 . The cable connector may deliver activation signals and information about the energy delivery, and the smoke evacuation device  50600 ,  58100  may control the components in the smoke evacuation device  50600 ,  58100  based on the activation signals and the energy delivery information. For example, the smoke evacuation device  50600  may lower the suction force/rate or stop the suction, for example, by lowering the pump power/motor speed or by stopping the pump  58160 /motor  58165  in response to receiving energy delivery information/signal indicating that the generator is not activated or not activated fully. The smoke evacuation device  50600  may also increase the suction force/rate in response to receiving energy delivery information/signal indicating that the generator is activated or activated fully. In this way, the smoke evacuation device  50600  may be able to change the level of the suction force/rate as the generator  50640  is activated or deactivated. 
     In some examples, the filter communication circuit  58130  may include a Trusted Platform Module (TPM), which may be used to protect unencrypted keys and authentication information from malicious software attacks. In some examples, the TPM may be a specialized microprocessor or chip that provides a protected space for key operations and other security related tasks. In some examples, the TPM may use a monotonic counter for anti-replay protection, for example, to limit the number of failed accesses. For example, the TPM, using the monotonic counter, may prevent attempts to transmit data that is maliciously or fraudulently repeated by an unauthorized component of the filter device  58150 . The TPM may provide a decentralized and enhanced security to the system  58100 . 
     In some examples, the display device  58170  may act as an interactive data point, receiving inputs and displaying outputs for the smoke evacuation system  58100 . In some examples, the display device  58170  may include a touch screen. In some examples, the display device  58170  may display a smoke evacuation console having keys/buttons to control (e.g., activate/deactivate) or check the status of the components in the smoke evacuation system  58100 . For example, using the keys/buttons, a user may check the activation status or the data/parameters (e.g., magnitude of the fan/motor speed) output from the components in the smoke evacuation system  58100 . In other examples, the evacuation system may include a mechanical console having keys/buttons to control or check the status of the components in the smoke evacuation system  58100 . In some examples, the smoke evacuation console on the display device  58170  may look similar to the mechanical console, for example, by a default setting. In this case, the display device  58170  may display a (small) icon that, for example, on a corner of the display device  58170  that may allow the user to access a menu structure, which when activated, showing more adjustment options. 
     In some examples, the display device  58170  may operate interactively with other display devices (e.g., hub display  135 ) in the surgical system  100 . For example, the display device  58170  may act as a primary display device when the smoke evacuation device  58105  is not connected to the hub  106 . When the smoke evacuation device  58105  is connected to the hub  106 , the display device  58170  may act as a secondary display device while the hub display  135  acts as a primary display device. In this case, the display device  58170  may also include control buttons to control not only the smoke evacuation device  58105 , but also the hub  106 . In some examples, the hub display  135  and/or the display device  58170  may include an icon that may allow one of the hub display  135  and the display device  58170  to become an input device for the other. 
     In some examples, one or more components in the surgical system may be disposable/re-useable, including the filter device  58150 , filter components in the filter device  58150 , fluid trap  50760  (e.g., including fluid reservoir  50774 ), air hose  50636 , electrosurgical instrument  50630  (e.g., Zip Pen®), blade in the surgical instrument, or any other components in the smoke evacuation system  58100 . 
     Dual in-Series Large and Small Droplet Filters 
     The fluid extracted from a surgical site by a smoke evacuation system may contain liquid (e.g., large and small droplets) and various particulates in addition to smoke, which may be generated during a surgical procedure. The combination of different types and/or states of matter in the evacuated fluid may make it difficult to filter the fluid output from the surgical site. Moreover, certain types of matter in the fluid may be detrimental to certain filters in the smoke evacuation system. For example, the presence of liquid droplets in the fluid may damage certain filters, such as particulate/charcoal filters, which may be very expensive. Also, these filters may be easily damaged/blocked by not only large droplets, but also relatively small droplets. Aspects of the present disclosure may address the above-noted deficiencies. In certain instances, a surgical evacuation system may include a pump, a motor operably coupled to the pump, and a flow path fluidically coupled to the pump. The flow path may include a first fluid filter configured to extract a large droplet in a fluid moving through the flow path, and a second fluid filter configured to extract a small droplet in the fluid. The first fluid filter may be coupled in series with the second fluid filter and positioned upstream of the second fluid filter. An outlet port of the second fluid filter may be coupled to an inlet port of a non-fluid filter, which can be damaged when a moisture/droplet is entered therein. In certain instances, the surgical evacuation system may also include one or more recirculation channels configured to recirculate the fluid output from the first fluid filter or the second fluid filter. 
     In this way, the present disclosure may allow the smoke evacuation system to extract not only large droplets, but also small droplets before the fluid enters a non-fluid filter, which may be damaged by the large and small droplets. Also, the second fluid filter may use a filter element that may be more sophisticated and more expensive than the components used in the first fluid filter, and this filter element in the second fluid filter may tend to be easily and quickly clogged by large droplets. In the present disclosure, by providing the first fluid filter configured to extract large droplets upstream of the second fluid filter, the evacuation system may effectively protect the second fluid filter from damages and/or blockages, saving pump power and money. Finally, by providing one or more recirculation channels, the present disclosure allows the evacuation system to ensure that no droplet that may possibly damage the non-fluid filters enters the non-fluid filter. 
       FIG. 23  depicts a schematic of a housing of a smoke evacuation system  59100 , in accordance with at least one aspect of the present disclosure. The smoke evacuation system  59100  may include an evacuation housing  59105  and a fluid trap  59110  coupled to the evacuation housing  59105 . The evacuation system  59100  may also include a first fluid filter device  59120 , a second fluid filter device  59130 , a non-fluid filter device  59140 , and a pump  59170 . The pump  59170  may be operably coupled to a motor. The smoke evacuation system  59100  may further include a plurality of sensors  59190 A-K and intelligent controls. The fluid trap  59110 , the non-fluid filter device  59140 , the pump  59170  may be similar to the examples (e.g., fluid trap, ULPA filter, charcoal filter, scroll pump) depicted in  FIGS. 18-19 . The fluid trap  59110 , the filter devices  59120 ,  59130 ,  59140 , and the pump  59170  may be sequentially aligned along a flow path through the evacuator housing  59105  between the inlet  59112  and the outlet  59175 . As used herein, a non-fluid filter device  59140  may refer to a filter device or a filter (e.g., particulate/charcoal filters) that may be vulnerable to droplets and can be damaged when droplets are entered therein. 
     In various instances, the plurality of sensors may include one or more fluid detection sensors, one or more pressure sensors, one or more particle sensors, and/or one or more chemical sensors. The plurality of sensors  59190 A-K may be similar to the sensors (e.g., sensors  50830 ,  50832 ,  50836 ,  50840 ,  50838 ,  50846 ,  50848 ,  50850 ,  50854 ,  50852 ) depicted in  FIGS. 18 and 19 . For example, a pressure sensor may be positioned to detect pressure within the evacuation system  59100 , such as within the evacuator housing  59105 . For example, a pressure sensor may be positioned upstream of one of the filter devices  59120 ,  59130 ,  59140  (e.g., sensor  59190 E), between the filter devices  59120 ,  59130 ,  59140  and the pump  59170  (e.g., sensor  59190 G), and/or downstream of the pump  59170  (e.g., sensor  59190 I). In certain instances, a pressure sensor  59190 K may be positioned outside the evacuation system  59100  to detect pressure in the ambient environment. 
     Similarly, a particle sensor  59190 F,  59190 H may be positioned to detect particles within the evacuation system  59100 , such as within the evacuator housing  59105 . A particle sensor may be positioned upstream of one of the filter devices  59120 ,  59130 ,  59140  (e.g., sensor  59190 F), between the filter devices  59120 ,  59130 ,  59140  and the pump  59170 , and/or downstream of the pump  59170  (e.g., sensor  59190 H), for example. In various instances, a particle sensor  59190 J may be positioned to detect particles in the ambient environment to determine the air quality in the surgical theater, for example. 
     In various instances, a fluid detection sensor may be positioned upstream of one of the filter devices  59120 ,  59130 ,  59140  (e.g., sensor  59190 A,  59190 C,  59190 D), between the filter devices  59120 ,  59130 ,  59140  and the pump  59170 , downstream of the pump  59170 , or outside of the evacuation housing  59106 . Similarly, a chemical sensor may be positioned upstream of one of the filter devices  59120 ,  59130 ,  59140  (e.g., sensor  59190 B), between the filter devices  59120 ,  59130 ,  59140  and the pump  59170 , downstream of the pump  59170 , or outside of the evacuation housing  59106 . 
     Those skilled in the art will appreciate that certain evacuation systems may not include each sensor depicted in  FIG. 23  and/or may include additional sensor(s). The components in the evacuation system  59100  may be modular and/or replaceable. For example, the fluid trap  59110 , filter devices  59120 ,  59130 ,  59140 , the pump  59170 , the plurality of sensors  59190 A-K may be modular and/or replaceable. 
     The plurality of sensors  59190 A-K may detect various parameters of the fluid moving through the fluid path in the evacuation housing  59105  and/or of the ambient environment. In various instances, the evacuation housing  59105  and/or a modular component compatible with the housing  59105  may include a processor, which may be configured to receive inputs from one or more sensors (e.g.,  59190 A-K) and/or to communicate outputs to one more drivers. 
     As used herein, fluid may refer to any material coming into the inlet  59112 , for example, from a suction conduit, including liquids, gases, vapors, smoke, or combinations thereon. The fluids may be biologic in origin and/or can be introduced to the surgical site from an external source during a procedure. The fluids may also include water, saline, lymph, blood, exudate, and/or pyogenic discharge. Moreover, the fluids may also include particulates or other matter (e.g. cellular matter or debris) that is evacuated by the evacuation system. In an example, such particulates may be suspended in the fluid. 
     In operation, fluid from a surgical site can be drawn into the inlet  59112  of the evacuator housing  59105  via the fluid trap  59110 . The flow path through the housing  59105  in  FIG. 23  may be a sealed conduit or tube extending between the various in-line components. In various instances, the fluid may flow past a fluid detection sensor  59190 A and chemical sensor  59190 B to the first fluid filter device  59120 . A fluid detection sensor  59190 A may detect fluid particles in the fluid/smoke and the chemical sensor  59190 B may detect chemical properties of the fluid. The fluid detection sensor  59190 A may also detect the concentration (e.g., liquid-to-gas ratio) and/or size of droplets in the fluid near the fluid detection sensor  59190 A. The first fluid filter device  59120  may extract large droplets in the fluid. Then, the fluid may be directed to flow into the second fluid filter  59130 . In the second fluid filter  59130 , small droplets in the fluid output from the first fluid filter device  59120  may be extracted. The fluid may then flow past the second fluid filter device  59130  and may be directed to flow into the non-fluid filter device  59140 . 
     At the inlet of the non-fluid filter device  59140 , the fluid may flow past a laser particle counter  59190 F and a pressure sensor  59190 E. The fluid may be filtered via one or more non-fluid type filters  59144 ,  59146 . In certain instances, the non-fluid filter device  59140  depicted in  FIG. 23  may include additional and/or fewer filtering levels. For example, the non-fluid filter device  59140  may include one or more filtering layers selected from the following group of filters: a course media filter, a fine media filter, and a sorbent-based filter. The course media filter may be a low air resistant filter, which may be comprised of fiberglass, polyester, and/or pleated filters, for example. The fine media filter may be a high efficiency particulate air (HEPA) filter and/or ULPA filter. The sorbent-based filter may be an activated-carbon filter (e.g., charcoal filter), for example. In certain instances, the non-fluid filter device  59140  may also include one or more baffles  59142  or similar structures, upon which the fluid input into the non-fluid filter device  59140  may condensate. In certain instances, the baffle  59142  may be located near the inlet port of the non-fluid filter device  59140 . In certain other instances, the baffle  59142  may be positioned in any other suitable location in the non-fluid filter device  59140 . 
     Upon exiting the non-fluid filter device  59140 , the fluid may flow past a pressure sensor  59190 G and then continue along the flow path  59148  within the evacuator housing  59105  toward the pump  59170 . Upon moving through the pump  59170 , the filtered fluid may flow past a laser particle sensor  59190 H and a pressure sensor  59190 I at the outlet  59175  of the evacuator housing  59105 . The evacuator housing  59105  may also include an air quality particle sensor  59190 J and an ambient pressure sensor  59190 K to detect various properties of the ambient environment such as the environment within the surgical theater. 
     In various instances, the fluid trap  59110  or the first fluid filter device  59120  may be configured to prevent spillage and/or leakage of the captured fluid. For example, the geometry of the fluid trap  59110  or the first fluid filter device  59120  may be selected to prevent the captured fluid from spilling and/or leaking. In certain instances, the fluid trap  59110  or first fluid filter device  59120  may include one or more baffles  59126  and/or splatter screens for preventing the captured fluid from splashing out of the fluid trap  59110  or first fluid filter device  59120 . In one or more instances, the fluid trap  59110 /first fluid filter device  59120  may include sensors for detecting the volume of fluid within the fluid trap  59110 /first fluid filter device  59120  and/or if the fluid trap  59110 /first fluid filter device  59120  is filled to capacity. The fluid trap  59110 /first fluid filter device  59120  may include a valve for empty the fluid in the fluid reservoir  59114  of the fluid trap  59110  or in the fluid reservoir  59125  of the first fluid filter device  59120 . 
     The various sensors in the evacuation system  59100  may communicate with a controller, which may be incorporated into the evacuation system  59100  and/or may be a component of another surgical instrument and/or a surgical hub. The controller may adjust one or more operational parameters of the evacuator system (e.g. a motor for the evacuator pump) based on input from the sensor(s) or operational parameters of another device, such as an electrosurgical tool and/or imaging device based on input from the sensor(s). 
     Referring to  FIG. 23  again, in certain instances, the first fluid filter device  59120  may be configured to extract a large droplet in the fluid moving through the flow path, and the second fluid filter device  59130  may be configured to extract a small droplet in the fluid. As illustrated in  FIG. 23 , the first fluid filter device  59120  may be coupled in series with the second fluid filter device  59130 . The first fluid filter device  59120  may be positioned upstream of the second fluid filter device  59130 . In certain instances, an outlet port of the second fluid filter device  59130  may be coupled to an inlet port of a non-fluid filter device  59140 . 
     As used herein, a droplet larger than 10-20 μm may be considered as a large droplet. Also, a droplet smaller than 10-20 μm may be considered as a small droplet. In certain instances, the first fluid filter device  59120  may remove a majority of droplets larger than 20 μm. In certain instances, the first fluid filter device  59120  may remove at least 85% of droplets larger than 20 μm, greater than 90% of droplets larger than 20 μm, greater than 95% of droplets larger than 20 μm, greater than 99% of droplets larger than 20 μm, greater than 99.9% of droplets larger than 20 μm, or greater than 99.99% droplets larger than 20 μm. 
     Additionally or alternatively, the first fluid filter device  59120  may remove the majority of droplets greater than 10 μm. In certain instances, the first fluid filter device  59120  may remove at least 85% droplets larger than 10 μm, greater than 90% of droplets larger than 10 μm, greater than 95% of droplets larger than 10 μm, greater than 99% of droplets larger than 10 μm, greater than 99.9% droplets larger than 10 μm, or greater than 99.99% droplets larger than 10 μm. 
     The second fluid filter device  59130  may remove a majority of droplets larger than 1 μm, for example. In certain instances, the second fluid filter device  59130  may remove at least 85% of droplets larger than 1 μm, greater than 90% of droplets larger than 1 μm, greater than 95% of droplets larger than 1 μm, greater than 99% of droplets larger than 1 μm, greater than 99.9% of droplets larger than 1 μm, or greater than 99.99% droplets larger than 1 μm. 
     Additionally or alternatively, the second fluid filter device  59130  may remove a majority of droplets larger than 0.1 μm, for example. In certain instances, the second fluid filter device  59130  may remove at least 85% of droplets larger than 0.1 μm, greater than 90% of droplets larger than 0.1 μm, greater than 95% of droplets larger than 0.1 μm, greater than 99% of droplets larger than 0.1 μm, greater than 99.9% of droplets larger than 0.1 μm, or greater than 99.99% droplets larger than 0.1 μm. 
     In certain instances, the first fluid filter device  59120  may include a diverter valve  59122 . The diverter valve  59122  may be similar to the diverter valve  50834 ,  50934  depicted in  FIGS. 18-19 . For example, when the diverter valve  59122  is in a first position, the fluid intake through the diverter valve  59122  may be directed along a first path  59123 . When the diverter valve  59122  is in a second position, as illustrated in  FIG. 23 , fluid intake through the diverter valve  59122  may be directed along a second path  59124 . In certain instances, the first path  59123  may correspond to a flow path when almost no liquid/droplet has been detected within the fluid or when the detected liquid-to-gas ratio is below a threshold value. In certain other instances, the first path  59123  may correspond to a flow path when the size of the majority of the detected droplets (e.g., 80%, 90%, 95%, or 99%) is smaller than a predetermined threshold value (e.g., 10-20 μm). 
     In certain instances, the second path  59124  may correspond to a flow path when liquid/droplet has been detected within the fluid, e.g. aerosol, or when the detected liquid-to-gas ratio is equal to or above the threshold value. In certain other instances, the second path  59124  may correspond to a flow path when the size of the majority of the detected droplets is equal to or greater than a predetermined threshold value (e.g., 10-20 μm). The fluid detection sensor  59190 A may be configured to detect the presence of liquid droplets or aerosols in the fluid, the liquid-to-gas ratio, and/or the size of the droplet/aerosol. For example, the fluid detection sensor  59190 A may be positioned at and/or near the output port of the fluid trap  59110  and/or the inlet port of the first fluid filter device  59120 . A liquid-to-gas ratio equal to or above the threshold value (e.g., 1:2; 1:1; 2:1; 5:1; 10:1) may be considered an aerosol. The first path  59123  may bypass the first fluid filter device  59120 , and the second path  59124  may direct the fluid through the first fluid filter device  59120  to capture large droplets from the fluid before the fluid is directed into the second fluid filter device  59130 . By selecting a fluid path based on the liquid-to-gas ratio or the size of the droplets in the fluid, the efficiency of the surgical evacuation system  59100  may be improved. 
     As discussed above, if the fluid detection sensor  59190 A detects a liquid-to-gas ratio equal to or above a threshold value, a droplet larger than a threshold size, or a combination of both, the fluid intake may be diverted into the second path  59124  before entering the second fluid filter device  59130 . The second path  59124  may be configured to condense liquid droplets in the flow path. For example, the second path  59124  may include a plurality of baffles  59126  or other similar structures, upon which the fluid may be configured to condensate. As fluid flows past the second path  59124 , the liquid may condensate on the baffles  59126  therein, and may be directed to drip downward into the fluid reservoir  59125 . 
     Conversely, if the fluid detection sensor  59190 A detects a liquid-to-gas ratio below the threshold value, a droplet smaller than a threshold size, or a combination of both, the fluid intake may be directed directly to the second fluid filter device  59130 . The diverter valve  59122  may be positioned to bypass the second path  59124  and the first fluid filter device  59120  such that the fluid flows directly to the second fluid filter device  59130 . By bypassing the first fluid filter device  59120 , the surgical evacuation system  59100  may require less power from the motor that drives the pump  59170 . For example, the motor may require more power to draw an aerosol through the surgical evacuation system than to draw a non-aerosol smoke through the surgical evacuation system. 
     In certain instances, the second fluid filter device  59130  may include a filter  59135  that is configured to capture small droplets (e.g., smaller than 10-20 μm). In certain instances, the filter  59135  may be configured to extract droplets larger than a threshold size (e.g., 0.1-1 μm). In certain instances, the filter  59135  may be at least one of a membrane filter, a honeycomb filter, and/or a porous structure filter (e.g., thin porous pad), or any other suitable filter that is capable of extracting small droplets or droplets larger than 0.1-1 μm. The fluid output from the second fluid filter device  59130  may flow into the non-fluid filter device  59140 . In certain instances, the second fluid filter device  59130  may also include one or more baffles or similar structures, upon which the fluid input into the second fluid filter device may condensate. In certain instances, the baffles may be located near the inlet port of the second fluid filter device  59130 . In certain other instances, the baffles may be positioned in any other suitable location in the second fluid filter device  50130 . 
     Referring still to  FIG. 23 , the evacuation system  59100  may also include a first recirculation channel  59150 . The inlet port  59152  of the first recirculation channel  59150  may be positioned between the second fluid filter device  59130  and the non-fluid filter device  59140 . The first recirculation channel  59150  may be configured to recirculate the fluid output from the second fluid filter device  59130 . 
     The fluid directed into the first recirculation channel  59150  may be injected into the fluid path upstream of the second fluid filter device  59130 . For example, the fluid directed into the first recirculation channel  59150  may be injected into the first fluid filter device  59120  (e.g., fluid reservoir  59125 ), as illustrated in  FIG. 23 . In certain other instances, the fluid directed into the first recirculation channel  59150  may be injected into an upstream portion of the second fluid filter device  59130  (e.g., inlet port of the second fluid filter device  59130 ) or a flow path between the first fluid filter device  59120  and the second fluid filter device  59130 . 
     In certain instances, the first recirculation channel  59150  (e.g., a portion of the first recirculation channel  59150  near the inlet port  59152 ) may extend downward from the inlet port  59152  of the first recirculation channel  59150 . This may allow the large droplet or the small droplet in the fluid output from the second fluid filter device  59130  to be directed to the first recirculation channel  59150  via gravity. 
     In certain instances, the evacuation system  59100  may also include a first recirculation valve  59155 . The first recirculation valve  59155  may be configured to close and/or open the first recirculation channel  59150 . When the first recirculation valve  59155  is opened, the fluid output from the second fluid filter device  59130  may be directed into the first recirculation channel  59150 . In certain instances, the evacuation system  59100  may further include a fluid detect sensor  59190 D. The fluid detection sensor  59190 D may be positioned near the first recirculation valve  59155 . The fluid detection sensor  59190 D may be similar to the fluid detection sensor  59190 A. The fluid detection sensor  59190 D may be configured to detect a parameter of the fluid (e.g., the size of the droplets in the fluid, liquid-to-gas ratio). The first recirculation valve  59155  may open the first recirculation channel  59150  when the parameter detected by the fluid detection sensor  59190 D is equal to or greater than a predetermined threshold value. For example, if the fluid detection sensor  59190 D detects a liquid-to-gas ratio equal to or above a threshold value (e.g., 1:2; 1:1; 2:1; 5:1; 10:1) and/or a droplet size larger than a threshold value (e.g., 0.1-1 μm), the fluid output from the second fluid filter device  59130  may be diverted into the first recirculation channel. In this way, the evacuation system  59100  may prevent droplets/moisture that may damage the filters  59144 ,  59146  from entering the non-fluid filter device  59140 . If the fluid detection sensor  59190 D detects a liquid-to-gas ratio below a threshold value and/or a droplet size smaller than a threshold value (e.g., 0.1-1 μm), the first recirculation valve  59155  may be closed such that the fluid output from the second fluid filter device  59130  is directed into the non-fluid filter device  59140 . 
