Abstract: A surgical stapling assembly is disclosed comprising a shaft, an end effector attached to the shaft, an electric motor, a plurality of sensors positioned within the end effector to measure an electrical parameter, and a control circuit. The end effector comprises a first jaw, a second jaw movable relative to the first jaw, and a firing driver to deploy staples and cut tissue. The electric motor is to actuate the firing driver. The control circuit is to actuate the electric motor to deploy staples from a staple cartridge during a firing stroke, monitor the electrical parameter at a first location of the firing stroke, and monitor the electrical parameter at a second location of the firing stroke, wherein the first location and the second location are different.

Abstract: An ultrasonic device may include an electromechanical ultrasonic system defined by a predetermined resonant frequency, the electromechanical ultrasonic system having an ultrasonic transducer coupled to an ultrasonic blade. A method of compensating power delivered to the ultrasonic device may include determining an articulation angle of an articulatable ultrasonic blade coupled to the ultrasonic transducer, adjusting a complex impedance of the ultrasonic transducer to compensate for power lost as a function of the articulation angle, and adjusting, a power applied to the ultrasonic transducer based on the articulation angle. The ultrasonic device may include a generator and a control circuit configured to effect the method.

Abstract: A surgical clip applier and methods for applying surgical clips to a vessel, duct, shunt, etc., during a surgical procedure are provided. In one exemplary embodiment, a surgical clip applier is provided having a housing with a trigger movably coupled thereto and a shaft extending therefrom with opposed jaws formed on a distal end thereof. The trigger is adapted to advance a clip to position the clip between the jaws, and to move the jaws from an open position to a closed position to crimp the clip positioned therebetween. The surgical clip applier can include a variety of features to facilitate use of the device, including features to prevent misalignment of the jaws and clip therebetween, features to protect the jaws, and features to ensure proper closure of the jaws and clip therebetween.

Abstract: A depth limiter that is configured to couple with a cannula tube of a trocar having a tube cross dimension. The depth limiter includes an outer frame portion and an inner gripping portion housed within the outer frame portion. The inner gripping portion includes a plurality of lobes flexible relative to each other between a relaxed configuration and at least a first flexed configuration. In the relaxed configuration the plurality of lobes collectively form a first effective cross dimension configured to be less than the tube cross dimension. In the first flexed configuration the plurality of lobes collectively form a second effective cross dimension greater than the first effective cross dimension and configured to be equal to the tube cross dimension such that the second effective cross dimension is sized to restrict axial movement of the depth limiter relative to the cannula tube of the trocar.

Abstract: Various exemplary methods and devices for actuating surgical instruments are provided. In general, a surgical device can include one or more actuation shafts configured to facilitate actuation of the device. In an exemplary embodiment, the device can include four actuation shafts, two actuation shafts to facilitate articulation of the device, one actuation shaft to facilitate opening and closing of jaws at a distal end of the device, and one actuation shaft to facilitate moving a cutting element of the device. In an exemplary embodiment, each of the one or more actuation shafts can include a distal elongate member and a proximal elongate member having a proximal end attached to a distal end of the distal elongate member. The proximal elongate member can be rigid, and the distal elongate member can be flexible.

Abstract: A surgical stapling system comprising an actuator system operable to generate independent motions and a stapling end effector responsive to the independent motions generated by the actuator system is disclosed. The stapling end effector comprises a staple cartridge jaw comprising a plurality of staples removably stored therein, an anvil jaw, and a firing member. The firing member comprises an anvil-engaging portion and a cartridge jaw-engaging portion configured to engage the staple cartridge jaw.

Abstract: A surgical system comprising a stapling instrument and a staple cartridge including a plurality of independent circuits powered by the surgical instrument is disclosed.

Abstract: A depth limiter that is configured to couple with a cannula tube of a trocar. The depth limiter includes a body having first and second body portions coupled together and pivotable between open and clamped configurations. The body includes first and second inner surfaces presented by the first and second body portions. In the clamped configuration the first and second inner surfaces form a first cross dimension sized to restrict axial movement of the depth limiter relative to the cannula tube. In the open configuration the first and second inner surfaces form a second cross dimension sized to permit axial movement of the depth limiter relative to the cannula tube. The depth limiter includes first and second locking members, one of which is resiliently biased to engage the other. The locking members are configured to engage each other to lock the body portions in the clamped configuration.

Abstract: A surgical stapling assembly is disclosed. The assembly can include a cartridge body having cavities defined therein forming a pattern of openings in the deck of the cartridge body. The pattern can include longitudinally-repeating clusters of cavity ends. The assembly can also include fasteners removably positioned in the cavities. The pattern of openings can comprise openings on a first side of the cartridge body comprising inner openings each defining an inner proximal-to-distal axis oriented parallel to the longitudinal axis, outer openings each defining an outer proximal-to-distal axis obliquely-oriented relative to the longitudinal axis at an outer angle, and intermediate openings each defining an intermediate proximal-to-distal axis obliquely-oriented relative to the longitudinal axis at an intermediate angle, wherein the intermediate angle is different than the outer angle.

