VESSEL SEALER WITH HEATING AND COOLING CAPABILITIES

Certain aspects relate to systems, devices and techniques for vessel sealing and cutting. In particular, an instrument is provided that is capable of performing multiple functions, including sealing and cutting. The instrument can be robotically controlled, and can include a shaft, a multi-DOF wrist, and an end effector. The end effector is capable of generating and delivering heat via different energy modalities to perform the various functions at different temperatures. 某些方面涉及用于血管密封和切割的系统、装置和技术。具体地，提供了能够执行多种功能(包括密封和切割)的器械。该器械可以是机器人控制的，并且可包括轴、多DOF腕部和端部执行器。该端部执行器能够经由不同的能量模态产生和递送热，以在不同的温度下执行各种功能。