     In certain instances, the recirculated fluid through the first recirculation channel  59150  may go through the first fluid filter device  59120  and/or through second fluid filter device  59130  again, and the recirculation steps may be repeated until the parameter detected by the fluid detection sensor  59190 D becomes below a predetermined threshold value. In certain instances, if the number of the repetition is equal to or greater than a predetermined threshold value (e.g., 5 times, 10 times, or any other suitable value greater than 0), which may indicate that some components in the first/second fluid filter devices  59120 / 59130  are not working properly (e.g., due to sensor failure, damages or blockages to filters/baffles), the first/second fluid filter devices  59120 / 59130  or the evacuation system  59100  may be disabled, for example, by stopping the pump  59170  or the motor. In this case, the processor of the evacuation system  59100  may notify the evacuation system  59100  or the user that there is an error in the first/second fluid filter devices  59120 / 59130 . 
     In certain instances, the evacuation system  59100  may also include a second recirculation channel  59160 . An inlet port  59162  of the second recirculation channel  59160  may be positioned between the first fluid filter device  59120  and the second fluid filter device  59130 . The second recirculation channel  59160  may be configured to recirculate the fluid output from the first fluid filter  59120 . In certain instances, the fluid directed into the second recirculation channel  59160  may be injected into the fluid path upstream of the first fluid filter device  59120  (e.g., the reservoir  59114  or the fluid trap  59110 ) or an upstream portion of the first fluid filter device  59120  (e.g., inlet port of the first fluid filter or the reservoir  59125  of the first fluid filter device  59120 ). In certain instances, the second recirculation channel  59160  (e.g., a portion of the second recirculation channel  59160  near the inlet port  59162 ) may extend downward from the inlet port  59162  of the second recirculation channel  59160 . This may allow the large droplet or the small droplet in the fluid output from the first fluid filter device  59120  to be directed to the second recirculation channel  59160  via gravity. 
     In certain instances, the evacuation system  59100  may further include a second recirculation valve  59165 . The second recirculation valve  59165  may be configured to close and/or open the second recirculation channel  59160 . When the second recirculation valve is opened, the fluid output from the first fluid filter device  59120  may be recirculated through the second recirculation channel  59160 . 
     In certain instances, the evacuation system  59100  may also use a fluid detection sensor  59190 C to control the second recirculation valve  59165 . The fluid detection sensor  59190 C may be similar to the fluid detection sensor  59190 A, D. The fluid sensor  59190 C may be positioned near the second recirculation valve  59165 . The fluid sensor  59190 C may be configured to detect a parameter of the fluid (e.g., the size of the droplets in the fluid, liquid-to-gas ratio). The second recirculation valve  59165  may open the second recirculation channel  59160  when the parameter detected by the fluid detection sensor  59190 C is equal to or greater than a predetermined threshold value. For example, if the fluid detection sensor  59190 C detects a liquid-to-gas ratio equal to or above a threshold value (e.g., 1:2; 1:1; 2:1; 5:1; 10:1) and/or a droplet size larger than a threshold value (e.g., 10-20 μm), the fluid output from the first fluid filter device  59120  may be diverted into the second recirculation channel  59160 . In this way, the evacuation system  59100  may prevent large droplets/moistures that may easily and/or quickly clog the filter  59135  from entering the second fluid filter device  59140 . If the fluid sensor  59190 C detects a liquid-to-gas ratio below a threshold value and/or a droplet size smaller than a threshold value (e.g., 10-20 μm), the second recirculation valve  59165  may be closed such that the fluid output from the first fluid filter device  59120  is directed into the second fluid filter device  59130 . 
     In certain instances, the recirculated fluid through the second recirculation channel  59160  may go through the first fluid filter device  59120  again, and the recirculation steps may be repeated until the parameter detected by the fluid detection sensor  59190 C becomes below a predetermined threshold value. In certain instances, if the number of the repetition is equal to or greater than a predetermined threshold value (e.g., 5 times, 10 times, or any other suitable value greater than 0), which may indicate that some components in the first fluid filter device  59120  is not working properly (e.g., due to sensor failure, damages or blockages to baffles), the first fluid filter device  59120  or the evacuation system  59100  may be disabled, for example, by stopping the pump  59170  or the motor. In this case, the processor of the evacuation system  59100  may notify the evacuation system  59100  or the user that there is an error in the first fluid filter device  59120 . 
     In certain instances, the first recirculation valve  59155  may be configured to open and/or close the flow path between the second fluid filter device  59130  and the non-fluid filter device  59140 . For example, when the parameter detected by the fluid detection sensor  59190 D is equal to or greater than a predetermined threshold value, the first recirculation valve  59155  opens the first recirculation channel  59150  and closes the flow path between the second fluid filter device  59130  and the non-fluid filter device  59140  at the same time. In this way, the present disclosure may advantageously allows the evacuation system  59100  to divert almost all fluid output from the second fluid filter device  59130 , which may include droplets that may damage the filters  59144 ,  59146  of the non-fluid filter device  59140 , into the first recirculation channel  59150 . Also, in certain instances, the closing of the first recirculation channel  59150  and the opening of the flow path between the second fluid filter device  59130  and the non-fluid filter device  59140  can be done with a single step/operation as opposed to multiple steps/operations. For example, as illustrated in  FIG. 23 , when the first recirculation valve  59155  is opened 90 degrees, the first recirculation valve  59155  closes the flow path between the second fluid filter device  59130  and the non-fluid filter device  59140 . 
     Similarly, in certain instances, the second recirculation valve  59165  may be configured to open and/or close the flow path between the first fluid filter device  59120  and the second fluid filter device  59130 . In certain instances, when the parameter detected by the fluid detection sensor  59190 C is equal to or greater than a predetermined threshold value, the second recirculation valve  59165  may open the second recirculation channel  59160  and close the flow path between the first fluid filter device  59120  and the second fluid filter device  59130  at the same time. In this way, the present disclosure may advantageously allows the evacuation system  59100  to divert almost all fluid output from the first fluid filter device  59120 , which may include large droplets that may easily/quickly clog the second fluid filter device  59130  and/or the filter  59135  of the second fluid filter device  59130 , into the second recirculation channel  59160 . Also, in certain instances, the closing of the second recirculation channel  59160  and the opening of the flow path between the first fluid filter device  59120  and the second fluid filter device  59130  can be done with a single step/operation as opposed to multiple steps/operations. For example, as illustrated in  FIG. 23 , when the second recirculation valve  59165  is opened 90 degrees, the second recirculation valve  59165  closes the flow path between the first fluid filter device  59120  and the second fluid filter device  59130 . This may advantageously reduce the number of signals/commands between the processor and the components in the evacuation system  59100 , preventing possible signal delay and malfunction of the components due to the signal delay. 
     In certain instances, the evacuation system  59100  may include one or more centrifugal blower arrangements. For example, a first centrifugal blower  59180 A (e.g., squirrel cage) may be provided to the flow path  59148  between the non-fluid filter device  59140  and the pump  59170 , and a second centrifugal blower  59180 B may be provided to the first recirculation channel  59150 . The first centrifugal blower  59180 A may be operably coupled to the second centrifugal blower  59180 B, for example, via one or more gears  59185 A. For example, when the first recirculation valve  59155  is open and the pump  59170  is activated, the suction force generated by the pump  59170  may generate rotation of the first centrifugal blower  59180 A, which may be transferred to the second centrifugal blower  59180 B, via the gear  59185 A, which draws the recirculated fluid through the first recirculation channel  59150 . 
     Similarly, a third centrifugal blower  59180 C may be provided to the second recirculation channel  59160 . In certain instances, the third centrifugal blower  59180 C may be operably coupled to the first centrifugal blower  59180 A, for example, via one or more gears  59185 A-B and the second centrifugal blower  59180 B, as illustrated in  FIG. 23 . In this case, when the second recirculating valve  59165  is open and the pump  59170  is activated, the suction force generated by the pump  59170  may generate rotation of the first centrifugal blower  59180 A, which may be transferred to the second centrifugal blower  59180 B and, in turn, to the third centrifugal blower  59180 C, which draws the recirculated fluid through the second recirculation channel  59160 . In certain other instances, the third centrifugal blower  59180 C may be operably coupled to the first centrifugal blower  59180 A, for example, via the gears  59185 B without having the second centrifugal blower  59180 B therebetween. In this case, when the second recirculating valve  59165  is open and the pump  59170  is activated, the suction force generated by the pump  59170  may generate rotation of the first centrifugal blower  59180 A, which may be transferred to the third centrifugal blower  59180 C, via one or more gears  59185 B, which draws the recirculated fluid through the second recirculation channel  59160 . In this way, the present disclosure may advantageously use less power from the motor/pump by reusing the motor/pump power in generating a suction force for the first and/or second recirculation channel  59150 ,  59160 . In certain other instances, the first recirculation channel  59150  and/or the second recirculation channel  59160  may be provided with a separate pump to generate the suction force. 
     The reader will readily appreciate that various surgical evacuation systems and components described herein can be incorporated into a computer-implemented interactive surgical system, a surgical hub, and/or a robotic system. For example, a surgical evacuation system can communicate data to a surgical hub, a robotic system, and/or a computer-implanted interactive surgical system and/or can receive data from a surgical hub, robotic system, and/or a computer-implemented interactive surgical system. Various examples of computer-implemented interactive surgical systems, robotic systems, and surgical hubs are further described below. 
     Computer-Implemented Interactive Surgical System 
     Referring to  FIG. 24 , a computer-implemented interactive surgical system  100  includes one or more surgical systems  102  and a cloud-based system (e.g., the cloud  104  that may include a remote server  113  coupled to a storage device  105 ). Each surgical system  102  includes at least one surgical hub  106  in communication with the cloud  104  that may include a remote server  113 . In one example, as illustrated in  FIG. 24 , the surgical system  102  includes a visualization system  108 , a robotic system  110 , and a handheld intelligent surgical instrument  112 , which are configured to communicate with one another and/or the hub  106 . In some aspects, a surgical system  102  may include an M number of hubs  106 , an N number of visualization systems  108 , an O number of robotic systems  110 , and a P number of handheld intelligent surgical instruments  112 , where M, N, O, and P are integers greater than or equal to one. 
       FIG. 26  depicts an example of a surgical system  102  being used to perform a surgical procedure on a patient who is lying down on an operating table  114  in a surgical operating room  116 . A robotic system  110  is used in the surgical procedure as a part of the surgical system  102 . The robotic system  110  includes a surgeon&#39;s console  118 , a patient side cart  120  (surgical robot), and a surgical robotic hub  122 . The patient side cart  120  can manipulate at least one removably coupled surgical tool  117  through a minimally invasive incision in the body of the patient while the surgeon views the surgical site through the surgeon&#39;s console  118 . An image of the surgical site can be obtained by a medical imaging device  124 , which can be manipulated by the patient side cart  120  to orient the imaging device  124 . The robotic hub  122  can be used to process the images of the surgical site for subsequent display to the surgeon through the surgeon&#39;s console  118 . 
     Other types of robotic systems can be readily adapted for use with the surgical system  102 . Various examples of robotic systems and surgical tools that are suitable for use with the present disclosure are described in U.S. Provisional Patent Application Ser. No. 62/611,339, titled ROBOT ASSISTED SURGICAL PLATFORM, filed Dec. 28, 2017, the disclosure of which is herein incorporated by reference in its entirety. 
     Various examples of cloud-based analytics that are performed by the cloud  104 , and are suitable for use with the present disclosure, are described in U.S. Provisional Patent Application Ser. No. 62/611,340, titled CLOUD-BASED MEDICAL ANALYTICS, filed Dec. 28, 2017, the disclosure of which is herein incorporated by reference in its entirety. 
     In various aspects, the imaging device  124  includes at least one image sensor and one or more optical components. Suitable image sensors include, but are not limited to, Charge-Coupled Device (CCD) sensors and Complementary Metal-Oxide Semiconductor (CMOS) sensors. 
     The optical components of the imaging device  124  may include one or more illumination sources and/or one or more lenses. The one or more illumination sources may be directed to illuminate portions of the surgical field. The one or more image sensors may receive light reflected or refracted from the surgical field, including light reflected or refracted from tissue and/or surgical instruments. 
     The one or more illumination sources may be configured to radiate electromagnetic energy in the visible spectrum as well as the invisible spectrum. The visible spectrum, sometimes referred to as the optical spectrum or luminous spectrum, is that portion of the electromagnetic spectrum that is visible to (i.e., can be detected by) the human eye and may be referred to as visible light or simply light. A typical human eye will respond to wavelengths in air that are from about 380 nm to about 750 nm. 
     The invisible spectrum (i.e., the non-luminous spectrum) is that portion of the electromagnetic spectrum that lies below and above the visible spectrum (i.e., wavelengths below about 380 nm and above about 750 nm). The invisible spectrum is not detectable by the human eye. Wavelengths greater than about 750 nm are longer than the red visible spectrum, and they become invisible infrared (IR), microwave, and radio electromagnetic radiation. Wavelengths less than about 380 nm are shorter than the violet spectrum, and they become invisible ultraviolet, x-ray, and gamma ray electromagnetic radiation. 
     In various aspects, the imaging device  124  is configured for use in a minimally invasive procedure. Examples of imaging devices suitable for use with the present disclosure include, but not limited to, an arthroscope, angioscope, bronchoscope, choledochoscope, colonoscope, cytoscope, duodenoscope, enteroscope, esophagogastro-duodenoscope (gastroscope), endoscope, laryngoscope, nasopharyngo-neproscope, sigmoidoscope, thoracoscope, and ureteroscope. 
     In one aspect, the imaging device employs multi-spectrum monitoring to discriminate topography and underlying structures. A multi-spectral image is one that captures image data within specific wavelength ranges across the electromagnetic spectrum. The wavelengths may be separated by filters or by the use of instruments that are sensitive to particular wavelengths, including light from frequencies beyond the visible light range, e.g., IR and ultraviolet. Spectral imaging can allow extraction of additional information the human eye fails to capture with its receptors for red, green, and blue. The use of multi-spectral imaging is described in greater detail under the heading “Advanced Imaging Acquisition Module” in U.S. Provisional Patent Application Ser. No. 62/611,341, titled INTERACTIVE SURGICAL PLATFORM, filed Dec. 28, 2017, the disclosure of which is herein incorporated by reference in its entirety. Multi-spectrum monitoring can be a useful tool in relocating a surgical field after a surgical task is completed to perform one or more of the previously described tests on the treated tissue. 
     It is axiomatic that strict sterilization of the operating room and surgical equipment is required during any surgery. The strict hygiene and sterilization conditions required in a “surgical theater,” i.e., an operating or treatment room, necessitate the highest possible sterility of all medical devices and equipment. Part of that sterilization process is the need to sterilize anything that comes in contact with the patient or penetrates the sterile field, including the imaging device  124  and its attachments and components. It will be appreciated that the sterile field may be considered a specified area, such as within a tray or on a sterile towel, that is considered free of microorganisms, or the sterile field may be considered an area, immediately around a patient, who has been prepared for a surgical procedure. The sterile field may include the scrubbed team members, who are properly attired, and all furniture and fixtures in the area. 
     In various aspects, the visualization system  108  includes one or more imaging sensors, one or more image processing units, one or more storage arrays, and one or more displays that are strategically arranged with respect to the sterile field, as illustrated in  FIG. 25 . In one aspect, the visualization system  108  includes an interface for HL7, PACS, and EMR. Various components of the visualization system  108  are described under the heading “Advanced Imaging Acquisition Module” in U.S. Provisional Patent Application Ser. No. 62/611,341, titled INTERACTIVE SURGICAL PLATFORM, filed Dec. 28, 2017, the disclosure of which is herein incorporated by reference in its entirety. 
     As illustrated in  FIG. 25 , a primary display  119  is positioned in the sterile field to be visible to an operator at the operating table  114 . In addition, a visualization tower  111  is positioned outside the sterile field. The visualization tower  111  includes a first non-sterile display  107  and a second non-sterile display  109 , which face away from each other. The visualization system  108 , guided by the hub  106 , is configured to utilize the displays  107 ,  109 , and  119  to coordinate information flow to operators inside and outside the sterile field. For example, the hub  106  may cause the visualization system  108  to display a snap-shot of a surgical site, as recorded by an imaging device  124 , on a non-sterile display  107  or  109 , while maintaining a live feed of the surgical site on the primary display  119 . The snap-shot on the non-sterile display  107  or  109  can permit a non-sterile operator to perform a diagnostic step relevant to the surgical procedure, for example. 
     In one aspect, the hub  106  is also configured to route a diagnostic input or feedback entered by a non-sterile operator at the visualization tower  111  to the primary display  119  within the sterile field, where it can be viewed by a sterile operator at the operating table. In one example, the input can be in the form of a modification to the snap-shot displayed on the non-sterile display  107  or  109 , which can be routed to the primary display  119  by the hub  106 . 
     Referring to  FIG. 25 , a surgical instrument  112  is being used in the surgical procedure as part of the surgical system  102 . The hub  106  is also configured to coordinate information flow to a display of the surgical instrument  112 . For example, in U.S. Provisional Patent Application Ser. No. 62/611,341, titled INTERACTIVE SURGICAL PLATFORM, filed Dec. 28, 2017, the disclosure of which is herein incorporated by reference in its entirety. A diagnostic input or feedback entered by a non-sterile operator at the visualization tower  111  can be routed by the hub  106  to the surgical instrument display  115  within the sterile field, where it can be viewed by the operator of the surgical instrument  112 . Example surgical instruments that are suitable for use with the surgical system  102  are described under the heading “Surgical Instrument Hardware” and in U.S. Provisional Patent Application Ser. No. 62/611,341, titled INTERACTIVE SURGICAL PLATFORM, filed Dec. 28, 2017, the disclosure of which is herein incorporated by reference in its entirety, for example. 
     Referring now to  FIG. 26 , a hub  106  is depicted in communication with a visualization system  108 , a robotic system  110 , and a handheld intelligent surgical instrument  112 . The hub  106  includes a hub display  135 , an imaging module  138 , a generator module  140 , a communication module  130 , a processor module  132 , and a storage array  134 . In certain aspects, as illustrated in  FIG. 26 , the hub  106  further includes a smoke evacuation module  126  and/or a suction/irrigation module  128 . 
     During a surgical procedure, energy application to tissue, for sealing and/or cutting, is generally associated with smoke evacuation, suction of excess fluid, and/or irrigation of the tissue. Fluid, power, and/or data lines from different sources are often entangled during the surgical procedure. Valuable time can be lost addressing this issue during a surgical procedure. Detangling the lines may necessitate disconnecting the lines from their respective modules, which may require resetting the modules. The hub modular enclosure  136  offers a unified environment for managing the power, data, and fluid lines, which reduces the frequency of entanglement between such lines. 
     Aspects of the present disclosure present a surgical hub for use in a surgical procedure that involves energy application to tissue at a surgical site. The surgical hub includes a hub enclosure and a combo generator module slidably receivable in a docking station of the hub enclosure. The docking station includes data and power contacts. The combo generator module includes two or more of an ultrasonic energy generator component, a bipolar RF energy generator component, and a monopolar RF energy generator component that are housed in a single unit. In one aspect, the combo generator module also includes a smoke evacuation component, at least one energy delivery cable for connecting the combo generator module to a surgical instrument, at least one smoke evacuation component configured to evacuate smoke, fluid, and/or particulates generated by the application of therapeutic energy to the tissue, and a fluid line extending from the remote surgical site to the smoke evacuation component. 
     In one aspect, the fluid line is a first fluid line and a second fluid line extends from the remote surgical site to a suction and irrigation module slidably received in the hub enclosure. In one aspect, the hub enclosure comprises a fluid interface. 
     Certain surgical procedures may require the application of more than one energy type to the tissue. One energy type may be more beneficial for cutting the tissue, while another different energy type may be more beneficial for sealing the tissue. For example, a bipolar generator can be used to seal the tissue while an ultrasonic generator can be used to cut the sealed tissue. Aspects of the present disclosure present a solution where a hub modular enclosure  136  is configured to accommodate different generators, and facilitate an interactive communication therebetween. One of the advantages of the hub modular enclosure  136  is enabling the quick removal and/or replacement of various modules. 
     Aspects of the present disclosure present a modular surgical enclosure for use in a surgical procedure that involves energy application to tissue. The modular surgical enclosure includes a first energy-generator module, configured to generate a first energy for application to the tissue, and a first docking station comprising a first docking port that includes first data and power contacts, wherein the first energy-generator module is slidably movable into an electrical engagement with the power and data contacts and wherein the first energy-generator module is slidably movable out of the electrical engagement with the first power and data contacts. 
     Further to the above, the modular surgical enclosure also includes a second energy-generator module configured to generate a second energy, different than the first energy, for application to the tissue, and a second docking station comprising a second docking port that includes second data and power contacts, wherein the second energy-generator module is slidably movable into an electrical engagement with the power and data contacts, and wherein the second energy-generator module is slidably movable out of the electrical engagement with the second power and data contacts. 
     In addition, the modular surgical enclosure also includes a communication bus between the first docking port and the second docking port, configured to facilitate communication between the first energy-generator module and the second energy-generator module. 
     Referring to  FIGS. 3-7 , aspects of the present disclosure are presented for a hub modular enclosure  136  that allows the modular integration of a generator module  140 , a smoke evacuation module  126 , and a suction/irrigation module  128 . The hub modular enclosure  136  further facilitates interactive communication between the modules  140 ,  126 ,  128 . As illustrated in  FIG. 28 , the generator module  140  can be a generator module with integrated monopolar, bipolar, and ultrasonic components supported in a single housing unit  139  slidably insertable into the hub modular enclosure  136 . As illustrated in  FIG. 28 , the generator module  140  can be configured to connect to a monopolar device  146 , a bipolar device  147 , and an ultrasonic device  148 . Alternatively, the generator module  140  may comprise a series of monopolar, bipolar, and/or ultrasonic generator modules that interact through the hub modular enclosure  136 . The hub modular enclosure  136  can be configured to facilitate the insertion of multiple generators and interactive communication between the generators docked into the hub modular enclosure  136  so that the generators would act as a single generator. 
     In one aspect, the hub modular enclosure  136  comprises a modular power and communication backplane  149  with external and wireless communication headers to enable the removable attachment of the modules  140 ,  126 ,  128  and interactive communication therebetween. 
