Abstract: A surgical system is disclosed. The surgical system comprises an end effector configured to move through a grasping motion, a motor configured to drive the grasping motion, an encoder configured to detect rotary positions, a load sensor configured to detect loads delivered, a position sensor configured to detect three-dimensional positions of the end effector, and a control circuit configured to receive a position parameter, a rotary parameter, and a load parameter, store the position parameter at the outset of the grasping motion, calculate an amount of work performed during the grasping motion while the position sensor detects the position of the end effector within a three-dimensional zone around the stored position parameter, transmit a work signal indicative of the amount of work performed, and reset the calculation of the amount of work performed when the position sensor detects a displacement of the end effector out of the three-dimensional zone.

Abstract: A control circuit for use with a robotic surgical system. The control circuit is configured to receive a parameter indicative of a rotary position of an articulation motor. The articulation motor is configured to drive an articulation joint of a robotic surgical tool, wherein the articulation motor is configured to move through a first range of positions and a second range of positions. The control circuit is further configured to implement a first operating state, and implement a second operating state when the parameter corresponds to a transition of the articulation motor from the first range of positions to the second range of positions. The control circuit is further configured to re-implement the first operating state when the parameter corresponds to a return of the articulation motor from the second range of positions into the first range of positions by a threshold anti-dither angle.