Applying Energy To An Electrosurgical Instrument

Abstract: A control system for controlling the application of energy from an electrosurgical generator to a robotic electrosurgical instrument during a cut mode in which the electrosurgical instrument is used to cut tissue. The control system: controls the electrosurgical generator to apply energy to the electrosurgical instrument during a first cut phase; detects a trigger condition has been met during the first cut phase; upon detecting that the trigger condition has been met, starts a timer; and upon a predetermined time period elapsing after the timer has started, controls the electrosurgical generator to switch from the first cut phase to a second cut phase, the second cut phase differing from the first cut phase by one or more energy parameters.

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