     In one aspect, the hub modular enclosure  136  includes docking stations, or drawers,  151 , herein also referred to as drawers, which are configured to slidably receive the modules  140 ,  126 ,  128 .  FIG. 27  illustrates a partial perspective view of a surgical hub enclosure  136 , and a combo generator module  145  slidably receivable in a docking station  151  of the surgical hub enclosure  136 . A docking port  152  with power and data contacts on a rear side of the combo generator module  145  is configured to engage a corresponding docking port  150  with power and data contacts of a corresponding docking station  151  of the hub modular enclosure  136  as the combo generator module  145  is slid into position within the corresponding docking station  151  of the hub module enclosure  136 . In one aspect, the combo generator module  145  includes a bipolar, ultrasonic, and monopolar module and a smoke evacuation module integrated together into a single housing unit  139 , as illustrated in  FIG. 28 . 
     In various aspects, the smoke evacuation module  126  includes a fluid line  154  that conveys captured/collected smoke and/or fluid away from a surgical site and to, for example, the smoke evacuation module  126 . Vacuum suction originating from the smoke evacuation module  126  can draw the smoke into an opening of a utility conduit at the surgical site. The utility conduit, coupled to the fluid line, can be in the form of a flexible tube terminating at the smoke evacuation module  126 . The utility conduit and the fluid line define a fluid path extending toward the smoke evacuation module  126  that is received in the hub enclosure  136 . 
     In various aspects, the suction/irrigation module  128  is coupled to a surgical tool comprising an aspiration fluid line and a suction fluid line. In one example, the aspiration and suction fluid lines are in the form of flexible tubes extending from the surgical site toward the suction/irrigation module  128 . One or more drive systems can be configured to cause irrigation and aspiration of fluids to and from the surgical site. 
     In one aspect, the surgical tool includes a shaft having an end effector at a distal end thereof and at least one energy treatment associated with the end effector, an aspiration tube, and an irrigation tube. The aspiration tube can have an inlet port at a distal end thereof and the aspiration tube extends through the shaft. Similarly, an irrigation tube can extend through the shaft and can have an inlet port in proximity to the energy deliver implement. The energy deliver implement is configured to deliver ultrasonic and/or RF energy to the surgical site and is coupled to the generator module  140  by a cable extending initially through the shaft. 
     The irrigation tube can be in fluid communication with a fluid source, and the aspiration tube can be in fluid communication with a vacuum source. The fluid source and/or the vacuum source can be housed in the suction/irrigation module  128 . In one example, the fluid source and/or the vacuum source can be housed in the hub enclosure  136  separately from the suction/irrigation module  128 . In such example, a fluid interface can be configured to connect the suction/irrigation module  128  to the fluid source and/or the vacuum source. 
     In one aspect, the modules  140 ,  126 ,  128  and/or their corresponding docking stations on the hub modular enclosure  136  may include alignment features that are configured to align the docking ports of the modules into engagement with their counterparts in the docking stations of the hub modular enclosure  136 . For example, as illustrated in  FIG. 27 , the combo generator module  145  includes side brackets  155  that are configured to slidably engage with corresponding brackets  156  of the corresponding docking station  151  of the hub modular enclosure  136 . The brackets cooperate to guide the docking port contacts of the combo generator module  145  into an electrical engagement with the docking port contacts of the hub modular enclosure  136 . 
     In some aspects, the drawers  151  of the hub modular enclosure  136  are the same, or substantially the same size, and the modules are adjusted in size to be received in the drawers  151 . For example, the side brackets  155  and/or  156  can be larger or smaller depending on the size of the module. In other aspects, the drawers  151  are different in size and are each designed to accommodate a particular module. 
     Furthermore, the contacts of a particular module can be keyed for engagement with the contacts of a particular drawer to avoid inserting a module into a drawer with mismatching contacts. 
     As illustrated in  FIG. 27 , the docking port  150  of one drawer  151  can be coupled to the docking port  150  of another drawer  151  through a communications link  157  to facilitate an interactive communication between the modules housed in the hub modular enclosure  136 . The docking ports  150  of the hub modular enclosure  136  may alternatively, or additionally, facilitate a wireless interactive communication between the modules housed in the hub modular enclosure  136 . Any suitable wireless communication can be employed, such as for example Air Titan-Bluetooth. 
       FIG. 29  illustrates individual power bus attachments for a plurality of lateral docking ports of a lateral modular housing  160  configured to receive a plurality of modules of a surgical hub  206 . The lateral modular housing  160  is configured to laterally receive and interconnect the modules  161 . The modules  161  are slidably inserted into docking stations  162  of lateral modular housing  160 , which includes a backplane for interconnecting the modules  161 . As illustrated in  FIG. 29 , the modules  161  are arranged laterally in the lateral modular housing  160 . Alternatively, the modules  161  may be arranged vertically in a lateral modular housing. 
       FIG. 30  illustrates a vertical modular housing  164  configured to receive a plurality of modules  165  of the surgical hub  106 . The modules  165  are slidably inserted into docking stations, or drawers,  167  of vertical modular housing  164 , which includes a backplane for interconnecting the modules  165 . Although the drawers  167  of the vertical modular housing  164  are arranged vertically, in certain instances, a vertical modular housing  164  may include drawers that are arranged laterally. Furthermore, the modules  165  may interact with one another through the docking ports of the vertical modular housing  164 . In the example of  FIG. 30 , a display  177  is provided for displaying data relevant to the operation of the modules  165 . In addition, the vertical modular housing  164  includes a master module  178  housing a plurality of sub-modules that are slidably received in the master module  178 . 
     In various aspects, the imaging module  138  comprises an integrated video processor and a modular light source and is adapted for use with various imaging devices. In one aspect, the imaging device is comprised of a modular housing that can be assembled with a light source module and a camera module. The housing can be a disposable housing. In at least one example, the disposable housing is removably coupled to a reusable controller, a light source module, and a camera module. The light source module and/or the camera module can be selectively chosen depending on the type of surgical procedure. In one aspect, the camera module comprises a CCD sensor. In another aspect, the camera module comprises a CMOS sensor. In another aspect, the camera module is configured for scanned beam imaging. Likewise, the light source module can be configured to deliver a white light or a different light, depending on the surgical procedure. 
     During a surgical procedure, removing a surgical device from the surgical field and replacing it with another surgical device that includes a different camera or a different light source can be inefficient. Temporarily losing sight of the surgical field may lead to undesirable consequences. The module imaging device of the present disclosure is configured to permit the replacement of a light source module or a camera module midstream during a surgical procedure, without having to remove the imaging device from the surgical field. 
     In one aspect, the imaging device comprises a tubular housing that includes a plurality of channels. A first channel is configured to slidably receive the camera module, which can be configured for a snap-fit engagement with the first channel. A second channel is configured to slidably receive the light source module, which can be configured for a snap-fit engagement with the second channel. In another example, the camera module and/or the light source module can be rotated into a final position within their respective channels. A threaded engagement can be employed in lieu of the snap-fit engagement. 
     In various examples, multiple imaging devices are placed at different positions in the surgical field to provide multiple views. The imaging module  138  can be configured to switch between the imaging devices to provide an optimal view. In various aspects, the imaging module  138  can be configured to integrate the images from the different imaging device. 
     Various image processors and imaging devices suitable for use with the present disclosure are described in U.S. Pat. No. 7,995,045, titled COMBINED SBI AND CONVENTIONAL IMAGE PROCESSOR, which issued on Aug. 9, 2011, which is herein incorporated by reference in its entirety. In addition, U.S. Pat. No. 7,982,776, titled SBI MOTION ARTIFACT REMOVAL APPARATUS AND METHOD, which issued on Jul. 19, 2011, which is herein incorporated by reference in its entirety, describes various systems for removing motion artifacts from image data. Such systems can be integrated with the imaging module  138 . Furthermore, U.S. Patent Application Publication No. 2011/0306840, titled CONTROLLABLE MAGNETIC SOURCE TO FIXTURE INTRACORPOREAL APPARATUS, which published on Dec. 15, 2011, and U.S. Patent Application Publication No. 2014/0243597, titled SYSTEM FOR PERFORMING A MINIMALLY INVASIVE SURGICAL PROCEDURE, which published on Aug. 28, 2014, each of which is herein incorporated by reference in its entirety. 
       FIG. 31  illustrates a surgical data network  201  comprising a modular communication hub  203  configured to connect modular devices located in one or more operating theaters of a healthcare facility, or any room in a healthcare facility specially equipped for surgical operations, to a cloud-based system (e.g., the cloud  204  that may include a remote server  213  coupled to a storage device  205 ). In one aspect, the modular communication hub  203  comprises a network hub  207  and/or a network switch  209  in communication with a network router. The modular communication hub  203  also can be coupled to a local computer system  210  to provide local computer processing and data manipulation. The surgical data network  201  may be configured as passive, intelligent, or switching. A passive surgical data network serves as a conduit for the data, enabling it to go from one device (or segment) to another and to the cloud computing resources. An intelligent surgical data network includes additional features to enable the traffic passing through the surgical data network to be monitored and to configure each port in the network hub  207  or network switch  209 . An intelligent surgical data network may be referred to as a manageable hub or switch. A switching hub reads the destination address of each packet and then forwards the packet to the correct port. 
     Modular devices  1   a - 1   n  located in the operating theater may be coupled to the modular communication hub  203 . The network hub  207  and/or the network switch  209  may be coupled to a network router  211  to connect the devices  1   a - 1   n  to the cloud  204  or the local computer system  210 . Data associated with the devices  1   a - 1   n  may be transferred to cloud-based computers via the router for remote data processing and manipulation. Data associated with the devices  1   a - 1   n  may also be transferred to the local computer system  210  for local data processing and manipulation. Modular devices  2   a - 2   m  located in the same operating theater also may be coupled to a network switch  209 . The network switch  209  may be coupled to the network hub  207  and/or the network router  211  to connect to the devices  2   a - 2   m  to the cloud  204 . Data associated with the devices  2   a - 2   n  may be transferred to the cloud  204  via the network router  211  for data processing and manipulation. Data associated with the devices  2   a - 2   m  may also be transferred to the local computer system  210  for local data processing and manipulation. 
     It will be appreciated that the surgical data network  201  may be expanded by interconnecting multiple network hubs  207  and/or multiple network switches  209  with multiple network routers  211 . The modular communication hub  203  may be contained in a modular control tower configured to receive multiple devices  1   a - 1   n / 2   a - 2   m . The local computer system  210  also may be contained in a modular control tower. The modular communication hub  203  is connected to a display  212  to display images obtained by some of the devices  1   a - 1   n / 2   a - 2   m , for example during surgical procedures. In various aspects, the devices  1   a - 1   n / 2   a - 2   m  may include, for example, various modules such as an imaging module  138  coupled to an endoscope, a generator module  140  coupled to an energy-based surgical device, a smoke evacuation module  126 , a suction/irrigation module  128 , a communication module  130 , a processor module  132 , a storage array  134 , a surgical device coupled to a display, and/or a non-contact sensor module, among other modular devices that may be connected to the modular communication hub  203  of the surgical data network  201 . 
     In one aspect, the surgical data network  201  may comprise a combination of network hub(s), network switch(es), and network router(s) connecting the devices  1   a - 1   n / 2   a - 2   m  to the cloud. Any one of or all of the devices  1   a - 1   n / 2   a - 2   m  coupled to the network hub or network switch may collect data in real time and transfer the data to cloud computers for data processing and manipulation. It will be appreciated that cloud computing relies on sharing computing resources rather than having local servers or personal devices to handle software applications. The word “cloud” may be used as a metaphor for “the Internet,” although the term is not limited as such. Accordingly, the term “cloud computing” may be used herein to refer to “a type of Internet-based computing,” where different services—such as servers, storage, and applications—are delivered to the modular communication hub  203  and/or computer system  210  located in the surgical theater (e.g., a fixed, mobile, temporary, or field operating room or space) and to devices connected to the modular communication hub  203  and/or computer system  210  through the Internet. The cloud infrastructure may be maintained by a cloud service provider. In this context, the cloud service provider may be the entity that coordinates the usage and control of the devices  1   a - 1   n / 2   a - 2   m  located in one or more operating theaters. The cloud computing services can perform a large number of calculations based on the data gathered by smart surgical instruments, robots, and other computerized devices located in the operating theater. The hub hardware enables multiple devices or connections to be connected to a computer that communicates with the cloud computing resources and storage. 
     Applying cloud computer data processing techniques on the data collected by the devices  1   a - 1   n / 2   a - 2   m , the surgical data network provides improved surgical outcomes, reduced costs, and improved patient satisfaction. At least some of the devices  1   a - 1   n / 2   a - 2   m  may be employed to view tissue states to assess leaks or perfusion of sealed tissue after a tissue sealing and cutting procedure. At least some of the devices  1   a - 1   n / 2   a - 2   m  may be employed to identify pathology, such as the effects of diseases, using the cloud-based computing to examine data including images of samples of body tissue for diagnostic purposes. This includes localization and margin confirmation of tissue and phenotypes. At least some of the devices  1   a - 1   n / 2   a - 2   m  may be employed to identify anatomical structures of the body using a variety of sensors integrated with imaging devices and techniques such as overlaying images captured by multiple imaging devices. The data gathered by the devices  1   a - 1   n / 2   a - 2   m , including image data, may be transferred to the cloud  204  or the local computer system  210  or both for data processing and manipulation including image processing and manipulation. The data may be analyzed to improve surgical procedure outcomes by determining if further treatment, such as the application of endoscopic intervention, emerging technologies, a targeted radiation, targeted intervention, and precise robotics to tissue-specific sites and conditions, may be pursued. Such data analysis may further employ outcome analytics processing, and using standardized approaches may provide beneficial feedback to either confirm surgical treatments and the behavior of the surgeon or suggest modifications to surgical treatments and the behavior of the surgeon. 
     In one implementation, the operating theater devices  1   a - 1   n  may be connected to the modular communication hub  203  over a wired channel or a wireless channel depending on the configuration of the devices  1   a - 1   n  to a network hub. The network hub  207  may be implemented, in one aspect, as a local network broadcast device that works on the physical layer of the Open System Interconnection (OSI) model. The network hub provides connectivity to the devices  1   a - 1   n  located in the same operating theater network. The network hub  207  collects data in the form of packets and sends them to the router in half duplex mode. The network hub  207  does not store any media access control/internet protocol (MAC/IP) to transfer the device data. Only one of the devices  1   a - 1   n  can send data at a time through the network hub  207 . The network hub  207  has no routing tables or intelligence regarding where to send information and broadcasts all network data across each connection and to a remote server  213  ( FIG. 32 ) over the cloud  204 . The network hub  207  can detect basic network errors such as collisions, but having all information broadcast to multiple ports can be a security risk and cause bottlenecks. 
     In another implementation, the operating theater devices  2   a - 2   m  may be connected to a network switch  209  over a wired channel or a wireless channel. The network switch  209  works in the data link layer of the OSI model. The network switch  209  is a multicast device for connecting the devices  2   a - 2   m  located in the same operating theater to the network. The network switch  209  sends data in the form of frames to the network router  211  and works in full duplex mode. Multiple devices  2   a - 2   m  can send data at the same time through the network switch  209 . The network switch  209  stores and uses MAC addresses of the devices  2   a - 2   m  to transfer data. 
     The network hub  207  and/or the network switch  209  are coupled to the network router  211  for connection to the cloud  204 . The network router  211  works in the network layer of the OSI model. The network router  211  creates a route for transmitting data packets received from the network hub  207  and/or network switch  211  to cloud-based computer resources for further processing and manipulation of the data collected by any one of or all the devices  1   a - 1   n / 2   a - 2   m . The network router  211  may be employed to connect two or more different networks located in different locations, such as, for example, different operating theaters of the same healthcare facility or different networks located in different operating theaters of different healthcare facilities. The network router  211  sends data in the form of packets to the cloud  204  and works in full duplex mode. Multiple devices can send data at the same time. The network router  211  uses IP addresses to transfer data. 
     In one example, the network hub  207  may be implemented as a USB hub, which allows multiple USB devices to be connected to a host computer. The USB hub may expand a single USB port into several tiers so that there are more ports available to connect devices to the host system computer. The network hub  207  may include wired or wireless capabilities to receive information over a wired channel or a wireless channel. In one aspect, a wireless USB short-range, high-bandwidth wireless radio communication protocol may be employed for communication between the devices  1   a - 1   n  and devices  2   a - 2   m  located in the operating theater. 
     In other examples, the operating theater devices  1   a - 1   n / 2   a - 2   m  may communicate to the modular communication hub  203  via Bluetooth wireless technology standard for exchanging data over short distances (using short-wavelength UHF radio waves in the ISM band from 2.4 to 2.485 GHz) from fixed and mobile devices and building personal area networks (PANs). In other aspects, the operating theater devices  1   a - 1   n / 2   a - 2   m  may communicate to the modular communication hub  203  via a number of wireless or wired communication standards or protocols, including but not limited to Wi-Fi (IEEE 802.11 family), WiMAX (IEEE 802.16 family), IEEE 802.20, long-term evolution (LTE), and Ev-DO, HSPA+, HSDPA+, HSUPA+, EDGE, GSM, GPRS, CDMA, TDMA, DECT, and Ethernet derivatives thereof, as well as any other wireless and wired protocols that are designated as 3G, 4G, 5G, and beyond. The computing module may include a plurality of communication modules. For instance, a first communication module may be dedicated to shorter-range wireless communications such as Wi-Fi and Bluetooth, and a second communication module may be dedicated to longer-range wireless communications such as GPS, EDGE, GPRS, CDMA, WiMAX, LTE, Ev-DO, and others. 
     The modular communication hub  203  may serve as a central connection for one or all of the operating theater devices  1   a - 1   n / 2   a - 2   m  and handles a data type known as frames. Frames carry the data generated by the devices  1   a - 1   n / 2   a - 2   m . When a frame is received by the modular communication hub  203 , it is amplified and transmitted to the network router  211 , which transfers the data to the cloud computing resources by using a number of wireless or wired communication standards or protocols, as described herein. 
     The modular communication hub  203  can be used as a standalone device or be connected to compatible network hubs and network switches to form a larger network. The modular communication hub  203  is generally easy to install, configure, and maintain, making it a good option for networking the operating theater devices  1   a - 1   n / 2   a - 2   m.    
       FIG. 32  illustrates a computer-implemented interactive surgical system  200 . The computer-implemented interactive surgical system  200  is similar in many respects to the computer-implemented interactive surgical system  100 . For example, the computer-implemented interactive surgical system  200  includes one or more surgical systems  202 , which are similar in many respects to the surgical systems  102 . Each surgical system  202  includes at least one surgical hub  206  in communication with a cloud  204  that may include a remote server  213 . In one aspect, the computer-implemented interactive surgical system  200  comprises a modular control tower  236  connected to multiple operating theater devices such as, for example, intelligent surgical instruments, robots, and other computerized devices located in the operating theater. As shown in  FIG. 33 , the modular control tower  236  comprises a modular communication hub  203  coupled to a computer system  210 . As illustrated in the example of  FIG. 32 , the modular control tower  236  is coupled to an imaging module  238  that is coupled to an endoscope  239 , a generator module  240  that is coupled to an energy device  241 , a smoke evacuator module  226 , a suction/irrigation module  228 , a communication module  230 , a processor module  232 , a storage array  234 , a smart device/instrument  235  optionally coupled to a display  237 , and a non-contact sensor module  242 . The operating theater devices are coupled to cloud computing resources and data storage via the modular control tower  236 . A robot hub  222  also may be connected to the modular control tower  236  and to the cloud computing resources. The devices/instruments  235 , visualization systems  208 , among others, may be coupled to the modular control tower  236  via wired or wireless communication standards or protocols, as described herein. The modular control tower  236  may be coupled to a hub display  215  (e.g., monitor, screen) to display and overlay images received from the imaging module, device/instrument display, and/or other visualization systems  208 . The hub display also may display data received from devices connected to the modular control tower in conjunction with images and overlaid images. 
       FIG. 33  illustrates a surgical hub  206  comprising a plurality of modules coupled to the modular control tower  236 . The modular control tower  236  comprises a modular communication hub  203 , e.g., a network connectivity device, and a computer system  210  to provide local processing, visualization, and imaging, for example. As shown in  FIG. 33 , the modular communication hub  203  may be connected in a tiered configuration to expand the number of modules (e.g., devices) that may be connected to the modular communication hub  203  and transfer data associated with the modules to the computer system  210 , cloud computing resources, or both. As shown in  FIG. 33 , each of the network hubs/switches in the modular communication hub  203  includes three downstream ports and one upstream port. The upstream network hub/switch is connected to a processor to provide a communication connection to the cloud computing resources and a local display  217 . Communication to the cloud  204  may be made either through a wired or a wireless communication channel. 
     The surgical hub  206  employs a non-contact sensor module  242  to measure the dimensions of the operating theater and generate a map of the surgical theater using either ultrasonic or laser-type non-contact measurement devices. An ultrasound-based non-contact sensor module scans the operating theater by transmitting a burst of ultrasound and receiving the echo when it bounces off the perimeter walls of an operating theater as described under the heading “Surgical Hub Spatial Awareness Within an Operating Room” in U.S. Provisional Patent Application Ser. No. 62/611,341, titled INTERACTIVE SURGICAL PLATFORM, filed Dec. 28, 2017, the disclosure of which is herein incorporated by reference in its entirety, in which the sensor module is configured to determine the size of the operating theater and to adjust Bluetooth-pairing distance limits. A laser-based non-contact sensor module scans the operating theater by transmitting laser light pulses, receiving laser light pulses that bounce off the perimeter walls of the operating theater, and comparing the phase of the transmitted pulse to the received pulse to determine the size of the operating theater and to adjust Bluetooth pairing distance limits, for example. 
     The computer system  210  comprises a processor  244  and a network interface  245 . The processor  244  is coupled to a communication module  247 , storage  248 , memory  249 , non-volatile memory  250 , and input/output interface  251  via a system bus. The system bus can be any of several types of bus structure(s) including the memory bus or memory controller, a peripheral bus or external bus, and/or a local bus using any variety of available bus architectures including, but not limited to, 9-bit bus, Industrial Standard Architecture (ISA), Micro-Charmel Architecture (MSA), Extended ISA (EISA), Intelligent Drive Electronics (IDE), VESA Local Bus (VLB), Peripheral Component Interconnect (PCI), USB, Advanced Graphics Port (AGP), Personal Computer Memory Card International Association bus (PCMCIA), Small Computer Systems Interface (SCSI), or any other proprietary bus. 
