Abstract: A surgical instrument includes an end effector having first and second jaws that cooperate to clamp in vivo material of a patient, and a first electrode that delivers an electrical signal to the in vivo material. The instrument further includes a second electrode that receives the electrical signal from the first electrode, and an electrical circuit housed within the end effector. The electrical circuit includes a microcontroller that controls delivery of the electrical signal to the first electrode, where the electrical signal passes through the in vivo material to the second electrode. The electrical circuit also determines an electrical impedance of the in vivo material and determines at least one of a presence or absence of tissue in the in vivo material, or a characteristic of tissue in the in vivo material.

Abstract: A robotic medical system can include a first node, a second node, and a first pair of electrical conductors for differential communication between the first node and the second node so that data signals are communicated between the first node and the second node as differential signals. The first node can include a first electrical circuit electrically coupled with the first pair of electrical conductors. The first electrical circuit can communicate emergency stop signals between the first node and the second node as non-differential signals over the first pair of electrical conductors.