Patent Document ID: 20160192999
Application ID: 14987161
Patent Flag: 0

Claim One:
1. A robotic surgical system, comprising: a surgical instrument, comprising: an end effector comprising: a blade; a first jaw member including a first electrode; and a second jaw member including a second electrode, wherein the first electrode and the second electrode are configured to receive an electrosurgical energy signal; and a motor to slideably translate the blade within the end effector; and a control circuit configured to: produce control signals comprising a first control signal and a second control signal; deliver the electrosurgical energy signal to the first electrode and the second electrode via the first control signal; deliver a drive signal to the motor via the second control signal; receive at least one feedback signal indicative of a characteristic of tissue clamped between the first jaw member and the second jaw member; determine a rate of change based on a first feedback signal of the at least one feedback signal; and maintain the rate of change at a predetermined rate or within a predetermined range.