     The processor  244  may be any single-core or multicore processor such as those known under the trade name ARM Cortex by Texas Instruments. In one aspect, the processor may be an LM4F230H5QR ARM Cortex-M4F Processor Core, available from Texas Instruments, for example, comprising an on-chip memory of 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz, a prefetch buffer to improve performance above 40 MHz, a 32 KB single-cycle serial random access memory (SRAM), an internal read-only memory (ROM) loaded with StellarisWare® software, a 2 KB electrically erasable programmable read-only memory (EEPROM), and/or one or more pulse width modulation (PWM) modules, one or more quadrature encoder inputs (QEI) analogs, one or more 12-bit analog-to-digital converters (ADCs) with 12 analog input channels, details of which are available for the product datasheet. 
     In one aspect, the processor  244  may comprise a safety controller comprising two controller-based families such as TMS570 and RM4x, known under the trade name Hercules ARM Cortex R4, also by Texas Instruments. The safety controller may be configured specifically for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced integrated safety features while delivering scalable performance, connectivity, and memory options. 
     The system memory includes volatile memory and non-volatile memory. The basic input/output system (BIOS), containing the basic routines to transfer information between elements within the computer system, such as during start-up, is stored in non-volatile memory. For example, the non-volatile memory can include ROM, programmable ROM (PROM), electrically programmable ROM (EPROM), EEPROM, or flash memory. Volatile memory includes random-access memory (RAM), which acts as external cache memory. Moreover, RAM is available in many forms such as SRAM, dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and direct Rambus RAM (DRRAM). 
     The computer system  210  also includes removable/non-removable, volatile/non-volatile computer storage media, such as for example disk storage. The disk storage includes, but is not limited to, devices like a magnetic disk drive, floppy disk drive, tape drive, Jaz drive, Zip drive, LS-60 drive, flash memory card, or memory stick. In addition, the disk storage can include storage media separately or in combination with other storage media including, but not limited to, an optical disc drive such as a compact disc ROM device (CD-ROM), compact disc recordable drive (CD-R Drive), compact disc rewritable drive (CD-RW Drive), or a digital versatile disc ROM drive (DVD-ROM). To facilitate the connection of the disk storage devices to the system bus, a removable or non-removable interface may be employed. 
     It is to be appreciated that the computer system  210  includes software that acts as an intermediary between users and the basic computer resources described in a suitable operating environment. Such software includes an operating system. The operating system, which can be stored on the disk storage, acts to control and allocate resources of the computer system. System applications take advantage of the management of resources by the operating system through program modules and program data stored either in the system memory or on the disk storage. It is to be appreciated that various components described herein can be implemented with various operating systems or combinations of operating systems. 
     A user enters commands or information into the computer system  210  through input device(s) coupled to the I/O interface  251 . The input devices include, but are not limited to, a pointing device such as a mouse, trackball, stylus, touch pad, keyboard, microphone, joystick, game pad, satellite dish, scanner, TV tuner card, digital camera, digital video camera, web camera, and the like. These and other input devices connect to the processor through the system bus via interface port(s). The interface port(s) include, for example, a serial port, a parallel port, a game port, and a USB. The output device(s) use some of the same types of ports as input device(s). Thus, for example, a USB port may be used to provide input to the computer system and to output information from the computer system to an output device. An output adapter is provided to illustrate that there are some output devices like monitors, displays, speakers, and printers, among other output devices that require special adapters. The output adapters include, by way of illustration and not limitation, video and sound cards that provide a means of connection between the output device and the system bus. It should be noted that other devices and/or systems of devices, such as remote computer(s), provide both input and output capabilities. 
     The computer system  210  can operate in a networked environment using logical connections to one or more remote computers, such as cloud computer(s), or local computers. The remote cloud computer(s) can be a personal computer, server, router, network PC, workstation, microprocessor-based appliance, peer device, or other common network node, and the like, and typically includes many or all of the elements described relative to the computer system. For purposes of brevity, only a memory storage device is illustrated with the remote computer(s). The remote computer(s) is logically connected to the computer system through a network interface and then physically connected via a communication connection. The network interface encompasses communication networks such as local area networks (LANs) and wide area networks (WANs). LAN technologies include Fiber Distributed Data Interface (FDDI), Copper Distributed Data Interface (CDDI), Ethernet/IEEE 802.3, Token Ring/IEEE 802.5 and the like. WAN technologies include, but are not limited to, point-to-point links, circuit-switching networks like Integrated Services Digital Networks (ISDN) and variations thereon, packet-switching networks, and Digital Subscriber Lines (DSL). 
     In various aspects, the computer system  210  of  FIG. 33 , the imaging module  238  and/or visualization system  208 , and/or the processor module  232  of  FIGS. 9-10 , may comprise an image processor, image processing engine, media processor, or any specialized digital signal processor (DSP) used for the processing of digital images. The image processor may employ parallel computing with single instruction, multiple data (SIMD) or multiple instruction, multiple data (MIMD) technologies to increase speed and efficiency. The digital image processing engine can perform a range of tasks. The image processor may be a system on a chip with multicore processor architecture. 
     The communication connection(s) refers to the hardware/software employed to connect the network interface to the bus. While the communication connection is shown for illustrative clarity inside the computer system, it can also be external to the computer system  210 . The hardware/software necessary for connection to the network interface includes, for illustrative purposes only, internal and external technologies such as modems, including regular telephone-grade modems, cable modems, and DSL modems, ISDN adapters, and Ethernet cards. 
       FIG. 34  illustrates a functional block diagram of one aspect of a USB network hub  300  device, according to one aspect of the present disclosure. In the illustrated aspect, the USB network hub device  300  employs a TUSB2036 integrated circuit hub by Texas Instruments. The USB network hub  300  is a CMOS device that provides an upstream USB transceiver port  302  and up to three downstream USB transceiver ports  304 ,  306 ,  308  in compliance with the USB 2.0 specification. The upstream USB transceiver port  302  is a differential root data port comprising a differential data minus (DM0) input paired with a differential data plus (DP0) input. The three downstream USB transceiver ports  304 ,  306 ,  308  are differential data ports where each port includes differential data plus (DP1-DP3) outputs paired with differential data minus (DM1-DM3) outputs. 
     The USB network hub  300  device is implemented with a digital state machine instead of a microcontroller, and no firmware programming is required. Fully compliant USB transceivers are integrated into the circuit for the upstream USB transceiver port  302  and all downstream USB transceiver ports  304 ,  306 ,  308 . The downstream USB transceiver ports  304 ,  306 ,  308  support both full-speed and low-speed devices by automatically setting the slew rate according to the speed of the device attached to the ports. The USB network hub  300  device may be configured either in bus-powered or self-powered mode and includes a hub power logic  312  to manage power. 
     The USB network hub  300  device includes a serial interface engine  310  (SIE). The SIE  310  is the front end of the USB network hub  300  hardware and handles most of the protocol described in chapter 8 of the USB specification. The SIE  310  typically comprehends signaling up to the transaction level. The functions that it handles could include: packet recognition, transaction sequencing, SOP, EOP, RESET, and RESUME signal detection/generation, clock/data separation, non-return-to-zero invert (NRZI) data encoding/decoding and bit-stuffing, CRC generation and checking (token and data), packet ID (PID) generation and checking/decoding, and/or serial-parallel/parallel-serial conversion. The  310  receives a clock input  314  and is coupled to a suspend/resume logic and frame timer  316  circuit and a hub repeater circuit  318  to control communication between the upstream USB transceiver port  302  and the downstream USB transceiver ports  304 ,  306 ,  308  through port logic circuits  320 ,  322 ,  324 . The SIE  310  is coupled to a command decoder  326  via interface logic to control commands from a serial EEPROM via a serial EEPROM interface  330 . 
     In various aspects, the USB network hub  300  can connect  127  functions configured in up to six logical layers (tiers) to a single computer. Further, the USB network hub  300  can connect to all peripherals using a standardized four-wire cable that provides both communication and power distribution. The power configurations are bus-powered and self-powered modes. The USB network hub  300  may be configured to support four modes of power management: a bus-powered hub, with either individual-port power management or ganged-port power management, and the self-powered hub, with either individual-port power management or ganged-port power management. In one aspect, using a USB cable, the USB network hub  300 , the upstream USB transceiver port  302  is plugged into a USB host controller, and the downstream USB transceiver ports  304 ,  306 ,  308  are exposed for connecting USB compatible devices, and so forth. 
     Surgical Instrument Hardware 
       FIG. 35  illustrates a logic diagram of a control system  470  of a surgical instrument or tool in accordance with one or more aspects of the present disclosure. The system  470  comprises a control circuit. The control circuit includes a microcontroller  461  comprising a processor  462  and a memory  468 . One or more of sensors  472 ,  474 ,  476 , for example, provide real-time feedback to the processor  462 . A motor  482 , driven by a motor driver  492 , operably couples a longitudinally movable displacement member to drive the I-beam knife element. A tracking system  480  is configured to determine the position of the longitudinally movable displacement member. The position information is provided to the processor  462 , which can be programmed or configured to determine the position of the longitudinally movable drive member as well as the position of a firing member, firing bar, and I-beam knife element. Additional motors may be provided at the tool driver interface to control I-beam firing, closure tube travel, shaft rotation, and articulation. A display  473  displays a variety of operating conditions of the instruments and may include touch screen functionality for data input. Information displayed on the display  473  may be overlaid with images acquired via endoscopic imaging modules. 
     In one aspect, the microcontroller  461  may be any single-core or multicore processor such as those known under the trade name ARM Cortex by Texas Instruments. In one aspect, the main microcontroller  461  may be an LM4F230H5QR ARM Cortex-M4F Processor Core, available from Texas Instruments, for example, comprising an on-chip memory of 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz, a prefetch buffer to improve performance above 40 MHz, a 32 KB single-cycle SRAM, and internal ROM loaded with StellarisWare® software, a 2 KB EEPROM, one or more PWM modules, one or more QEI analogs, and/or one or more 12-bit ADCs with 12 analog input channels, details of which are available for the product datasheet. 
     In one aspect, the microcontroller  461  may comprise a safety controller comprising two controller-based families such as TMS570 and RM4x, known under the trade name Hercules ARM Cortex R4, also by Texas Instruments. The safety controller may be configured specifically for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced integrated safety features while delivering scalable performance, connectivity, and memory options. 
     The microcontroller  461  may be programmed to perform various functions such as precise control over the speed and position of the knife and articulation systems. In one aspect, the microcontroller  461  includes a processor  462  and a memory  468 . The electric motor  482  may be a brushed direct current (DC) motor with a gearbox and mechanical links to an articulation or knife system. In one aspect, a motor driver  492  may be an A3941 available from Allegro Microsystems, Inc. Other motor drivers may be readily substituted for use in the tracking system  480  comprising an absolute positioning system. A detailed description of an absolute positioning system is described in U.S. Patent Application Publication No. 2017/0296213, titled SYSTEMS AND METHODS FOR CONTROLLING A SURGICAL STAPLING AND CUTTING INSTRUMENT, which published on Oct. 19, 2017, which is herein incorporated by reference in its entirety. 
     The microcontroller  461  may be programmed to provide precise control over the speed and position of displacement members and articulation systems. The microcontroller  461  may be configured to compute a response in the software of the microcontroller  461 . The computed response is compared to a measured response of the actual system to obtain an “observed” response, which is used for actual feedback decisions. The observed response is a favorable, tuned value that balances the smooth, continuous nature of the simulated response with the measured response, which can detect outside influences on the system. 
     In one aspect, the motor  482  may be controlled by the motor driver  492  and can be employed by the firing system of the surgical instrument or tool. In various forms, the motor  482  may be a brushed DC driving motor having a maximum rotational speed of approximately 25,000 RPM. In other arrangements, the motor  482  may include a brushless motor, a cordless motor, a synchronous motor, a stepper motor, or any other suitable electric motor. The motor driver  492  may comprise an H-bridge driver comprising field-effect transistors (FETs), for example. The motor  482  can be powered by a power assembly releasably mounted to the handle assembly or tool housing for supplying control power to the surgical instrument or tool. The power assembly may comprise a battery which may include a number of battery cells connected in series that can be used as the power source to power the surgical instrument or tool. In certain circumstances, the battery cells of the power assembly may be replaceable and/or rechargeable. In at least one example, the battery cells can be lithium-ion batteries which can be couplable to and separable from the power assembly. 
     The motor driver  492  may be an A3941 available from Allegro Microsystems, Inc. The A3941  492  is a full-bridge controller for use with external N-channel power metal-oxide semiconductor field-effect transistors (MOSFETs) specifically designed for inductive loads, such as brush DC motors. The driver  492  comprises a unique charge pump regulator that provides full (&gt;10 V) gate drive for battery voltages down to 7 V and allows the A3941 to operate with a reduced gate drive, down to 5.5 V. A bootstrap capacitor may be employed to provide the above battery supply voltage required for N-channel MOSFETs. An internal charge pump for the high-side drive allows DC (100% duty cycle) operation. The full bridge can be driven in fast or slow decay modes using diode or synchronous rectification. In the slow decay mode, current recirculation can be through the high-side or the lowside FETs. The power FETs are protected from shoot-through by resistor-adjustable dead time. Integrated diagnostics provide indications of undervoltage, overtemperature, and power bridge faults and can be configured to protect the power MOSFETs under most short circuit conditions. Other motor drivers may be readily substituted for use in the tracking system  480  comprising an absolute positioning system. 
     The tracking system  480  comprises a controlled motor drive circuit arrangement comprising a position sensor  472  according to one aspect of this disclosure. The position sensor  472  for an absolute positioning system provides a unique position signal corresponding to the location of a displacement member. In one aspect, the displacement member represents a longitudinally movable drive member comprising a rack of drive teeth for meshing engagement with a corresponding drive gear of a gear reducer assembly. In other aspects, the displacement member represents the firing member, which could be adapted and configured to include a rack of drive teeth. In yet another aspect, the displacement member represents a firing bar or the I-beam, each of which can be adapted and configured to include a rack of drive teeth. Accordingly, as used herein, the term displacement member is used generically to refer to any movable member of the surgical instrument or tool such as the drive member, the firing member, the firing bar, the I-beam, or any element that can be displaced. In one aspect, the longitudinally movable drive member is coupled to the firing member, the firing bar, and the I-beam. Accordingly, the absolute positioning system can, in effect, track the linear displacement of the I-beam by tracking the linear displacement of the longitudinally movable drive member. In various other aspects, the displacement member may be coupled to any position sensor  472  suitable for measuring linear displacement. Thus, the longitudinally movable drive member, the firing member, the firing bar, or the I-beam, or combinations thereof, may be coupled to any suitable linear displacement sensor. Linear displacement sensors may include contact or non-contact displacement sensors. Linear displacement sensors may comprise linear variable differential transformers (LVDT), differential variable reluctance transducers (DVRT), a slide potentiometer, a magnetic sensing system comprising a movable magnet and a series of linearly arranged Hall effect sensors, a magnetic sensing system comprising a fixed magnet and a series of movable, linearly arranged Hall effect sensors, an optical sensing system comprising a movable light source and a series of linearly arranged photo diodes or photo detectors, an optical sensing system comprising a fixed light source and a series of movable linearly, arranged photo diodes or photo detectors, or any combination thereof. 
     The electric motor  482  can include a rotatable shaft that operably interfaces with a gear assembly that is mounted in meshing engagement with a set, or rack, of drive teeth on the displacement member. A sensor element may be operably coupled to a gear assembly such that a single revolution of the position sensor  472  element corresponds to some linear longitudinal translation of the displacement member. An arrangement of gearing and sensors can be connected to the linear actuator, via a rack and pinion arrangement, or a rotary actuator, via a spur gear or other connection. A power source supplies power to the absolute positioning system and an output indicator may display the output of the absolute positioning system. The displacement member represents the longitudinally movable drive member comprising a rack of drive teeth formed thereon for meshing engagement with a corresponding drive gear of the gear reducer assembly. The displacement member represents the longitudinally movable firing member, firing bar, I-beam, or combinations thereof. 
     A single revolution of the sensor element associated with the position sensor  472  is equivalent to a longitudinal linear displacement d1 of the of the displacement member, where d1 is the longitudinal linear distance that the displacement member moves from point “a” to point “b” after a single revolution of the sensor element coupled to the displacement member. The sensor arrangement may be connected via a gear reduction that results in the position sensor  472  completing one or more revolutions for the full stroke of the displacement member. The position sensor  472  may complete multiple revolutions for the full stroke of the displacement member. 
     A series of switches, where n is an integer greater than one, may be employed alone or in combination with a gear reduction to provide a unique position signal for more than one revolution of the position sensor  472 . The state of the switches are fed back to the microcontroller  461  that applies logic to determine a unique position signal corresponding to the longitudinal linear displacement d1+d2+ . . . dn of the displacement member. The output of the position sensor  472  is provided to the microcontroller  461 . The position sensor  472  of the sensor arrangement may comprise a magnetic sensor, an analog rotary sensor like a potentiometer, or an array of analog Hall-effect elements, which output a unique combination of position signals or values. 
     The position sensor  472  may comprise any number of magnetic sensing elements, such as, for example, magnetic sensors classified according to whether they measure the total magnetic field or the vector components of the magnetic field. The techniques used to produce both types of magnetic sensors encompass many aspects of physics and electronics. The technologies used for magnetic field sensing include search coil, fluxgate, optically pumped, nuclear precession, SQUID, Hall-effect, anisotropic magnetoresistance, giant magnetoresistance, magnetic tunnel junctions, giant magnetoimpedance, magnetostrictive/piezoelectric composites, magnetodiode, magnetotransistor, fiber-optic, magneto-optic, and microelectromechanical systems-based magnetic sensors, among others. 
     In one aspect, the position sensor  472  for the tracking system  480  comprising an absolute positioning system comprises a magnetic rotary absolute positioning system. The position sensor  472  may be implemented as an AS5055EQFT single-chip magnetic rotary position sensor available from Austria Microsystems, AG. The position sensor  472  is interfaced with the microcontroller  461  to provide an absolute positioning system. The position sensor  472  is a low-voltage and low-power component and includes four Hall-effect elements in an area of the position sensor  472  that is located above a magnet. A high-resolution ADC and a smart power management controller are also provided on the chip. A coordinate rotation digital computer (CORDIC) processor, also known as the digit-by-digit method and Volder&#39;s algorithm, is provided to implement a simple and efficient algorithm to calculate hyperbolic and trigonometric functions that require only addition, subtraction, bitshift, and table lookup operations. The angle position, alarm bits, and magnetic field information are transmitted over a standard serial communication interface, such as a serial peripheral interface (SPI) interface, to the microcontroller  461 . The position sensor  472  provides 12 or 14 bits of resolution. The position sensor  472  may be an AS5055 chip provided in a small QFN 16-pin 4×4×0.85 mm package. 
     The tracking system  480  comprising an absolute positioning system may comprise and/or be programmed to implement a feedback controller, such as a PID, state feedback, and adaptive controller. A power source converts the signal from the feedback controller into a physical input to the system: in this case the voltage. Other examples include a PWM of the voltage, current, and force. Other sensor(s) may be provided to measure physical parameters of the physical system in addition to the position measured by the position sensor  472 . In some aspects, the other sensor(s) can include sensor arrangements such as those described in U.S. Pat. No. 9,345,481, titled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, which issued on May 24, 2016, which is herein incorporated by reference in its entirety; U.S. Patent Application Publication No. 2014/0263552, titled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, which published on Sep. 18, 2014, which is herein incorporated by reference in its entirety; and U.S. patent application Ser. No. 15/628,175, titled TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT, filed Jun. 20, 2017, which is herein incorporated by reference in its entirety. In a digital signal processing system, an absolute positioning system is coupled to a digital data acquisition system where the output of the absolute positioning system will have a finite resolution and sampling frequency. The absolute positioning system may comprise a compare-and-combine circuit to combine a computed response with a measured response using algorithms, such as a weighted average and a theoretical control loop, that drive the computed response towards the measured response. The computed response of the physical system takes into account properties like mass, inertial, viscous friction, inductance resistance, etc., to predict what the states and outputs of the physical system will be by knowing the input. 
     The absolute positioning system provides an absolute position of the displacement member upon power-up of the instrument, without retracting or advancing the displacement member to a reset (zero or home) position as may be required with conventional rotary encoders that merely count the number of steps forwards or backwards that the motor  482  has taken to infer the position of a device actuator, drive bar, knife, or the like. 
     A sensor  474 , such as, for example, a strain gauge or a micro-strain gauge, is configured to measure one or more parameters of the end effector, such as, for example, the amplitude of the strain exerted on the anvil during a clamping operation, which can be indicative of the closure forces applied to the anvil. The measured strain is converted to a digital signal and provided to the processor  462 . Alternatively, or in addition to the sensor  474 , a sensor  476 , such as, for example, a load sensor, can measure the closure force applied by the closure drive system to the anvil. The sensor  476 , such as, for example, a load sensor, can measure the firing force applied to an I-beam in a firing stroke of the surgical instrument or tool. The I-beam is configured to engage a wedge sled, which is configured to upwardly cam staple drivers to force out staples into deforming contact with an anvil. The I-beam also includes a sharpened cutting edge that can be used to sever tissue as the I-beam is advanced distally by the firing bar. Alternatively, a current sensor  478  can be employed to measure the current drawn by the motor  482 . The force required to advance the firing member can correspond to the current drawn by the motor  482 , for example. The measured force is converted to a digital signal and provided to the processor  462 . 
     In one form, the strain gauge sensor  474  can be used to measure the force applied to the tissue by the end effector. A strain gauge can be coupled to the end effector to measure the force on the tissue being treated by the end effector. A system for measuring forces applied to the tissue grasped by the end effector comprises a strain gauge sensor  474 , such as, for example, a micro-strain gauge, that is configured to measure one or more parameters of the end effector, for example. In one aspect, the strain gauge sensor  474  can measure the amplitude or magnitude of the strain exerted on a jaw member of an end effector during a clamping operation, which can be indicative of the tissue compression. The measured strain is converted to a digital signal and provided to a processor  462  of the microcontroller  461 . A load sensor  476  can measure the force used to operate the knife element, for example, to cut the tissue captured between the anvil and the staple cartridge. A magnetic field sensor can be employed to measure the thickness of the captured tissue. The measurement of the magnetic field sensor also may be converted to a digital signal and provided to the processor  462 . 
     The measurements of the tissue compression, the tissue thickness, and/or the force required to close the end effector on the tissue, as respectively measured by the sensors  474 ,  476 , can be used by the microcontroller  461  to characterize the selected position of the firing member and/or the corresponding value of the speed of the firing member. In one instance, a memory  468  may store a technique, an equation, and/or a lookup table which can be employed by the microcontroller  461  in the assessment. 