Abstract: A surgical access device includes an obturator head, an elongated shaft extending distally from the obturator head along a longitudinal axis, and an obturator tip. The obturator tip includes a reusable portion and a replaceable tip. The reusable portion is attached to a distal portion of the elongated shaft such that the reusable portion is configured to be sterilized with the elongated shaft. The replaceable tip includes a tapered distal tip and a proximal coupling body. The tapered distal tip is configured to facilitate insertion of the surgical access device through a body wall of the patient. The proximal coupling body is configured to selectively couple with the reusable portion. The replaceable tip, in its entirety, is movable relative to the reusable portion along a mating path in order to couple the proximal coupling body with the reusable portion. The mating path extends laterally relative to the longitudinal axis.

Abstract: A modular energy system is disclosed including a header module including an enclosure and a display including a coupler. The enclosure defines a recess. The recess includes a first guidewall and a second guidewall. The coupler is removably positionable in the recess. The coupler includes a first sidewall and a second sidewall. The first guidewall is configured to guide the first sidewall as the coupler moves through the recess. The second guidewall is configured to guide the second sidewall as the coupler moves through the recess.

Abstract: A robotic surgical tool comprises a stage assembly and a core assembly removably mountable to the stage assembly. The stage assembly may comprise a lead screw and at least one spline extendable between first and second ends of the stage assembly, and a nut rotatably mounted to the lead screw to translate between the first and second ends upon rotation of the lead screw. The core assembly may comprise a drive housing that is movably mountable to the stage assembly to translate, with the nut, between the first and second ends of the stage assembly. The surgical tool may also comprise a shroud assembly having a primary shroud and a secondary shroud, the primary shroud at least partially enclosing the core assembly when installed on the stage assembly, and the secondary shroud being movable between a first position, where the secondary shroud occludes an opening in the primary shroud, and a second position, where the opening in the primary shroud is exposed.

Abstract: A surgical stapling instrument. Various embodiments include an actuation system for selectively generating a plurality of control motions. A surgical end effector is operably coupled to the actuation system. The actuation system interfaces with an actuation member configured to operably engage rotatable camming members to fire staples within the end effector into forming contact with an anvil portion of the end effector.

Abstract: Disclosed is a robotic surgical tool, comprising an end effector, an elongate shaft, and an articulation joint. The articulation joint comprises a pivot plate attached to the end effector, a fixed plate attached to the elongate shaft, and a spherical joint coupled to the pivot plate and the fixed plate. The robotic surgical tool further comprises an articulation drive system. The articulation drive system comprises a first rod, a second rod, a third rod, and a fourth rod that extend through the elongate shaft, a first mechanical link pivotably coupled to the first rod and to the pivot plate, a second mechanical link pivotably coupled to the second rod and to the pivot plate, a third mechanical link pivotably coupled to the third rod and to the pivot plate, and a fourth mechanical link pivotably coupled to the fourth rod and to the pivot plate.

Abstract: Systems, methods and devices for initiating pairing of wireless surgical instruments to a modular energy system are disclosed herein. In various aspects, a modular energy system includes an a radio frequency identification (RFID) reader that is configured to read an RFID card that is uniquely associated with a surgical instrument. When the RFID reader reads the RFID card, the RFID reader initiates a wireless pairing process with the surgical instrument. Initiating the wireless pairing process may include causing the module energy system to wirelessly search for the surgical instrument and causing a display screen to display instructions for wirelessly pairing the surgical instrument.

Abstract: Offset illumination using multiple emitters in a fluorescence imaging system is described. A system includes an emitter for emitting pulses of electromagnetic radiation and an image sensor comprising a pixel array for sensing reflected electromagnetic radiation. The emitter comprises a first emitter and a second emitter for emitting different wavelengths of electromagnetic radiation. The system is such that at least a portion of the pulses of electromagnetic radiation emitted by the emitter comprises one or more of a hyperspectral emission, a fluorescence emission, and/or a laser mapping pattern.

Abstract: An electrosurgical instrument comprising a housing, a shaft extending from the housing, an end effector extending from the shaft, an articulation joint rotatably connecting the end effector to the shaft, and a wiring circuit is disclosed. The housing comprises a printed control board. The wiring circuit extends from the printed control board through the shaft and into the end effector. The wiring circuit is configured to monitor a function of the end effector and communicate the monitored function to the printed control board. The wiring circuit comprises a proximal rigid portion fixed to the shaft, a distal rigid portion fixed to the end effector, and an intermediate portion extending from the proximal rigid portion to the distal rigid portion. The intermediate portion comprises a resilient portion and a stretchable portion.