Abstract: A surgical system includes an electrosurgical tool configured to be releasably coupled to a surgical robotic system having a control system. The tool has a shaft having an end effector with treatment electrodes configured to apply electrosurgical power to a tissue, and aspiration and irrigation tubes having ports in the vicinity of the electrodes. The control system can control a flow rate of an irrigation fluid based on deviation of power delivered by the electrodes to the tissue from a power set point, or based on an aspiration rate that is controlled based on tissue impedance. The tool can have first and second ports and a conduit configured to selectively provide or aspirate fluids through at least one of the ports. At least one of a flow rate and an aspiration rate are controlled by the control system based on a rotational angle of the shaft relative to a ground.

Abstract: A surgical system includes an electrosurgical tool configured to be releasably coupled to a surgical robotic system having a control system. The tool has a shaft having an end effector with treatment electrodes configured to apply electrosurgical power to a tissue, and aspiration and irrigation tubes having ports in the vicinity of the electrodes. The control system can control a flow rate of an irrigation fluid based on deviation of power delivered by the electrodes to the tissue from a power set point, or based on an aspiration rate that is controlled based on tissue impedance. The tool can have first and second ports and a conduit configured to selectively provide or aspirate fluids through at least one of the ports. At least one of a flow rate and an aspiration rate are controlled by the control system based on a rotational angle of the shaft relative to a ground.

Abstract: A surgical system includes an electrosurgical tool configured to be releasably coupled to a surgical robotic system having a control system. The tool has a shaft having an end effector with treatment electrodes configured to apply electrosurgical power to a tissue, and aspiration and irrigation tubes having ports in the vicinity of the electrodes. The control system can control a flow rate of an irrigation fluid based on deviation of power delivered by the electrodes to the tissue from a power set point, or based on an aspiration rate that is controlled based on tissue impedance. The tool can have first and second ports and a conduit configured to selectively provide or aspirate fluids through at least one of the ports. At least one of a flow rate and an aspiration rate are controlled by the control system based on a rotational angle of the shaft relative to a ground.

Abstract: A surgical system includes an electrosurgical tool configured to be releasably coupled to a surgical robotic system having a control system. The tool has a shaft having an end effector with treatment electrodes configured to apply electrosurgical power to a tissue, and aspiration and irrigation tubes having ports in the vicinity of the electrodes. The control system can control a flow rate of an irrigation fluid based on deviation of power delivered by the electrodes to the tissue from a power set point, or based on an aspiration rate that is controlled based on tissue impedance. The tool can have first and second ports and a conduit configured to selectively provide or aspirate fluids through at least one of the ports. At least one of a flow rate and an aspiration rate are controlled by the control system based on a rotational angle of the shaft relative to a ground.