     The control system  470  of the surgical instrument or tool also may comprise wired or wireless communication circuits to communicate with the modular communication hub as shown in  FIGS. 8-11 . 
       FIG. 36  illustrates a control circuit  500  configured to control aspects of the surgical instrument or tool according to one aspect of this disclosure. The control circuit  500  can be configured to implement various processes described herein. The control circuit  500  may comprise a microcontroller comprising one or more processors  502  (e.g., microprocessor, microcontroller) coupled to at least one memory circuit  504 . The memory circuit  504  stores machine-executable instructions that, when executed by the processor  502 , cause the processor  502  to execute machine instructions to implement various processes described herein. The processor  502  may be any one of a number of single-core or multicore processors known in the art. The memory circuit  504  may comprise volatile and non-volatile storage media. The processor  502  may include an instruction processing unit  506  and an arithmetic unit  508 . The instruction processing unit may be configured to receive instructions from the memory circuit  504  of this disclosure. 
       FIG. 37  illustrates a combinational logic circuit  510  configured to control aspects of the surgical instrument or tool according to one aspect of this disclosure. The combinational logic circuit  510  can be configured to implement various processes described herein. The combinational logic circuit  510  may comprise a finite state machine comprising a combinational logic  512  configured to receive data associated with the surgical instrument or tool at an input  514 , process the data by the combinational logic  512 , and provide an output  516 . 
       FIG. 38  illustrates a sequential logic circuit  520  configured to control aspects of the surgical instrument or tool according to one aspect of this disclosure. The sequential logic circuit  520  or the combinational logic  522  can be configured to implement various processes described herein. The sequential logic circuit  520  may comprise a finite state machine. The sequential logic circuit  520  may comprise a combinational logic  522 , at least one memory circuit  524 , and a clock  529 , for example. The at least one memory circuit  524  can store a current state of the finite state machine. In certain instances, the sequential logic circuit  520  may be synchronous or asynchronous. The combinational logic  522  is configured to receive data associated with the surgical instrument or tool from an input  526 , process the data by the combinational logic  522 , and provide an output  528 . In other aspects, the circuit may comprise a combination of a processor (e.g., processor  502 ,  FIG. 36 ) and a finite state machine to implement various processes herein. In other aspects, the finite state machine may comprise a combination of a combinational logic circuit (e.g., combinational logic circuit  510 ,  FIG. 37 ) and the sequential logic circuit  520 . 
       FIG. 39  illustrates a surgical instrument or tool comprising a plurality of motors which can be activated to perform various functions. In certain instances, a first motor can be activated to perform a first function, a second motor can be activated to perform a second function, a third motor can be activated to perform a third function, a fourth motor can be activated to perform a fourth function, and so on. In certain instances, the plurality of motors of robotic surgical instrument  600  can be individually activated to cause firing, closure, and/or articulation motions in the end effector. The firing, closure, and/or articulation motions can be transmitted to the end effector through a shaft assembly, for example. 
     In certain instances, the surgical instrument system or tool may include a firing motor  602 . The firing motor  602  may be operably coupled to a firing motor drive assembly  604  which can be configured to transmit firing motions, generated by the motor  602  to the end effector, in particular to displace the I-beam element. In certain instances, the firing motions generated by the motor  602  may cause the staples to be deployed from the staple cartridge into tissue captured by the end effector and/or the cutting edge of the I-beam element to be advanced to cut the captured tissue, for example. The I-beam element may be retracted by reversing the direction of the motor  602 . 
     In certain instances, the surgical instrument or tool may include a closure motor  603 . The closure motor  603  may be operably coupled to a closure motor drive assembly  605  which can be configured to transmit closure motions, generated by the motor  603  to the end effector, in particular to displace a closure tube to close the anvil and compress tissue between the anvil and the staple cartridge. The closure motions may cause the end effector to transition from an open configuration to an approximated configuration to capture tissue, for example. The end effector may be transitioned to an open position by reversing the direction of the motor  603 . 
     In certain instances, the surgical instrument or tool may include one or more articulation motors  606   a ,  606   b , for example. The motors  606   a ,  606   b  may be operably coupled to respective articulation motor drive assemblies  608   a ,  608   b , which can be configured to transmit articulation motions generated by the motors  606   a ,  606   b  to the end effector. In certain instances, the articulation motions may cause the end effector to articulate relative to the shaft, for example. 
     As described above, the surgical instrument or tool may include a plurality of motors which may be configured to perform various independent functions. In certain instances, the plurality of motors of the surgical instrument or tool can be individually or separately activated to perform one or more functions while the other motors remain inactive. For example, the articulation motors  606   a ,  606   b  can be activated to cause the end effector to be articulated while the firing motor  602  remains inactive. Alternatively, the firing motor  602  can be activated to fire the plurality of staples, and/or to advance the cutting edge, while the articulation motor  606  remains inactive. Furthermore the closure motor  603  may be activated simultaneously with the firing motor  602  to cause the closure tube and the I-beam element to advance distally as described in more detail hereinbelow. 
     In certain instances, the surgical instrument or tool may include a common control module  610  which can be employed with a plurality of motors of the surgical instrument or tool. In certain instances, the common control module  610  may accommodate one of the plurality of motors at a time. For example, the common control module  610  can be couplable to and separable from the plurality of motors of the robotic surgical instrument individually. In certain instances, a plurality of the motors of the surgical instrument or tool may share one or more common control modules such as the common control module  610 . In certain instances, a plurality of motors of the surgical instrument or tool can be individually and selectively engaged with the common control module  610 . In certain instances, the common control module  610  can be selectively switched from interfacing with one of a plurality of motors of the surgical instrument or tool to interfacing with another one of the plurality of motors of the surgical instrument or tool. 
     In at least one example, the common control module  610  can be selectively switched between operable engagement with the articulation motors  606   a ,  606   b  and operable engagement with either the firing motor  602  or the closure motor  603 . In at least one example, as illustrated in  FIG. 39 , a switch  614  can be moved or transitioned between a plurality of positions and/or states. In a first position  616 , the switch  614  may electrically couple the common control module  610  to the firing motor  602 ; in a second position  617 , the switch  614  may electrically couple the common control module  610  to the closure motor  603 ; in a third position  618   a , the switch  614  may electrically couple the common control module  610  to the first articulation motor  606   a ; and in a fourth position  618   b , the switch  614  may electrically couple the common control module  610  to the second articulation motor  606   b , for example. In certain instances, separate common control modules  610  can be electrically coupled to the firing motor  602 , the closure motor  603 , and the articulations motor  606   a ,  606   b  at the same time. In certain instances, the switch  614  may be a mechanical switch, an electromechanical switch, a solid-state switch, or any suitable switching mechanism. 
     Each of the motors  602 ,  603 ,  606   a ,  606   b  may comprise a torque sensor to measure the output torque on the shaft of the motor. The force on an end effector may be sensed in any conventional manner, such as by force sensors on the outer sides of the jaws or by a torque sensor for the motor actuating the jaws. 
     In various instances, as illustrated in  FIG. 39 , the common control module  610  may comprise a motor driver  626  which may comprise one or more H-Bridge FETs. The motor driver  626  may modulate the power transmitted from a power source  628  to a motor coupled to the common control module  610  based on input from a microcontroller  620  (the “controller”), for example. In certain instances, the microcontroller  620  can be employed to determine the current drawn by the motor, for example, while the motor is coupled to the common control module  610 , as described above. 
     In certain instances, the microcontroller  620  may include a microprocessor  622  (the “processor”) and one or more non-transitory computer-readable mediums or memory units  624  (the “memory”). In certain instances, the memory  624  may store various program instructions, which when executed may cause the processor  622  to perform a plurality of functions and/or calculations described herein. In certain instances, one or more of the memory units  624  may be coupled to the processor  622 , for example. 
     In certain instances, the power source  628  can be employed to supply power to the microcontroller  620 , for example. In certain instances, the power source  628  may comprise a battery (or “battery pack” or “power pack”), such as a lithium-ion battery, for example. In certain instances, the battery pack may be configured to be releasably mounted to a handle for supplying power to the surgical instrument  600 . A number of battery cells connected in series may be used as the power source  628 . In certain instances, the power source  628  may be replaceable and/or rechargeable, for example. 
     In various instances, the processor  622  may control the motor driver  626  to control the position, direction of rotation, and/or velocity of a motor that is coupled to the common control module  610 . In certain instances, the processor  622  can signal the motor driver  626  to stop and/or disable a motor that is coupled to the common control module  610 . It should be understood that the term “processor” as used herein includes any suitable microprocessor, microcontroller, or other basic computing device that incorporates the functions of a computer&#39;s central processing unit (CPU) on an integrated circuit or, at most, a few integrated circuits. The processor is a multipurpose, programmable device that accepts digital data as input, processes it according to instructions stored in its memory, and provides results as output. It is an example of sequential digital logic, as it has internal memory. Processors operate on numbers and symbols represented in the binary numeral system. 
     In one instance, the processor  622  may be any single-core or multicore processor such as those known under the trade name ARM Cortex by Texas Instruments. In certain instances, the microcontroller  620  may be an LM 4F230H5QR, available from Texas Instruments, for example. In at least one example, the Texas Instruments LM4F230H5QR is an ARM Cortex-M4F Processor Core comprising an on-chip memory of 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz, a prefetch buffer to improve performance above 40 MHz, a 32 KB single-cycle SRAM, an internal ROM loaded with StellarisWare® software, a 2 KB EEPROM, one or more PWM modules, one or more QEI analogs, one or more 12-bit ADCs with 12 analog input channels, among other features that are readily available for the product datasheet. Other microcontrollers may be readily substituted for use with the module  4410 . Accordingly, the present disclosure should not be limited in this context. 
     In certain instances, the memory  624  may include program instructions for controlling each of the motors of the surgical instrument  600  that are couplable to the common control module  610 . For example, the memory  624  may include program instructions for controlling the firing motor  602 , the closure motor  603 , and the articulation motors  606   a ,  606   b . Such program instructions may cause the processor  622  to control the firing, closure, and articulation functions in accordance with inputs from algorithms or control programs of the surgical instrument or tool. 
     In certain instances, one or more mechanisms and/or sensors such as, for example, sensors  630  can be employed to alert the processor  622  to the program instructions that should be used in a particular setting. For example, the sensors  630  may alert the processor  622  to use the program instructions associated with firing, closing, and articulating the end effector. In certain instances, the sensors  630  may comprise position sensors which can be employed to sense the position of the switch  614 , for example. Accordingly, the processor  622  may use the program instructions associated with firing the I-beam of the end effector upon detecting, through the sensors  630  for example, that the switch  614  is in the first position  616 ; the processor  622  may use the program instructions associated with closing the anvil upon detecting, through the sensors  630  for example, that the switch  614  is in the second position  617 ; and the processor  622  may use the program instructions associated with articulating the end effector upon detecting, through the sensors  630  for example, that the switch  614  is in the third or fourth position  618   a ,  618   b.    
       FIG. 40  is a schematic diagram of a robotic surgical instrument  700  configured to operate a surgical tool described herein according to one aspect of this disclosure. The robotic surgical instrument  700  may be programmed or configured to control distal/proximal translation of a displacement member, distal/proximal displacement of a closure tube, shaft rotation, and articulation, either with single or multiple articulation drive links. In one aspect, the surgical instrument  700  may be programmed or configured to individually control a firing member, a closure member, a shaft member, and/or one or more articulation members. The surgical instrument  700  comprises a control circuit  710  configured to control motor-driven firing members, closure members, shaft members, and/or one or more articulation members. 
     In one aspect, the robotic surgical instrument  700  comprises a control circuit  710  configured to control an anvil  716  and an I-beam  714  (including a sharp cutting edge) portion of an end effector  702 , a removable staple cartridge  718 , a shaft  740 , and one or more articulation members  742   a ,  742   b  via a plurality of motors  704   a - 704   e . A position sensor  734  may be configured to provide position feedback of the I-beam  714  to the control circuit  710 . Other sensors  738  may be configured to provide feedback to the control circuit  710 . A timer/counter  731  provides timing and counting information to the control circuit  710 . An energy source  712  may be provided to operate the motors  704   a - 704   e , and a current sensor  736  provides motor current feedback to the control circuit  710 . The motors  704   a - 704   e  can be operated individually by the control circuit  710  in an open-loop or closed-loop feedback control. 
     In one aspect, the control circuit  710  may comprise one or more microcontrollers, microprocessors, or other suitable processors for executing instructions that cause the processor or processors to perform one or more tasks. In one aspect, a timer/counter  731  provides an output signal, such as the elapsed time or a digital count, to the control circuit  710  to correlate the position of the I-beam  714  as determined by the position sensor  734  with the output of the timer/counter  731  such that the control circuit  710  can determine the position of the I-beam  714  at a specific time (t) relative to a starting position or the time (t) when the I-beam  714  is at a specific position relative to a starting position. The timer/counter  731  may be configured to measure elapsed time, count external events, or time external events. 
     In one aspect, the control circuit  710  may be programmed to control functions of the end effector  702  based on one or more tissue conditions. The control circuit  710  may be programmed to sense tissue conditions, such as thickness, either directly or indirectly, as described herein. The control circuit  710  may be programmed to select a firing control program or closure 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  710  may be programmed to translate the displacement member at a lower velocity and/or with lower power. When thinner tissue is present, the control circuit  710  may be programmed to translate the displacement member at a higher velocity and/or with higher power. A closure control program may control the closure force applied to the tissue by the anvil  716 . Other control programs control the rotation of the shaft  740  and the articulation members  742   a ,  742   b.    
     In one aspect, the control circuit  710  may generate motor set point signals. The motor set point signals may be provided to various motor controllers  708   a - 708   e . The motor controllers  708   a - 708   e  may comprise one or more circuits configured to provide motor drive signals to the motors  704   a - 704   e  to drive the motors  704   a - 704   e  as described herein. In some examples, the motors  704   a - 704   e  may be brushed DC electric motors. For example, the velocity of the motors  704   a - 704   e  may be proportional to the respective motor drive signals. In some examples, the motors  704   a - 704   e  may be brushless DC electric motors, and the respective motor drive signals may comprise a PWM signal provided to one or more stator windings of the motors  704   a - 704   e . Also, in some examples, the motor controllers  708   a - 708   e  may be omitted and the control circuit  710  may generate the motor drive signals directly. 
     In one aspect, the control circuit  710  may initially operate each of the motors  704   a - 704   e  in an open-loop configuration for a first open-loop portion of a stroke of the displacement member. Based on the response of the robotic surgical instrument  700  during the open-loop portion of the stroke, the control circuit  710  may select a firing control program in a closed-loop configuration. The response of the instrument may include a translation distance of the displacement member during the open-loop portion, a time elapsed during the open-loop portion, the energy provided to one of the motors  704   a - 704   e  during the open-loop portion, a sum of pulse widths of a motor drive signal, etc. After the open-loop portion, the control circuit  710  may implement the selected firing control program for a second portion of the displacement member stroke. For example, during a closed-loop portion of the stroke, the control circuit  710  may modulate one of the motors  704   a - 704   e  based on translation data describing a position of the displacement member in a closed-loop manner to translate the displacement member at a constant velocity. 
     In one aspect, the motors  704   a - 704   e  may receive power from an energy source  712 . The energy source  712  may be a DC power supply driven by a main alternating current power source, a battery, a super capacitor, or any other suitable energy source. The motors  704   a - 704   e  may be mechanically coupled to individual movable mechanical elements such as the I-beam  714 , anvil  716 , shaft  740 , articulation  742   a , and articulation  742   b  via respective transmissions  706   a - 706   e . The transmissions  706   a - 706   e  may include one or more gears or other linkage components to couple the motors  704   a - 704   e  to movable mechanical elements. A position sensor  734  may sense a position of the I-beam  714 . The position sensor  734  may be or include any type of sensor that is capable of generating position data that indicate a position of the I-beam  714 . In some examples, the position sensor  734  may include an encoder configured to provide a series of pulses to the control circuit  710  as the I-beam  714  translates distally and proximally. The control circuit  710  may track the pulses to determine the position of the I-beam  714 . 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  714 . Also, in some examples, the position sensor  734  may be omitted. Where any of the motors  704   a - 704   e  is a stepper motor, the control circuit  710  may track the position of the I-beam  714  by aggregating the number and direction of steps that the motor  704  has been instructed to execute. The position sensor  734  may be located in the end effector  702  or at any other portion of the instrument. The outputs of each of the motors  704   a - 704   e  include a torque sensor  744   a - 744   e  to sense force and have an encoder to sense rotation of the drive shaft. 
     In one aspect, the control circuit  710  is configured to drive a firing member such as the I-beam  714  portion of the end effector  702 . The control circuit  710  provides a motor set point to a motor control  708   a , which provides a drive signal to the motor  704   a . The output shaft of the motor  704   a  is coupled to a torque sensor  744   a . The torque sensor  744   a  is coupled to a transmission  706   a  which is coupled to the I-beam  714 . The transmission  706   a  comprises movable mechanical elements such as rotating elements and a firing member to control the movement of the I-beam  714  distally and proximally along a longitudinal axis of the end effector  702 . In one aspect, the motor  704   a  may be coupled to the knife gear assembly, which includes a knife gear reduction set that includes a first knife drive gear and a second knife drive gear. A torque sensor  744   a  provides a firing force feedback signal to the control circuit  710 . The firing force signal represents the force required to fire or displace the I-beam  714 . A position sensor  734  may be configured to provide the position of the I-beam  714  along the firing stroke or the position of the firing member as a feedback signal to the control circuit  710 . The end effector  702  may include additional sensors  738  configured to provide feedback signals to the control circuit  710 . When ready to use, the control circuit  710  may provide a firing signal to the motor control  708   a . In response to the firing signal, the motor  704   a  may drive the firing member distally along the longitudinal axis of the end effector  702  from a proximal stroke start position to a stroke end position distal to the stroke start position. As the firing member translates distally, an I-beam  714 , with a cutting element positioned at a distal end, advances distally to cut tissue located between the staple cartridge  718  and the anvil  716 . 
     In one aspect, the control circuit  710  is configured to drive a closure member such as the anvil  716  portion of the end effector  702 . The control circuit  710  provides a motor set point to a motor control  708   b , which provides a drive signal to the motor  704   b . The output shaft of the motor  704   b  is coupled to a torque sensor  744   b . The torque sensor  744   b  is coupled to a transmission  706   b  which is coupled to the anvil  716 . The transmission  706   b  comprises movable mechanical elements such as rotating elements and a closure member to control the movement of the anvil  716  from the open and closed positions. In one aspect, the motor  704   b  is coupled to a closure gear assembly, which includes a closure reduction gear set that is supported in meshing engagement with the closure spur gear. The torque sensor  744   b  provides a closure force feedback signal to the control circuit  710 . The closure force feedback signal represents the closure force applied to the anvil  716 . The position sensor  734  may be configured to provide the position of the closure member as a feedback signal to the control circuit  710 . Additional sensors  738  in the end effector  702  may provide the closure force feedback signal to the control circuit  710 . The pivotable anvil  716  is positioned opposite the staple cartridge  718 . When ready to use, the control circuit  710  may provide a closure signal to the motor control  708   b . In response to the closure signal, the motor  704   b  advances a closure member to grasp tissue between the anvil  716  and the staple cartridge  718 . 
     In one aspect, the control circuit  710  is configured to rotate a shaft member such as the shaft  740  to rotate the end effector  702 . The control circuit  710  provides a motor set point to a motor control  708   c , which provides a drive signal to the motor  704   c . The output shaft of the motor  704   c  is coupled to a torque sensor  744   c . The torque sensor  744   c  is coupled to a transmission  706   c  which is coupled to the shaft  740 . The transmission  706   c  comprises movable mechanical elements such as rotating elements to control the rotation of the shaft  740  clockwise or counterclockwise up to and over 360°. In one aspect, the motor  704   c  is coupled to the rotational transmission assembly, which includes a tube gear segment that is formed on (or attached to) the proximal end of the proximal closure tube for operable engagement by a rotational gear assembly that is operably supported on the tool mounting plate. The torque sensor  744   c  provides a rotation force feedback signal to the control circuit  710 . The rotation force feedback signal represents the rotation force applied to the shaft  740 . The position sensor  734  may be configured to provide the position of the closure member as a feedback signal to the control circuit  710 . Additional sensors  738  such as a shaft encoder may provide the rotational position of the shaft  740  to the control circuit  710 . 
     In one aspect, the control circuit  710  is configured to articulate the end effector  702 . The control circuit  710  provides a motor set point to a motor control  708   d , which provides a drive signal to the motor  704   d . The output shaft of the motor  704   d  is coupled to a torque sensor  744   d . The torque sensor  744   d  is coupled to a transmission  706   d  which is coupled to an articulation member  742   a . The transmission  706   d  comprises movable mechanical elements such as articulation elements to control the articulation of the end effector  702  ±65°. In one aspect, the motor  704   d  is coupled to an articulation nut, which is rotatably journaled on the proximal end portion of the distal spine portion and is rotatably driven thereon by an articulation gear assembly. The torque sensor  744   d  provides an articulation force feedback signal to the control circuit  710 . The articulation force feedback signal represents the articulation force applied to the end effector  702 . Sensors  738 , such as an articulation encoder, may provide the articulation position of the end effector  702  to the control circuit  710 . 
     In another aspect, the articulation function of the robotic surgical system  700  may comprise two articulation members, or links,  742   a ,  742   b . These articulation members  742   a ,  742   b  are driven by separate disks on the robot interface (the rack), which are driven by the two motors  708   d ,  708   e . When the separate firing motor  704   a  is provided, each of articulation links  742   a ,  742   b  can be antagonistically driven with respect to the other link in order to provide a resistive holding motion and a load to the head when it is not moving and to provide an articulation motion as the head is articulated. The articulation members  742   a ,  742   b  attach to the head at a fixed radius as the head is rotated. Accordingly, the mechanical advantage of the push-and-pull link changes as the head is rotated. This change in the mechanical advantage may be more pronounced with other articulation link drive systems. 
     In one aspect, the one or more motors  704   a - 704   e  may comprise a brushed DC motor with a gearbox and mechanical links to a firing member, closure member, or articulation member. Another example includes electric motors  704   a - 704   e  that operate the movable mechanical elements such as the displacement member, articulation links, closure tube, and shaft. 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 one of electric motors  704   a - 704   e . The outside influence, such as drag, may cause the operation of the physical system to deviate from a desired operation of the physical system. 
