Abstract: A method for controlling a robotic arm in a robotic surgical system includes defining a reference plane at a predetermined reference location for a robotic arm, where the robotic arm includes a plurality of joints, and driving at least one of the plurality of joints to guide the robotic arm through a series of predetermined poses substantially constrained within the reference plane.

Abstract: A method for controlling a robotic arm in a robotic surgical system includes defining a reference plane at a predetermined reference location for a robotic arm, where the robotic arm includes a plurality of joints, and driving at least one of the plurality of joints to guide the robotic arm through a series of predetermined poses substantially constrained within the reference plane.

Abstract: A method for controlling a robotic arm in a robotic surgical system includes defining a reference plane at a predetermined reference location for a robotic arm, where the robotic arm includes a plurality of joints, and driving at least one of the plurality of joints to guide the robotic arm through a series of predetermined poses substantially constrained within the reference plane.

Abstract: A method for controlling a robotic arm in a robotic surgical system includes defining a reference plane at a predetermined reference location for a robotic arm, where the robotic arm includes a plurality of joints, and driving at least one of the plurality of joints to guide the robotic arm through a series of predetermined poses substantially constrained within the reference plane.

Abstract: A method for controlling a robotic arm in a robotic surgical system includes defining a reference plane at a predetermined reference location for a robotic arm, where the robotic arm includes a plurality of joints, and driving at least one of the plurality of joints to guide the robotic arm through a series of predetermined poses substantially constrained within the reference plane.

Abstract: Surgical instruments and methods for controlling temperature are described herein and can have particular utility when sealing tissue. In one embodiment, an end effector can include first and second jaw members configured to clamp tissue therebetween, and an electrode having a single continuous conductive surface that is coupled to the first jaw member. The end effector can also include a plurality of electrical insulators of varying thermal conductivity disposed between the electrode and the first jaw member coupled thereto. The electrode can be divided into a plurality of thermal zones by at least one opening formed therein and the plurality of electrical insulators can be arranged such that at least a first thermal zone contacts an electrical insulator having a first thermal conductivity and at least a second thermal zone contacts an electrical insulator having a second thermal conductivity that is higher than the first thermal conductivity.

Abstract: Surgical instruments and methods for controlling temperature are described herein and can have particular utility when sealing tissue. In one embodiment, an end effector can include first and second jaw members configured to clamp tissue therebetween, and an electrode having a single continuous conductive surface that is coupled to the first jaw member. The end effector can also include a plurality of electrical insulators of varying thermal conductivity disposed between the electrode and the first jaw member coupled thereto. The electrode can be divided into a plurality of thermal zones by at least one opening formed therein and the plurality of electrical insulators can be arranged such that at least a first thermal zone contacts an electrical insulator having a first thermal conductivity and at least a second thermal zone contacts an electrical insulator having a second thermal conductivity that is higher than the first thermal conductivity.