     In one aspect, the position sensor  734  may be implemented as an absolute positioning system. In one aspect, the position sensor  734  may comprise a magnetic rotary absolute positioning system implemented as an AS5055EQFT single-chip magnetic rotary position sensor available from Austria Microsystems, AG. The position sensor  734  may interface with the control circuit  710  to provide an absolute positioning system. The position may include multiple Hall-effect elements located above a magnet and coupled to a CORDIC processor, also known as the digit-by-digit method and Volder&#39;s algorithm, that is provided to implement a simple and efficient algorithm to calculate hyperbolic and trigonometric functions that require only addition, subtraction, bitshift, and table lookup operations. 
     In one aspect, the control circuit  710  may be in communication with one or more sensors  738 . The sensors  738  may be positioned on the end effector  702  and adapted to operate with the robotic surgical instrument  700  to measure the various derived parameters such as the gap distance versus time, tissue compression versus time, and anvil strain versus time. The sensors  738  may comprise a magnetic sensor, a magnetic field sensor, a strain gauge, a load cell, a pressure sensor, a force sensor, a torque 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  702 . The sensors  738  may include one or more sensors. The sensors  738  may be located on the staple cartridge  718  deck to determine tissue location using segmented electrodes. The torque sensors  744   a - 744   e  may be configured to sense force such as firing force, closure force, and/or articulation force, among others. Accordingly, the control circuit  710  can sense (1) the closure load experienced by the distal closure tube and its position, (2) the firing member at the rack and its position, (3) what portion of the staple cartridge  718  has tissue on it, and (4) the load and position on both articulation rods. 
     In one aspect, the one or more sensors  738  may comprise a strain gauge, such as a micro-strain gauge, configured to measure the magnitude of the strain in the anvil  716  during a clamped condition. The strain gauge provides an electrical signal whose amplitude varies with the magnitude of the strain. The sensors  738  may comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil  716  and the staple cartridge  718 . The sensors  738  may be configured to detect impedance of a tissue section located between the anvil  716  and the staple cartridge  718  that is indicative of the thickness and/or fullness of tissue located therebetween. 
     In one aspect, the sensors  738  may be implemented as one or more limit switches, electromechanical devices, solid-state switches, Hall-effect devices, magneto-resistive (MR) devices, giant magneto-resistive (GMR) devices, magnetometers, among others. In other implementations, the sensors  738  may be implemented as solid-state switches that operate under the influence of light, such as optical sensors, IR sensors, ultraviolet sensors, among others. Still, the switches may be solid-state devices such as transistors (e.g., FET, junction FET, MOSFET, bipolar, and the like). In other implementations, the sensors  738  may include electrical conductorless switches, ultrasonic switches, accelerometers, and inertial sensors, among others. 
     In one aspect, the sensors  738  may be configured to measure forces exerted on the anvil  716  by the closure drive system. For example, one or more sensors  738  can be at an interaction point between the closure tube and the anvil  716  to detect the closure forces applied by the closure tube to the anvil  716 . The forces exerted on the anvil  716  can be representative of the tissue compression experienced by the tissue section captured between the anvil  716  and the staple cartridge  718 . The one or more sensors  738  can be positioned at various interaction points along the closure drive system to detect the closure forces applied to the anvil  716  by the closure drive system. The one or more sensors  738  may be sampled in real time during a clamping operation by the processor of the control circuit  710 . The control circuit  710  receives real-time sample measurements to provide and analyze time-based information and assess, in real time, closure forces applied to the anvil  716 . 
     In one aspect, a current sensor  736  can be employed to measure the current drawn by each of the motors  704   a - 704   e . The force required to advance any of the movable mechanical elements such as the I-beam  714  corresponds to the current drawn by one of the motors  704   a - 704   e . The force is converted to a digital signal and provided to the control circuit  710 . The control circuit  710  can be configured to simulate the response of the actual system of the instrument in the software of the controller. A displacement member can be actuated to move an I-beam  714  in the end effector  702  at or near a target velocity. The robotic surgical instrument  700  can include a feedback controller, which can be one of any feedback controllers, including, but not limited to a PID, a state feedback, a linear-quadratic (LQR), and/or an adaptive controller, for example. The robotic surgical instrument  700  can include a power source to convert the signal from the feedback controller into a physical input such as case voltage, PWM voltage, frequency modulated voltage, current, torque, and/or force, for example. Additional details are disclosed in U.S. patent application Ser. No. 15/636,829, titled CLOSED LOOP VELOCITY CONTROL TECHNIQUES FOR ROBOTIC SURGICAL INSTRUMENT, filed Jun. 29, 2017, which is herein incorporated by reference in its entirety. 
       FIG. 41  illustrates a block diagram of a surgical instrument  750  programmed to control the distal translation of a displacement member according to one aspect of this disclosure. In one aspect, the surgical instrument  750  is programmed to control the distal translation of a displacement member such as the I-beam  764 . The surgical instrument  750  comprises an end effector  752  that may comprise an anvil  766 , an I-beam  764  (including a sharp cutting edge), and a removable staple cartridge  768 . 
     The position, movement, displacement, and/or translation of a linear displacement member, such as the I-beam  764 , can be measured by an absolute positioning system, sensor arrangement, and position sensor  784 . Because the I-beam  764  is coupled to a longitudinally movable drive member, the position of the I-beam  764  can be determined by measuring the position of the longitudinally movable drive member employing the position sensor  784 . Accordingly, in the following description, the position, displacement, and/or translation of the I-beam  764  can be achieved by the position sensor  784  as described herein. A control circuit  760  may be programmed to control the translation of the displacement member, such as the I-beam  764 . The control circuit  760 , 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  764 , in the manner described. In one aspect, a timer/counter  781  provides an output signal, such as the elapsed time or a digital count, to the control circuit  760  to correlate the position of the I-beam  764  as determined by the position sensor  784  with the output of the timer/counter  781  such that the control circuit  760  can determine the position of the I-beam  764  at a specific time (t) relative to a starting position. The timer/counter  781  may be configured to measure elapsed time, count external events, or time external events. 
     The control circuit  760  may generate a motor set point signal  772 . The motor set point signal  772  may be provided to a motor controller  758 . The motor controller  758  may comprise one or more circuits configured to provide a motor drive signal  774  to the motor  754  to drive the motor  754  as described herein. In some examples, the motor  754  may be a brushed DC electric motor. For example, the velocity of the motor  754  may be proportional to the motor drive signal  774 . In some examples, the motor  754  may be a brushless DC electric motor and the motor drive signal  774  may comprise a PWM signal provided to one or more stator windings of the motor  754 . Also, in some examples, the motor controller  758  may be omitted, and the control circuit  760  may generate the motor drive signal  774  directly. 
     The motor  754  may receive power from an energy source  762 . The energy source  762  may be or include a battery, a super capacitor, or any other suitable energy source. The motor  754  may be mechanically coupled to the I-beam  764  via a transmission  756 . The transmission  756  may include one or more gears or other linkage components to couple the motor  754  to the I-beam  764 . A position sensor  784  may sense a position of the I-beam  764 . The position sensor  784  may be or include any type of sensor that is capable of generating position data that indicate a position of the I-beam  764 . In some examples, the position sensor  784  may include an encoder configured to provide a series of pulses to the control circuit  760  as the I-beam  764  translates distally and proximally. The control circuit  760  may track the pulses to determine the position of the I-beam  764 . 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  764 . Also, in some examples, the position sensor  784  may be omitted. Where the motor  754  is a stepper motor, the control circuit  760  may track the position of the I-beam  764  by aggregating the number and direction of steps that the motor  754  has been instructed to execute. The position sensor  784  may be located in the end effector  752  or at any other portion of the instrument. 
     The control circuit  760  may be in communication with one or more sensors  788 . The sensors  788  may be positioned on the end effector  752  and adapted to operate with the surgical instrument  750  to measure the various derived parameters such as gap distance versus time, tissue compression versus time, and anvil strain versus time. The sensors  788  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  752 . The sensors  788  may include one or more sensors. 
     The one or more sensors  788  may comprise a strain gauge, such as a micro-strain gauge, configured to measure the magnitude of the strain in the anvil  766  during a clamped condition. The strain gauge provides an electrical signal whose amplitude varies with the magnitude of the strain. The sensors  788  may comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil  766  and the staple cartridge  768 . The sensors  788  may be configured to detect impedance of a tissue section located between the anvil  766  and the staple cartridge  768  that is indicative of the thickness and/or fullness of tissue located therebetween. 
     The sensors  788  may be is configured to measure forces exerted on the anvil  766  by a closure drive system. For example, one or more sensors  788  can be at an interaction point between a closure tube and the anvil  766  to detect the closure forces applied by a closure tube to the anvil  766 . The forces exerted on the anvil  766  can be representative of the tissue compression experienced by the tissue section captured between the anvil  766  and the staple cartridge  768 . The one or more sensors  788  can be positioned at various interaction points along the closure drive system to detect the closure forces applied to the anvil  766  by the closure drive system. The one or more sensors  788  may be sampled in real time during a clamping operation by a processor of the control circuit  760 . The control circuit  760  receives real-time sample measurements to provide and analyze time-based information and assess, in real time, closure forces applied to the anvil  766 . 
     A current sensor  786  can be employed to measure the current drawn by the motor  754 . The force required to advance the I-beam  764  corresponds to the current drawn by the motor  754 . The force is converted to a digital signal and provided to the control circuit  760 . 
     The control circuit  760  can be configured to simulate the response of the actual system of the instrument in the software of the controller. A displacement member can be actuated to move an I-beam  764  in the end effector  752  at or near a target velocity. The surgical instrument  750  can include a feedback controller, which can be one of any feedback controllers, including, but not limited to a PID, a state feedback, LQR, and/or an adaptive controller, for example. The surgical instrument  750  can include a power source to convert the signal from the feedback controller into a physical input such as case voltage, PWM voltage, frequency modulated voltage, current, torque, and/or force, for example. 
     The actual drive system of the surgical instrument  750  is configured to drive the displacement member, cutting member, or I-beam  764 , by a brushed DC motor with gearbox and mechanical links to an articulation and/or knife system. Another example is the electric motor  754  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  754 . 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  750  comprising an end effector  752  with motor-driven surgical stapling and cutting implements. For example, a motor  754  may drive a displacement member distally and proximally along a longitudinal axis of the end effector  752 . The end effector  752  may comprise a pivotable anvil  766  and, when configured for use, a staple cartridge  768  positioned opposite the anvil  766 . A clinician may grasp tissue between the anvil  766  and the staple cartridge  768 , as described herein. When ready to use the instrument  750 , the clinician may provide a firing signal, for example by depressing a trigger of the instrument  750 . In response to the firing signal, the motor  754  may drive the displacement member distally along the longitudinal axis of the end effector  752  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  764  with a cutting element positioned at a distal end, may cut the tissue between the staple cartridge  768  and the anvil  766 . 
     In various examples, the surgical instrument  750  may comprise a control circuit  760  programmed to control the distal translation of the displacement member, such as the I-beam  764 , for example, based on one or more tissue conditions. The control circuit  760  may be programmed to sense tissue conditions, such as thickness, either directly or indirectly, as described herein. The control circuit  760  may be 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  760  may be programmed to translate the displacement member at a lower velocity and/or with lower power. When thinner tissue is present, the control circuit  760  may be programmed to translate the displacement member at a higher velocity and/or with higher power. 
     In some examples, the control circuit  760  may initially operate the motor  754  in an open loop configuration for a first open loop portion of a stroke of the displacement member. Based on a response of the instrument  750  during the open loop portion of the stroke, the control circuit  760  may select a firing control program. The response of the instrument may include, a translation distance of the displacement member during the open loop portion, a time elapsed during the open loop portion, energy provided to the motor  754  during the open loop portion, a sum of pulse widths of a motor drive signal, etc. After the open loop portion, the control circuit  760  may implement the selected firing control program for a second portion of the displacement member stroke. For example, during the closed loop portion of the stroke, the control circuit  760  may modulate the motor  754  based on translation data describing a position of the displacement member in a closed loop manner to translate the displacement member at a constant velocity. Additional details are disclosed in U.S. patent application Ser. No. 15/720,852, titled SYSTEM AND METHODS FOR CONTROLLING A DISPLAY OF A SURGICAL INSTRUMENT, filed Sep. 29, 2017, which is herein incorporated by reference in its entirety. 
       FIG. 42  is a schematic diagram of a surgical instrument  790  configured to control various functions according to one aspect of this disclosure. In one aspect, the surgical instrument  790  is programmed to control distal translation of a displacement member such as the I-beam  764 . The surgical instrument  790  comprises an end effector  792  that may comprise an anvil  766 , an I-beam  764 , and a removable staple cartridge  768  which may be interchanged with an RF cartridge  796  (shown in dashed line). 
     In one aspect, sensors  788  may be implemented as a limit switch, electromechanical device, solid-state switches, Hall-effect devices, MR devices, GMR devices, magnetometers, among others. In other implementations, the sensors  638  may be solid-state switches that operate under the influence of light, such as optical sensors, IR sensors, ultraviolet sensors, among others. Still, the switches may be solid-state devices such as transistors (e.g., FET, junction FET, MOSFET, bipolar, and the like). In other implementations, the sensors  788  may include electrical conductorless switches, ultrasonic switches, accelerometers, and inertial sensors, among others. 
     In one aspect, the position sensor  784  may be implemented as an absolute positioning system comprising a magnetic rotary absolute positioning system implemented as an AS5055EQFT single-chip magnetic rotary position sensor available from Austria Microsystems, AG. The position sensor  784  may interface with the control circuit  760  to provide an absolute positioning system. The position may include multiple Hall-effect elements located above a magnet and coupled to a CORDIC processor, also known as the digit-by-digit method and Volder&#39;s algorithm, that is provided to implement a simple and efficient algorithm to calculate hyperbolic and trigonometric functions that require only addition, subtraction, bitshift, and table lookup operations. 
     In one aspect, the I-beam  764  may be implemented as a knife member comprising a knife body that operably supports a tissue cutting blade thereon and may further include anvil engagement tabs or features and channel engagement features or a foot. In one aspect, the staple cartridge  768  may be implemented as a standard (mechanical) surgical fastener cartridge. In one aspect, the RF cartridge  796  may be implemented as an RF cartridge. These and other sensors arrangements are described in commonly owned U.S. patent application Ser. No. 15/628,175, titled TECHNIQUES FOR ADAPTIVE CONTROL OF MOTOR VELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT, filed Jun. 20, 2017, which is herein incorporated by reference in its entirety. 
     The position, movement, displacement, and/or translation of a linear displacement member, such as the I-beam  764 , can be measured by an absolute positioning system, sensor arrangement, and position sensor represented as position sensor  784 . Because the I-beam  764  is coupled to the longitudinally movable drive member, the position of the I-beam  764  can be determined by measuring the position of the longitudinally movable drive member employing the position sensor  784 . Accordingly, in the following description, the position, displacement, and/or translation of the I-beam  764  can be achieved by the position sensor  784  as described herein. A control circuit  760  may be programmed to control the translation of the displacement member, such as the I-beam  764 , as described herein. The control circuit  760 , 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  764 , in the manner described. In one aspect, a timer/counter  781  provides an output signal, such as the elapsed time or a digital count, to the control circuit  760  to correlate the position of the I-beam  764  as determined by the position sensor  784  with the output of the timer/counter  781  such that the control circuit  760  can determine the position of the I-beam  764  at a specific time (t) relative to a starting position. The timer/counter  781  may be configured to measure elapsed time, count external events, or time external events. 
     The control circuit  760  may generate a motor set point signal  772 . The motor set point signal  772  may be provided to a motor controller  758 . The motor controller  758  may comprise one or more circuits configured to provide a motor drive signal  774  to the motor  754  to drive the motor  754  as described herein. In some examples, the motor  754  may be a brushed DC electric motor. For example, the velocity of the motor  754  may be proportional to the motor drive signal  774 . In some examples, the motor  754  may be a brushless DC electric motor and the motor drive signal  774  may comprise a PWM signal provided to one or more stator windings of the motor  754 . Also, in some examples, the motor controller  758  may be omitted, and the control circuit  760  may generate the motor drive signal  774  directly. 
     The motor  754  may receive power from an energy source  762 . The energy source  762  may be or include a battery, a super capacitor, or any other suitable energy source. The motor  754  may be mechanically coupled to the I-beam  764  via a transmission  756 . The transmission  756  may include one or more gears or other linkage components to couple the motor  754  to the I-beam  764 . A position sensor  784  may sense a position of the I-beam  764 . The position sensor  784  may be or include any type of sensor that is capable of generating position data that indicate a position of the I-beam  764 . In some examples, the position sensor  784  may include an encoder configured to provide a series of pulses to the control circuit  760  as the I-beam  764  translates distally and proximally. The control circuit  760  may track the pulses to determine the position of the I-beam  764 . 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  764 . Also, in some examples, the position sensor  784  may be omitted. Where the motor  754  is a stepper motor, the control circuit  760  may track the position of the I-beam  764  by aggregating the number and direction of steps that the motor has been instructed to execute. The position sensor  784  may be located in the end effector  792  or at any other portion of the instrument. 
     The control circuit  760  may be in communication with one or more sensors  788 . The sensors  788  may be positioned on the end effector  792  and adapted to operate with the surgical instrument  790  to measure the various derived parameters such as gap distance versus time, tissue compression versus time, and anvil strain versus time. The sensors  788  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  792 . The sensors  788  may include one or more sensors. 
     The one or more sensors  788  may comprise a strain gauge, such as a micro-strain gauge, configured to measure the magnitude of the strain in the anvil  766  during a clamped condition. The strain gauge provides an electrical signal whose amplitude varies with the magnitude of the strain. The sensors  788  may comprise a pressure sensor configured to detect a pressure generated by the presence of compressed tissue between the anvil  766  and the staple cartridge  768 . The sensors  788  may be configured to detect impedance of a tissue section located between the anvil  766  and the staple cartridge  768  that is indicative of the thickness and/or fullness of tissue located therebetween. 
     The sensors  788  may be is configured to measure forces exerted on the anvil  766  by the closure drive system. For example, one or more sensors  788  can be at an interaction point between a closure tube and the anvil  766  to detect the closure forces applied by a closure tube to the anvil  766 . The forces exerted on the anvil  766  can be representative of the tissue compression experienced by the tissue section captured between the anvil  766  and the staple cartridge  768 . The one or more sensors  788  can be positioned at various interaction points along the closure drive system to detect the closure forces applied to the anvil  766  by the closure drive system. The one or more sensors  788  may be sampled in real time during a clamping operation by a processor portion of the control circuit  760 . The control circuit  760  receives real-time sample measurements to provide and analyze time-based information and assess, in real time, closure forces applied to the anvil  766 . 
     A current sensor  786  can be employed to measure the current drawn by the motor  754 . The force required to advance the I-beam  764  corresponds to the current drawn by the motor  754 . The force is converted to a digital signal and provided to the control circuit  760 . 
     An RF energy source  794  is coupled to the end effector  792  and is applied to the RF cartridge  796  when the RF cartridge  796  is loaded in the end effector  792  in place of the staple cartridge  768 . The control circuit  760  controls the delivery of the RF energy to the RF cartridge  796 . 
     Additional details are disclosed in U.S. patent application Ser. No. 15/636,096, titled SURGICAL SYSTEM COUPLABLE WITH STAPLE CARTRIDGE AND RADIO FREQUENCY CARTRIDGE, AND METHOD OF USING SAME, filed Jun. 28, 2017, which is herein incorporated by reference in its entirety. 
     Generator Hardware 
       FIG. 43  is a simplified block diagram of a generator  800  configured to provide inductorless tuning, among other benefits. Additional details of the generator  800  are described in U.S. Pat. No. 9,060,775, titled SURGICAL GENERATOR FOR ULTRASONIC AND ELECTROSURGICAL DEVICES, which issued on Jun. 23, 2015, which is herein incorporated by reference in its entirety. The generator  800  may comprise a patient isolated stage  802  in communication with a non-isolated stage  804  via a power transformer  806 . A secondary winding  808  of the power transformer  806  is contained in the isolated stage  802  and may comprise a tapped configuration (e.g., a center-tapped or a non-center-tapped configuration) to define drive signal outputs  810   a ,  810   b ,  810   c  for delivering drive signals to different surgical instruments, such as, for example, an ultrasonic surgical instrument, an RF electrosurgical instrument, and a multifunction surgical instrument which includes ultrasonic and RF energy modes that can be delivered alone or simultaneously. In particular, drive signal outputs  810   a ,  810   c  may output an ultrasonic drive signal (e.g., a 420V root-mean-square (RMS) drive signal) to an ultrasonic surgical instrument, and drive signal outputs  810   b ,  810   c  may output an RF electrosurgical drive signal (e.g., a 100V RMS drive signal) to an RF electrosurgical instrument, with the drive signal output  810   b  corresponding to the center tap of the power transformer  806 . 
     In certain forms, the ultrasonic and electrosurgical drive signals may be provided simultaneously to distinct surgical instruments and/or to a single surgical instrument, such as the multifunction surgical instrument, having the capability to deliver both ultrasonic and electrosurgical energy to tissue. It will be appreciated that the electrosurgical signal, provided either to a dedicated electrosurgical instrument and/or to a combined multifunction ultrasonic/electrosurgical instrument may be either a therapeutic or sub-therapeutic level signal where the sub-therapeutic signal can be used, for example, to monitor tissue or instrument conditions and provide feedback to the generator. For example, the ultrasonic and RF signals can be delivered separately or simultaneously from a generator with a single output port in order to provide the desired output signal to the surgical instrument, as will be discussed in more detail below. Accordingly, the generator can combine the ultrasonic and electrosurgical RF energies and deliver the combined energies to the multifunction ultrasonic/electrosurgical instrument. Bipolar electrodes can be placed on one or both jaws of the end effector. One jaw may be driven by ultrasonic energy in addition to electrosurgical RF energy, working simultaneously. The ultrasonic energy may be employed to dissect tissue, while the electrosurgical RF energy may be employed for vessel sealing. 
     The non-isolated stage  804  may comprise a power amplifier  812  having an output connected to a primary winding  814  of the power transformer  806 . In certain forms, the power amplifier  812  may comprise a push-pull amplifier. For example, the non-isolated stage  804  may further comprise a logic device  816  for supplying a digital output to a digital-to-analog converter (DAC) circuit  818 , which in turn supplies a corresponding analog signal to an input of the power amplifier  812 . In certain forms, the logic device  816  may comprise a programmable gate array (PGA), a FPGA, programmable logic device (PLD), among other logic circuits, for example. The logic device  816 , by virtue of controlling the input of the power amplifier  812  via the DAC circuit  818 , may therefore control any of a number of parameters (e.g., frequency, waveform shape, waveform amplitude) of drive signals appearing at the drive signal outputs  810   a ,  810   b ,  810   c . In certain forms and as discussed below, the logic device  816 , in conjunction with a processor (e.g., a DSP discussed below), may implement a number of DSP-based and/or other control algorithms to control parameters of the drive signals output by the generator  800 . 
     Power may be supplied to a power rail of the power amplifier  812  by a switch-mode regulator  820 , e.g., a power converter. In certain forms, the switch-mode regulator  820  may comprise an adjustable buck regulator, for example. The non-isolated stage  804  may further comprise a first processor  822 , which in one form may comprise a DSP processor such as an Analog Devices ADSP-21469 SHARC DSP, available from Analog Devices, Norwood, Mass., for example, although in various forms any suitable processor may be employed. In certain forms the DSP processor  822  may control the operation of the switch-mode regulator  820  responsive to voltage feedback data received from the power amplifier  812  by the DSP processor  822  via an ADC circuit  824 . In one form, for example, the DSP processor  822  may receive as input, via the ADC circuit  824 , the waveform envelope of a signal (e.g., an RF signal) being amplified by the power amplifier  812 . The DSP processor  822  may then control the switch-mode regulator  820  (e.g., via a PWM output) such that the rail voltage supplied to the power amplifier  812  tracks the waveform envelope of the amplified signal. By dynamically modulating the rail voltage of the power amplifier  812  based on the waveform envelope, the efficiency of the power amplifier  812  may be significantly improved relative to a fixed rail voltage amplifier schemes. 
     In certain forms, the logic device  816 , in conjunction with the DSP processor  822 , may implement a digital synthesis circuit such as a direct digital synthesizer control scheme to control the waveform shape, frequency, and/or amplitude of drive signals output by the generator  800 . In one form, for example, the logic device  816  may implement a DDS control algorithm by recalling waveform samples stored in a dynamically updated lookup table (LUT), such as a RAM LUT, which may be embedded in an FPGA. This control algorithm is particularly useful for ultrasonic applications in which an ultrasonic transducer, such as an ultrasonic transducer, may be driven by a clean sinusoidal current at its resonant frequency. Because other frequencies may excite parasitic resonances, minimizing or reducing the total distortion of the motional branch current may correspondingly minimize or reduce undesirable resonance effects. Because the waveform shape of a drive signal output by the generator  800  is impacted by various sources of distortion present in the output drive circuit (e.g., the power transformer  806 , the power amplifier  812 ), voltage and current feedback data based on the drive signal may be input into an algorithm, such as an error control algorithm implemented by the DSP processor  822 , which compensates for distortion by suitably pre-distorting or modifying the waveform samples stored in the LUT on a dynamic, ongoing basis (e.g., in real time). In one form, the amount or degree of pre-distortion applied to the LUT samples may be based on the error between a computed motional branch current and a desired current waveform shape, with the error being determined on a sample-by-sample basis. In this way, the pre-distorted LUT samples, when processed through the drive circuit, may result in a motional branch drive signal having the desired waveform shape (e.g., sinusoidal) for optimally driving the ultrasonic transducer. In such forms, the LUT waveform samples will therefore not represent the desired waveform shape of the drive signal, but rather the waveform shape that is required to ultimately produce the desired waveform shape of the motional branch drive signal when distortion effects are taken into account. 
     The non-isolated stage  804  may further comprise a first ADC circuit  826  and a second ADC circuit  828  coupled to the output of the power transformer  806  via respective isolation transformers  830 ,  832  for respectively sampling the voltage and current of drive signals output by the generator  800 . In certain forms, the ADC circuits  826 ,  828  may be configured to sample at high speeds (e.g., 80 mega samples per second (MSPS)) to enable oversampling of the drive signals. In one form, for example, the sampling speed of the ADC circuits  826 ,  828  may enable approximately 200× (depending on frequency) oversampling of the drive signals. In certain forms, the sampling operations of the ADC circuit  826 ,  828  may be performed by a single ADC circuit receiving input voltage and current signals via a two-way multiplexer. The use of high-speed sampling in forms of the generator  800  may enable, among other things, calculation of the complex current flowing through the motional branch (which may be used in certain forms to implement DDS-based waveform shape control described above), accurate digital filtering of the sampled signals, and calculation of real power consumption with a high degree of precision. Voltage and current feedback data output by the ADC circuits  826 ,  828  may be received and processed (e.g., first-in-first-out (FIFO) buffer, multiplexer) by the logic device  816  and stored in data memory for subsequent retrieval by, for example, the DSP processor  822 . As noted above, voltage and current feedback data may be used as input to an algorithm for pre-distorting or modifying LUT waveform samples on a dynamic and ongoing basis. In certain forms, this may require each stored voltage and current feedback data pair to be indexed based on, or otherwise associated with, a corresponding LUT sample that was output by the logic device  816  when the voltage and current feedback data pair was acquired. Synchronization of the LUT samples and the voltage and current feedback data in this manner contributes to the correct timing and stability of the pre-distortion algorithm. 
     In certain forms, the voltage and current feedback data may be used to control the frequency and/or amplitude (e.g., current amplitude) of the drive signals. In one form, for example, voltage and current feedback data may be used to determine impedance phase. The frequency of the drive signal may then be controlled to minimize or reduce the difference between the determined impedance phase and an impedance phase setpoint (e.g., 0°), thereby minimizing or reducing the effects of harmonic distortion and correspondingly enhancing impedance phase measurement accuracy. The determination of phase impedance and a frequency control signal may be implemented in the DSP processor  822 , for example, with the frequency control signal being supplied as input to a DDS control algorithm implemented by the logic device  816 . 
     In another form, for example, the current feedback data may be monitored in order to maintain the current amplitude of the drive signal at a current amplitude setpoint. The current amplitude setpoint may be specified directly or determined indirectly based on specified voltage amplitude and power setpoints. In certain forms, control of the current amplitude may be implemented by control algorithm, such as, for example, a proportional-integral-derivative (PID) control algorithm, in the DSP processor  822 . Variables controlled by the control algorithm to suitably control the current amplitude of the drive signal may include, for example, the scaling of the LUT waveform samples stored in the logic device  816  and/or the full-scale output voltage of the DAC circuit  818  (which supplies the input to the power amplifier  812 ) via a DAC circuit  834 . 
     The non-isolated stage  804  may further comprise a second processor  836  for providing, among other things user interface (UI) functionality. In one form, the UI processor  836  may comprise an Atmel AT91SAM9263 processor having an ARM 926EJ-S core, available from Atmel Corporation, San Jose, Calif., for example. Examples of UI functionality supported by the UI processor  836  may include audible and visual user feedback, communication with peripheral devices (e.g., via a USB interface), communication with a foot switch, communication with an input device (e.g., a touch screen display) and communication with an output device (e.g., a speaker). The UI processor  836  may communicate with the DSP processor  822  and the logic device  816  (e.g., via SPI buses). Although the UI processor  836  may primarily support UI functionality, it may also coordinate with the DSP processor  822  to implement hazard mitigation in certain forms. For example, the UI processor  836  may be programmed to monitor various aspects of user input and/or other inputs (e.g., touch screen inputs, foot switch inputs, temperature sensor inputs) and may disable the drive output of the generator  800  when an erroneous condition is detected. 
     In certain forms, both the DSP processor  822  and the UI processor  836 , for example, may determine and monitor the operating state of the generator  800 . For the DSP processor  822 , the operating state of the generator  800  may dictate, for example, which control and/or diagnostic processes are implemented by the DSP processor  822 . For the UI processor  836 , the operating state of the generator  800  may dictate, for example, which elements of a UI (e.g., display screens, sounds) are presented to a user. The respective DSP and UI processors  822 ,  836  may independently maintain the current operating state of the generator  800  and recognize and evaluate possible transitions out of the current operating state. The DSP processor  822  may function as the master in this relationship and determine when transitions between operating states are to occur. The UI processor  836  may be aware of valid transitions between operating states and may confirm if a particular transition is appropriate. For example, when the DSP processor  822  instructs the UI processor  836  to transition to a specific state, the UI processor  836  may verify that requested transition is valid. In the event that a requested transition between states is determined to be invalid by the UI processor  836 , the UI processor  836  may cause the generator  800  to enter a failure mode. 
     The non-isolated stage  804  may further comprise a controller  838  for monitoring input devices (e.g., a capacitive touch sensor used for turning the generator  800  on and off, a capacitive touch screen). In certain forms, the controller  838  may comprise at least one processor and/or other controller device in communication with the UI processor  836 . In one form, for example, the controller  838  may comprise a processor (e.g., a Meg168 8-bit controller available from Atmel) configured to monitor user input provided via one or more capacitive touch sensors. In one form, the controller  838  may comprise a touch screen controller (e.g., a QT5480 touch screen controller available from Atmel) to control and manage the acquisition of touch data from a capacitive touch screen. 
     In certain forms, when the generator  800  is in a “power off” state, the controller  838  may continue to receive operating power (e.g., via a line from a power supply of the generator  800 , such as the power supply  854  discussed below). In this way, the controller  838  may continue to monitor an input device (e.g., a capacitive touch sensor located on a front panel of the generator  800 ) for turning the generator  800  on and off. When the generator  800  is in the power off state, the controller  838  may wake the power supply (e.g., enable operation of one or more DC/DC voltage converters  856  of the power supply  854 ) if activation of the “on/off” input device by a user is detected. The controller  838  may therefore initiate a sequence for transitioning the generator  800  to a “power on” state. Conversely, the controller  838  may initiate a sequence for transitioning the generator  800  to the power off state if activation of the “on/off” input device is detected when the generator  800  is in the power on state. In certain forms, for example, the controller  838  may report activation of the “on/off” input device to the UI processor  836 , which in turn implements the necessary process sequence for transitioning the generator  800  to the power off state. In such forms, the controller  838  may have no independent ability for causing the removal of power from the generator  800  after its power on state has been established. 
     In certain forms, the controller  838  may cause the generator  800  to provide audible or other sensory feedback for alerting the user that a power on or power off sequence has been initiated. Such an alert may be provided at the beginning of a power on or power off sequence and prior to the commencement of other processes associated with the sequence. 
     In certain forms, the isolated stage  802  may comprise an instrument interface circuit  840  to, for example, provide a communication interface between a control circuit of a surgical instrument (e.g., a control circuit comprising handpiece switches) and components of the non-isolated stage  804 , such as, for example, the logic device  816 , the DSP processor  822 , and/or the UI processor  836 . The instrument interface circuit  840  may exchange information with components of the non-isolated stage  804  via a communication link that maintains a suitable degree of electrical isolation between the isolated and non-isolated stages  802 ,  804 , such as, for example, an IR-based communication link. Power may be supplied to the instrument interface circuit  840  using, for example, a low-dropout voltage regulator powered by an isolation transformer driven from the non-isolated stage  804 . 
     In one form, the instrument interface circuit  840  may comprise a logic circuit  842  (e.g., logic circuit, programmable logic circuit, PGA, FPGA, PLD) in communication with a signal conditioning circuit  844 . The signal conditioning circuit  844  may be configured to receive a periodic signal from the logic circuit  842  (e.g., a 2 kHz square wave) to generate a bipolar interrogation signal having an identical frequency. The interrogation signal may be generated, for example, using a bipolar current source fed by a differential amplifier. The interrogation signal may be communicated to a surgical instrument control circuit (e.g., by using a conductive pair in a cable that connects the generator  800  to the surgical instrument) and monitored to determine a state or configuration of the control circuit. The control circuit may comprise a number of switches, resistors, and/or diodes to modify one or more characteristics (e.g., amplitude, rectification) of the interrogation signal such that a state or configuration of the control circuit is uniquely discernable based on the one or more characteristics. In one form, for example, the signal conditioning circuit  844  may comprise an ADC circuit for generating samples of a voltage signal appearing across inputs of the control circuit resulting from passage of interrogation signal therethrough. The logic circuit  842  (or a component of the non-isolated stage  804 ) may then determine the state or configuration of the control circuit based on the ADC circuit samples. 
     In one form, the instrument interface circuit  840  may comprise a first data circuit interface  846  to enable information exchange between the logic circuit  842  (or other element of the instrument interface circuit  840 ) and a first data circuit disposed in or otherwise associated with a surgical instrument. In certain forms, for example, a first data circuit may be disposed in a cable integrally attached to a surgical instrument handpiece or in an adaptor for interfacing a specific surgical instrument type or model with the generator  800 . The first data circuit may be implemented in any suitable manner and may communicate with the generator according to any suitable protocol, including, for example, as described herein with respect to the first data circuit. In certain forms, the first data circuit may comprise a non-volatile storage device, such as an EEPROM device. In certain forms, the first data circuit interface  846  may be implemented separately from the logic circuit  842  and comprise suitable circuitry (e.g., discrete logic devices, a processor) to enable communication between the logic circuit  842  and the first data circuit. In other forms, the first data circuit interface  846  may be integral with the logic circuit  842 . 
     In certain forms, the first data circuit may store information pertaining to the particular surgical instrument with which it is associated. Such information may include, for example, a model number, a serial number, a number of operations in which the surgical instrument has been used, and/or any other type of information. This information may be read by the instrument interface circuit  840  (e.g., by the logic circuit  842 ), transferred to a component of the non-isolated stage  804  (e.g., to logic device  816 , DSP processor  822 , and/or UI processor  836 ) for presentation to a user via an output device and/or for controlling a function or operation of the generator  800 . Additionally, any type of information may be communicated to the first data circuit for storage therein via the first data circuit interface  846  (e.g., using the logic circuit  842 ). Such information may comprise, for example, an updated number of operations in which the surgical instrument has been used and/or dates and/or times of its usage. 
     As discussed previously, a surgical instrument may be detachable from a handpiece (e.g., the multifunction surgical instrument may be detachable from the handpiece) to promote instrument interchangeability and/or disposability. In such cases, conventional generators may be limited in their ability to recognize particular instrument configurations being used and to optimize control and diagnostic processes accordingly. The addition of readable data circuits to surgical instruments to address this issue is problematic from a compatibility standpoint, however. For example, designing a surgical instrument to remain backwardly compatible with generators that lack the requisite data reading functionality may be impractical due to, for example, differing signal schemes, design complexity, and cost. Forms of instruments discussed herein address these concerns by using data circuits that may be implemented in existing surgical instruments economically and with minimal design changes to preserve compatibility of the surgical instruments with current generator platforms. 
     Additionally, forms of the generator  800  may enable communication with instrument-based data circuits. For example, the generator  800  may be configured to communicate with a second data circuit contained in an instrument (e.g., the multifunction surgical instrument). In some forms, the second data circuit may be implemented in a many similar to that of the first data circuit described herein. The instrument interface circuit  840  may comprise a second data circuit interface  848  to enable this communication. In one form, the second data circuit interface  848  may comprise a tri-state digital interface, although other interfaces may also be used. In certain forms, the second data circuit may generally be any circuit for transmitting and/or receiving data. In one form, for example, the second data circuit may store information pertaining to the particular surgical instrument with which it is associated. Such information may include, for example, a model number, a serial number, a number of operations in which the surgical instrument has been used, and/or any other type of information. 
     In some forms, the second data circuit may store information about the electrical and/or ultrasonic properties of an associated ultrasonic transducer, end effector, or ultrasonic drive system. For example, the first data circuit may indicate a burn-in frequency slope, as described herein. Additionally or alternatively, any type of information may be communicated to second data circuit for storage therein via the second data circuit interface  848  (e.g., using the logic circuit  842 ). Such information may comprise, for example, an updated number of operations in which the instrument has been used and/or dates and/or times of its usage. In certain forms, the second data circuit may transmit data acquired by one or more sensors (e.g., an instrument-based temperature sensor). In certain forms, the second data circuit may receive data from the generator  800  and provide an indication to a user (e.g., a light emitting diode indication or other visible indication) based on the received data. 
     In certain forms, the second data circuit and the second data circuit interface  848  may be configured such that communication between the logic circuit  842  and the second data circuit can be effected without the need to provide additional conductors for this purpose (e.g., dedicated conductors of a cable connecting a handpiece to the generator  800 ). In one form, for example, information may be communicated to and from the second data circuit using a one-wire bus communication scheme implemented on existing cabling, such as one of the conductors used transmit interrogation signals from the signal conditioning circuit  844  to a control circuit in a handpiece. In this way, design changes or modifications to the surgical instrument that might otherwise be necessary are minimized or reduced. Moreover, because different types of communications implemented over a common physical channel can be frequency-band separated, the presence of a second data circuit may be “invisible” to generators that do not have the requisite data reading functionality, thus enabling backward compatibility of the surgical instrument. 
     In certain forms, the isolated stage  802  may comprise at least one blocking capacitor  850 - 1  connected to the drive signal output  810   b  to prevent passage of DC current to a patient. A single blocking capacitor may be required to comply with medical regulations or standards, for example. While failure in single-capacitor designs is relatively uncommon, such failure may nonetheless have negative consequences. In one form, a second blocking capacitor  850 - 2  may be provided in series with the blocking capacitor  850 - 1 , with current leakage from a point between the blocking capacitors  850 - 1 ,  850 - 2  being monitored by, for example, an ADC circuit  852  for sampling a voltage induced by leakage current. The samples may be received by the logic circuit  842 , for example. Based changes in the leakage current (as indicated by the voltage samples), the generator  800  may determine when at least one of the blocking capacitors  850 - 1 ,  850 - 2  has failed, thus providing a benefit over single-capacitor designs having a single point of failure. 
     In certain forms, the non-isolated stage  804  may comprise a power supply  854  for delivering DC power at a suitable voltage and current. The power supply may comprise, for example, a 400 W power supply for delivering a 48 VDC system voltage. The power supply  854  may further comprise one or more DC/DC voltage converters  856  for receiving the output of the power supply to generate DC outputs at the voltages and currents required by the various components of the generator  800 . As discussed above in connection with the controller  838 , one or more of the DC/DC voltage converters  856  may receive an input from the controller  838  when activation of the “on/off” input device by a user is detected by the controller  838  to enable operation of, or wake, the DC/DC voltage converters  856 . 
       FIG. 44  illustrates an example of a generator  900 , which is one form of the generator  800  ( FIG. 43 ). The generator  900  is configured to deliver multiple energy modalities to a surgical instrument. The generator  900  provides RF and ultrasonic signals for delivering energy to a surgical instrument either independently or simultaneously. The RF and ultrasonic signals may be provided alone or in combination and may be provided simultaneously. As noted above, at least one generator output can deliver multiple energy modalities (e.g., ultrasonic, bipolar or monopolar RF, irreversible and/or reversible electroporation, and/or microwave energy, among others) through a single port, and these signals can be delivered separately or simultaneously to the end effector to treat tissue. 
     The generator  900  comprises a processor  902  coupled to a waveform generator  904 . The processor  902  and waveform generator  904  are configured to generate a variety of signal waveforms based on information stored in a memory coupled to the processor  902 , not shown for clarity of disclosure. The digital information associated with a waveform is provided to the waveform generator  904  which includes one or more DAC circuits to convert the digital input into an analog output. The analog output is fed to an amplifier  1106  for signal conditioning and amplification. The conditioned and amplified output of the amplifier  906  is coupled to a power transformer  908 . The signals are coupled across the power transformer  908  to the secondary side, which is in the patient isolation side. A first signal of a first energy modality is provided to the surgical instrument between the terminals labeled ENERGY1 and RETURN. A second signal of a second energy modality is coupled across a capacitor  910  and is provided to the surgical instrument between the terminals labeled ENERGY2 and RETURN. It will be appreciated that more than two energy modalities may be output and thus the subscript “n” may be used to designate that up to n ENERGYn terminals may be provided, where n is a positive integer greater than 1. It also will be appreciated that up to “n” return paths RETURNn may be provided without departing from the scope of the present disclosure. 
     A first voltage sensing circuit  912  is coupled across the terminals labeled ENERGY1 and the RETURN path to measure the output voltage therebetween. A second voltage sensing circuit  924  is coupled across the terminals labeled ENERGY2 and the RETURN path to measure the output voltage therebetween. A current sensing circuit  914  is disposed in series with the RETURN leg of the secondary side of the power transformer  908  as shown to measure the output current for either energy modality. If different return paths are provided for each energy modality, then a separate current sensing circuit should be provided in each return leg. The outputs of the first and second voltage sensing circuits  912 ,  924  are provided to respective isolation transformers  916 ,  922  and the output of the current sensing circuit  914  is provided to another isolation transformer  918 . The outputs of the isolation transformers  916 ,  928 ,  922  in the on the primary side of the power transformer  908  (non-patient isolated side) are provided to a one or more ADC circuit  926 . The digitized output of the ADC circuit  926  is provided to the processor  902  for further processing and computation. The output voltages and output current feedback information can be employed to adjust the output voltage and current provided to the surgical instrument and to compute output impedance, among other parameters. Input/output communications between the processor  902  and patient isolated circuits is provided through an interface circuit  920 . Sensors also may be in electrical communication with the processor  902  by way of the interface circuit  920 . 
     In one aspect, the impedance may be determined by the processor  902  by dividing the output of either the first voltage sensing circuit  912  coupled across the terminals labeled ENERGY1/RETURN or the second voltage sensing circuit  924  coupled across the terminals labeled ENERGY2/RETURN by the output of the current sensing circuit  914  disposed in series with the RETURN leg of the secondary side of the power transformer  908 . The outputs of the first and second voltage sensing circuits  912 ,  924  are provided to separate isolations transformers  916 ,  922  and the output of the current sensing circuit  914  is provided to another isolation transformer  916 . The digitized voltage and current sensing measurements from the ADC circuit  926  are provided the processor  902  for computing impedance. As an example, the first energy modality ENERGY1 may be ultrasonic energy and the second energy modality ENERGY2 may be RF energy. Nevertheless, in addition to ultrasonic and bipolar or monopolar RF energy modalities, other energy modalities include irreversible and/or reversible electroporation and/or microwave energy, among others. Also, although the example illustrated in  FIG. 44  shows a single return path RETURN may be provided for two or more energy modalities, in other aspects, multiple return paths RETURNn may be provided for each energy modality ENERGYn. Thus, as described herein, the ultrasonic transducer impedance may be measured by dividing the output of the first voltage sensing circuit  912  by the current sensing circuit  914  and the tissue impedance may be measured by dividing the output of the second voltage sensing circuit  924  by the current sensing circuit  914 . 
     As shown in  FIG. 44 , the generator  900  comprising at least one output port can include a power transformer  908  with a single output and with multiple taps to provide power in the form of one or more energy modalities, such as ultrasonic, bipolar or monopolar RF, irreversible and/or reversible electroporation, and/or microwave energy, among others, for example, to the end effector depending on the type of treatment of tissue being performed. For example, the generator  900  can deliver energy with higher voltage and lower current to drive an ultrasonic transducer, with lower voltage and higher current to drive RF electrodes for sealing tissue, or with a coagulation waveform for spot coagulation using either monopolar or bipolar RF electrosurgical electrodes. The output waveform from the generator  900  can be steered, switched, or filtered to provide the frequency to the end effector of the surgical instrument. The connection of an ultrasonic transducer to the generator  900  output would be preferably located between the output labeled ENERGY1 and RETURN as shown in  FIG. 44 . In one example, a connection of RF bipolar electrodes to the generator  900  output would be preferably located between the output labeled ENERGY2 and RETURN. In the case of monopolar output, the preferred connections would be active electrode (e.g., pencil or other probe) to the ENERGY2 output and a suitable return pad connected to the RETURN output. 
     Additional details are disclosed in U.S. Patent Application Publication No. 2017/0086914, titled TECHNIQUES FOR OPERATING GENERATOR FOR DIGITALLY GENERATING ELECTRICAL SIGNAL WAVEFORMS AND SURGICAL INSTRUMENTS, which published on Mar. 30, 2017, which is herein incorporated by reference in its entirety. 
     As used throughout this description, the term “wireless” and its derivatives may be used to describe circuits, devices, systems, methods, techniques, communications channels, etc., that may communicate data through the use of modulated electromagnetic radiation through a non-solid medium. The term does not imply that the associated devices do not contain any wires, although in some aspects they might not. The communication module may implement any of a number of wireless or wired communication standards or protocols, including but not limited to Wi-Fi (IEEE 802.11 family), WiMAX (IEEE 802.16 family), IEEE 802.20, long term evolution (LTE), Ev-DO, HSPA+, HSDPA+, HSUPA+, EDGE, GSM, GPRS, CDMA, TDMA, DECT, Bluetooth, Ethernet derivatives thereof, as well as any other wireless and wired protocols that are designated as 3G, 4G, 5G, and beyond. The computing module may include a plurality of communication modules. For instance, a first communication module may be dedicated to shorter range wireless communications such as Wi-Fi and Bluetooth and a second communication module may be dedicated to longer range wireless communications such as GPS, EDGE, GPRS, CDMA, WiMAX, LTE, Ev-DO, and others. 
     As used herein a processor or processing unit is an electronic circuit which performs operations on some external data source, usually memory or some other data stream. The term is used herein to refer to the central processor (central processing unit) in a system or computer systems (especially systems on a chip (SoCs)) that combine a number of specialized “processors.” 
     As used herein, a system on a chip or system on chip (SoC or SOC) is an integrated circuit (also known as an “IC” or “chip”) that integrates all components of a computer or other electronic systems. It may contain digital, analog, mixed-signal, and often radio-frequency functions—all on a single substrate. A SoC integrates a microcontroller (or microprocessor) with advanced peripherals like graphics processing unit (GPU), Wi-Fi module, or coprocessor. A SoC may or may not contain built-in memory. 
     As used herein, a microcontroller or controller is a system that integrates a microprocessor with peripheral circuits and memory. A microcontroller (or MCU for microcontroller unit) may be implemented as a small computer on a single integrated circuit. It may be similar to a SoC; an SoC may include a microcontroller as one of its components. A microcontroller may contain one or more core processing units (CPUs) along with memory and programmable input/output peripherals. Program memory in the form of Ferroelectric RAM, NOR flash or OTP ROM is also often included on chip, as well as a small amount of RAM. Microcontrollers may be employed for embedded applications, in contrast to the microprocessors used in personal computers or other general purpose applications consisting of various discrete chips. 
     As used herein, the term controller or microcontroller may be a stand-alone IC or chip device that interfaces with a peripheral device. This may be a link between two parts of a computer or a controller on an external device that manages the operation of (and connection with) that device. 
     Any of the processors or microcontrollers described herein, may be implemented by any single core or multicore processor such as those known under the trade name ARM Cortex by Texas Instruments. In one aspect, the processor may be an LM4F230H5QR ARM Cortex-M4F Processor Core, available from Texas Instruments, for example, comprising on-chip memory of 256 KB single-cycle flash memory, or other non-volatile memory, up to 40 MHz, a prefetch buffer to improve performance above 40 MHz, a 32 KB single-cycle serial random access memory (SRAM), internal read-only memory (ROM) loaded with StellarisWare® software, 2 KB electrically erasable programmable read-only memory (EEPROM), one or more pulse width modulation (PWM) modules, one or more quadrature encoder inputs (QEI) analog, one or more 12-bit Analog-to-Digital Converters (ADC) with 12 analog input channels, details of which are available for the product datasheet. 
     In one aspect, the processor may comprise a safety controller comprising two controller-based families such as TMS570 and RM4x known under the trade name Hercules ARM Cortex R4, also by Texas Instruments. The safety controller may be configured specifically for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced integrated safety features while delivering scalable performance, connectivity, and memory options. 
     Modular devices include the modules (as described in connection with  FIGS. 3 and 9 , for example) that are receivable within a surgical hub and the surgical devices or instruments that can be connected to the various modules in order to connect or pair with the corresponding surgical hub. The modular devices include, for example, intelligent surgical instruments, medical imaging devices, suction/irrigation devices, smoke evacuators, energy generators, ventilators, insufflators, and displays. The modular devices described herein can be controlled by control algorithms. The control algorithms can be executed on the modular device itself, on the surgical hub to which the particular modular device is paired, or on both the modular device and the surgical hub (e.g., via a distributed computing architecture). In some exemplifications, the modular devices&#39; control algorithms control the devices based on data sensed by the modular device itself (i.e., by sensors in, on, or connected to the modular device). This data can be related to the patient being operated on (e.g., tissue properties or insufflation pressure) or the modular device itself (e.g., the rate at which a knife is being advanced, motor current, or energy levels). For example, a control algorithm for a surgical stapling and cutting instrument can control the rate at which the instrument&#39;s motor drives its knife through tissue according to resistance encountered by the knife as it advances. 
     Situational Awareness 
     Situational awareness is the ability of some aspects of a surgical system to determine or infer information related to a surgical procedure from data received from databases and/or instruments. The information can include the type of procedure being undertaken, the type of tissue being operated on, or the body cavity that is the subject of the procedure. With the contextual information related to the surgical procedure, the surgical system can, for example, improve the manner in which it controls the modular devices (e.g. a robotic arm and/or robotic surgical tool) that are connected to it and provide contextualized information or suggestions to the surgeon during the course of the surgical procedure. 
     Referring now to  FIG. 45 , a timeline  5200  depicting situational awareness of a hub, such as the surgical hub  106  or  206 , for example, is depicted. The timeline  5200  is an illustrative surgical procedure and the contextual information that the surgical hub  106 ,  206  can derive from the data received from the data sources at each step in the surgical procedure. The timeline  5200  depicts the typical steps that would be taken by the nurses, surgeons, and other medical personnel during the course of a lung segmentectomy procedure, beginning with setting up the operating theater and ending with transferring the patient to a post-operative recovery room. 
     The situationally aware surgical hub  106 ,  206  receives data from the data sources throughout the course of the surgical procedure, including data generated each time medical personnel utilize a modular device that is paired with the surgical hub  106 ,  206 . The surgical hub  106 ,  206  can receive this data from the paired modular devices and other data sources and continually derive inferences (i.e., contextual information) about the ongoing procedure as new data is received, such as which step of the procedure is being performed at any given time. The situational awareness system of the surgical hub  106 ,  206  is able to, for example, record data pertaining to the procedure for generating reports, verify the steps being taken by the medical personnel, provide data or prompts (e.g., via a display screen) that may be pertinent for the particular procedural step, adjust modular devices based on the context (e.g., activate monitors, adjust the field of view (FOV) of the medical imaging device, or change the energy level of an ultrasonic surgical instrument or RF electrosurgical instrument), and take any other such action described above. 
     As the first step  5202  in this illustrative procedure, the hospital staff members retrieve the patient&#39;s Electronic Medical Record (EMR) from the hospital&#39;s EMR database. Based on select patient data in the EMR, the surgical hub  106 ,  206  determines that the procedure to be performed is a thoracic procedure. 
     Second step  5204 , the staff members scan the incoming medical supplies for the procedure. The surgical hub  106 ,  206  cross-references the scanned supplies with a list of supplies that are utilized in various types of procedures and confirms that the mix of supplies corresponds to a thoracic procedure. Further, the surgical hub  106 ,  206  is also able to determine that the procedure is not a wedge procedure (because the incoming supplies either lack certain supplies that are necessary for a thoracic wedge procedure or do not otherwise correspond to a thoracic wedge procedure). 
     Third step  5206 , the medical personnel scan the patient band via a scanner that is communicably connected to the surgical hub  106 ,  206 . The surgical hub  106 ,  206  can then confirm the patient&#39;s identity based on the scanned data. 
     Fourth step  5208 , the medical staff turns on the auxiliary equipment. The auxiliary equipment being utilized can vary according to the type of surgical procedure and the techniques to be used by the surgeon, but in this illustrative case they include a smoke evacuator, insufflator, and medical imaging device. When activated, the auxiliary equipment that are modular devices can automatically pair with the surgical hub  106 ,  206  that is located within a particular vicinity of the modular devices as part of their initialization process. The surgical hub  106 ,  206  can then derive contextual information about the surgical procedure by detecting the types of modular devices that pair with it during this pre-operative or initialization phase. In this particular example, the surgical hub  106 ,  206  determines that the surgical procedure is a VATS procedure based on this particular combination of paired modular devices. Based on the combination of the data from the patient&#39;s EMR, the list of medical supplies to be used in the procedure, and the type of modular devices that connect to the hub, the surgical hub  106 ,  206  can generally infer the specific procedure that the surgical team will be performing. Once the surgical hub  106 ,  206  knows what specific procedure is being performed, the surgical hub  106 ,  206  can then retrieve the steps of that procedure from a memory or from the cloud and then cross-reference the data it subsequently receives from the connected data sources (e.g., modular devices and patient monitoring devices) to infer what step of the surgical procedure the surgical team is performing. 
     Fifth step  5210 , the staff members attach the EKG electrodes and other patient monitoring devices to the patient. The EKG electrodes and other patient monitoring devices are able to pair with the surgical hub  106 ,  206 . As the surgical hub  106 ,  206  begins receiving data from the patient monitoring devices, the surgical hub  106 ,  206  thus confirms that the patient is in the operating theater. 
     Sixth step  5212 , the medical personnel induce anesthesia in the patient. The surgical hub  106 ,  206  can infer that the patient is under anesthesia based on data from the modular devices and/or patient monitoring devices, including EKG data, blood pressure data, ventilator data, or combinations thereof, for example. Upon completion of the sixth step  5212 , the pre-operative portion of the lung segmentectomy procedure is completed and the operative portion begins. 
     Seventh step  5214 , the patient&#39;s lung that is being operated on is collapsed (while ventilation is switched to the contralateral lung). The surgical hub  106 ,  206  can infer from the ventilator data that the patient&#39;s lung has been collapsed, for example. The surgical hub  106 ,  206  can infer that the operative portion of the procedure has commenced as it can compare the detection of the patient&#39;s lung collapsing to the expected steps of the procedure (which can be accessed or retrieved previously) and thereby determine that collapsing the lung is the first operative step in this particular procedure. 
     Eighth step  5216 , the medical imaging device (e.g., a scope) is inserted and video from the medical imaging device is initiated. The surgical hub  106 ,  206  receives the medical imaging device data (i.e., video or image data) through its connection to the medical imaging device. Upon receipt of the medical imaging device data, the surgical hub  106 ,  206  can determine that the laparoscopic portion of the surgical procedure has commenced. Further, the surgical hub  106 ,  206  can determine that the particular procedure being performed is a segmentectomy, as opposed to a lobectomy (note that a wedge procedure has already been discounted by the surgical hub  106 ,  206  based on data received at the second step  5204  of the procedure). The data from the medical imaging device  124  ( FIG. 25 ) can be utilized to determine contextual information regarding the type of procedure being performed in a number of different ways, including by determining the angle at which the medical imaging device is oriented with respect to the visualization of the patient&#39;s anatomy, monitoring the number or medical imaging devices being utilized (i.e., that are activated and paired with the surgical hub  106 ,  206 ), and monitoring the types of visualization devices utilized. For example, one technique for performing a VATS lobectomy places the camera in the lower anterior corner of the patient&#39;s chest cavity above the diaphragm, whereas one technique for performing a VATS segmentectomy places the camera in an anterior intercostal position relative to the segmental fissure. Using pattern recognition or machine learning techniques, for example, the situational awareness system can be trained to recognize the positioning of the medical imaging device according to the visualization of the patient&#39;s anatomy. As another example, one technique for performing a VATS lobectomy utilizes a single medical imaging device, whereas another technique for performing a VATS segmentectomy utilizes multiple cameras. As yet another example, one technique for performing a VATS segmentectomy utilizes an infrared light source (which can be communicably coupled to the surgical hub as part of the visualization system) to visualize the segmental fissure, which is not utilized in a VATS lobectomy. By tracking any or all of this data from the medical imaging device, the surgical hub  106 ,  206  can thereby determine the specific type of surgical procedure being performed and/or the technique being used for a particular type of surgical procedure. 
     Ninth step  5218 , the surgical team begins the dissection step of the procedure. The surgical hub  106 ,  206  can infer that the surgeon is in the process of dissecting to mobilize the patient&#39;s lung because it receives data from the RF or ultrasonic generator indicating that an energy instrument is being fired. The surgical hub  106 ,  206  can cross-reference the received data with the retrieved steps of the surgical procedure to determine that an energy instrument being fired at this point in the process (i.e., after the completion of the previously discussed steps of the procedure) corresponds to the dissection step. In certain instances, the energy instrument can be an energy tool mounted to a robotic arm of a robotic surgical system. 
     Tenth step  5220 , the surgical team proceeds to the ligation step of the procedure. The surgical hub  106 ,  206  can infer that the surgeon is ligating arteries and veins because it receives data from the surgical stapling and cutting instrument indicating that the instrument is being fired. Similarly to the prior step, the surgical hub  106 ,  206  can derive this inference by cross-referencing the receipt of data from the surgical stapling and cutting instrument with the retrieved steps in the process. In certain instances, the surgical instrument can be a surgical tool mounted to a robotic arm of a robotic surgical system. 
     Eleventh step  5222 , the segmentectomy portion of the procedure is performed. The surgical hub  106 ,  206  can infer that the surgeon is transecting the parenchyma based on data from the surgical stapling and cutting instrument, including data from its cartridge. The cartridge data can correspond to the size or type of staple being fired by the instrument, for example. As different types of staples are utilized for different types of tissues, the cartridge data can thus indicate the type of tissue being stapled and/or transected. In this case, the type of staple being fired is utilized for parenchyma (or other similar tissue types), which allows the surgical hub  106 ,  206  to infer that the segmentectomy portion of the procedure is being performed. 
     Twelfth step  5224 , the node dissection step is then performed. The surgical hub  106 ,  206  can infer that the surgical team is dissecting the node and performing a leak test based on data received from the generator indicating that an RF or ultrasonic instrument is being fired. For this particular procedure, an RF or ultrasonic instrument being utilized after parenchyma was transected corresponds to the node dissection step, which allows the surgical hub  106 ,  206  to make this inference. It should be noted that surgeons regularly switch back and forth between surgical stapling/cutting instruments and surgical energy (i.e., RF or ultrasonic) instruments depending upon the particular step in the procedure because different instruments are better adapted for particular tasks. Therefore, the particular sequence in which the stapling/cutting instruments and surgical energy instruments are used can indicate what step of the procedure the surgeon is performing. Moreover, in certain instances, robotic tools can be utilized for one or more steps in a surgical procedure and/or handheld surgical instruments can be utilized for one or more steps in the surgical procedure. The surgeon(s) can alternate between robotic tools and handheld surgical instruments and/or can use the devices concurrently, for example. Upon completion of the twelfth step  5224 , the incisions are closed up and the post-operative portion of the procedure begins. 
     Thirteenth step  5226 , the patient&#39;s anesthesia is reversed. The surgical hub  106 ,  206  can infer that the patient is emerging from the anesthesia based on the ventilator data (i.e., the patient&#39;s breathing rate begins increasing), for example. 
     Lastly, the fourteenth step  5228  is that the medical personnel remove the various patient monitoring devices from the patient. The surgical hub  106 ,  206  can thus infer that the patient is being transferred to a recovery room when the hub loses EKG, BP, and other data from the patient monitoring devices. As can be seen from the description of this illustrative procedure, the surgical hub  106 ,  206  can determine or infer when each step of a given surgical procedure is taking place according to data received from the various data sources that are communicably coupled to the surgical hub  106 ,  206 . 
     Situational awareness is further described in U.S. Provisional Patent Application Ser. No. 62/611,341, titled INTERACTIVE SURGICAL PLATFORM, filed Dec. 28, 2017, the disclosure of which is herein incorporated by reference in its entirety. In certain instances, operation of a robotic surgical system, including the various robotic surgical systems disclosed herein, for example, can be controlled by the hub  106 ,  206  based on its situational awareness and/or feedback from the components thereof and/or based on information from the cloud  104 . 
     EXAMPLES 
     Various aspects of the subject matter described herein are set out in the following numbered examples. 
     Example 1 
     A surgical evacuation system, comprising a pump; a motor operably coupled to the pump; and a flow path fluidically coupled to the pump, wherein the flow path comprises a first fluid filter configured to extract a large droplet in a fluid moving through the flow path; and a second fluid filter configured to extract a small droplet in the fluid moving through the flow path, wherein the first fluid filter is coupled in series with the second fluid filter, wherein the first fluid filter is positioned upstream of the second fluid filter, wherein an outlet port of the second fluid filter is coupled to an inlet port of a non-fluid filter. 
     Example 2 
     The surgical evacuation system of Example 1, further comprising a first recirculation channel, wherein an inlet port of the first recirculation channel is positioned between the second fluid filter and the non-fluid filter, wherein the first recirculation channel is configured to recirculate the fluid output from the second fluid filter. 
     Example 3 
     The surgical evacuation system of Example 2, further comprising a first recirculation valve configured to close and open the first recirculation channel, wherein when the first recirculation valve is opened, the fluid output from the second fluid filter is recirculated through the first recirculation channel. 
     Example 4 
     The surgical evacuation system of Example 3, further comprising a first sensor positioned near the first recirculation valve, wherein the first sensor is configured to detect a parameter of the fluid, wherein the first recirculation valve opens the first recirculation channel when the parameter detected by the first sensor is equal to or greater than a first predetermined threshold value. 
     Example 5 
     The surgical evacuation system of any one of Examples 2-4, wherein the fluid directed into the first recirculation channel is injected into the fluid path upstream of the second fluid filter. 
     Example 6 
     The surgical evacuation system of Example 5, wherein the fluid directed into the first recirculation channel is injected into the first fluid filter. 
     Example 7 
     The surgical evacuation system of any one of Examples 2-6, wherein the fluid directed into the first recirculation channel is injected into an upstream portion of the second fluid filter. 
     Example 8 
     The surgical evacuation system of any one of Examples 2-7, wherein the first recirculation channel extends downward from the inlet port of the first recirculation channel, which allows the large droplet or the small droplet in the fluid output from the second fluid filter to be directed to the first recirculation channel via gravity. 
     Example 9 
     The surgical evacuation system of any one of Examples 2-8, further comprising a second recirculation channel, wherein an inlet port of the second recirculation channel is positioned between the first fluid filter and the second fluid filter, wherein the second recirculation channel is configured to recirculate the fluid output from the first fluid filter. 
     Example 10 
     The surgical evacuation system of Example 9, further comprising a second recirculation valve configured to close and open the second recirculation channel, wherein when the second recirculation valve is opened, the fluid output from the first fluid filter is recirculated through the second recirculation channel. 
     Example 11 
     The surgical evacuation system of Example 10, further comprising a second sensor positioned near the second recirculation valve, wherein the second sensor is configured to detect the parameter of the fluid, wherein the second recirculation valve opens the second recirculation channel when the parameter detected by the second sensor is equal to or greater than a second predetermined threshold value. 
     Example 12 
     The surgical evacuation system of any one of Example 9-11, wherein the fluid directed into the second recirculation channel is injected into the fluid path upstream of the first fluid filter. 
     Example 13 
     The surgical evacuation system of any one of Examples 9-12, wherein the fluid directed into the second recirculation channel is injected into an upstream portion of the first fluid filter. 
     Example 14 
     The surgical evacuation system of any one of Examples 9-13, wherein the second recirculation channel extends downward from the inlet port of the second recirculation channel, which allows the large droplet or the small droplet in the fluid output from the first fluid filter to be directed to the second recirculation channel via gravity. 
     Example 15 
     The surgical evacuation system of any one of Examples 1-14, wherein the first fluid filter comprises at least one baffle. 
     Example 16 
     The surgical evacuation system of any one of Examples 1-15, wherein the first fluid filter comprises a diverter valve. 
     Example 17 
     The surgical evacuation system of any one of Examples 1-16, wherein the second fluid filter comprises a filter selected from the group consisting of a membrane filter, a honeycomb filter, and a porous structure filter, and combinations thereof. 
     Example 18 
     The surgical evacuation system of any one of Example 1-17, wherein the non-fluid filter comprises a particulate filter. 
     Example 19 
     The surgical evacuation system of any one of Example 1-17, wherein at least one of the first fluid filter and the second fluid filter is disabled when it is determined that the number of recirculation processes performed through a recirculation channel is equal to or greater than a third predetermined threshold value. 
     Example 20 
     A surgical evacuation system, comprising: a pump; a motor operably coupled to the pump; and a flow path fluidically coupled to the pump, wherein the flow path comprises: a first fluid filter configured to extract a large droplet in a fluid moving through the flow path, wherein the first fluid filter comprises at least one baffle; and a second fluid filter configured to extract a small droplet in the fluid moving through the flow path, wherein the second fluid filter comprises a filter selected from the group consisting of a membrane filter, a honeycomb filter, and a porous structure filter, and combinations thereof, wherein the first fluid filter is coupled in series with the second fluid filter, wherein the first fluid filter is positioned upstream of the second fluid filter, wherein an outlet port of the second fluid filter is coupled to an inlet port of a non-fluid filter. 
     Example 21 
     The surgical evacuation system of Example 20, further comprising a first recirculation channel, wherein an inlet port of the first recirculation channel is positioned between the second fluid filter and the non-fluid filter, wherein the first recirculation channel is configured to recirculate the fluid output from the second fluid filter. 
     Example 22 
     The surgical evacuation system of any one of Examples 20-21, further comprising a second recirculation channel, wherein an inlet port of the second recirculation channel is positioned between the first fluid filter and the second fluid filter, wherein the second recirculation channel is configured to recirculate the fluid output from the first fluid filter. 
     While several forms have been illustrated and described, it is not the intention of the 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 comprising 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.