Abstract: Systems and methods for operating an end effector include an end effector for grasping a material, a drive system coupled to the end effector, a user interface, and a processor. The processor is configured to actuate the drive system to clamp the material using the end effector and in response to detecting successful clamping of the material, display a timer on the user interface. The timer provides an indication of when conditions will be safe to proceed with stapling of the material clamped by the end effector.

Abstract: Systems and methods for operating an end effector include an end effector for grasping a material, a drive system coupled to the end effector, and a processor. The processor is configured to use the drive system to grasp a material using the end effector, determine a grasping separation parameter of the end effector, determine, based on the determined grasping separation parameter, a prediction of success or failure in configuring the end effector for firing a staple through the material, and based on the determined grasping separation parameter, output an indicator of whether it is safe to proceed with stapling of the material grasped by the end effector.

Abstract: Systems include an end effector having a first jaw and a second jaw, a motor system configured to actuate the end effector, and a processor. The processor is configured to determine a maximum tip deflection for the end effector, determine a torque limit based on the maximum tip deflection, and operate, subject to the torque limit, the end effector using the motor system. In some embodiments, the maximum tip deflection is determined based a type of staple cartridge being used by the end effector. In some embodiments, the type of staple cartridge identifies a length of staples fired by the end effector. In some embodiments, the firing of the staples is stalled when an applied torque exceeds the torque limit. In some embodiments, the processor is further configured to fire staples subject to the torque limit.

Abstract: A medical device includes a link, a first tool member, a second tool member and a third tool member, which each have a proximal end portion movably coupled to the link and a distal end portion. The distal end portion of the first tool member can engage a first object and be associated with a first medical function, the distal end portion of the second tool member can engage a second object and be associated with a second medical function, and the distal end portion of the third tool member can engage the first object or the second object and be associated with the first and/or second medical function. Each of the first, second and third tool members can move relative to the link independent of movement of the each of the other tool members.

Abstract: A medical device includes a link, a first tool member, a second tool member and a third tool member, which each have a proximal end portion movably coupled to the link and a distal end portion. The distal end portion of the first tool member can engage a first object and be associated with a first medical function, the distal end portion of the second tool member can engage a second object and be associated with a second medical function, and the distal end portion of the third tool member can engage the first object or the second object and be associated with the first and/or second medical function. Each of the first, second and third tool members can move relative to the link independent of movement of the each of the other tool members.

Abstract: A medical device includes a clevis, a first jaw, and a second jaw. The first jaw includes a first proximal gripping portion and a first distal gripping portion, and the first proximal gripping portion includes a first needle alignment portion. The second jaw is coupled to the clevis and includes a second proximal gripping portion and a second distal gripping portion, and the second proximal gripping portion includes a second needle alignment portion. The first and second needle alignment portions are located opposite each other when in the closed orientation. The first and second needle alignment portions define a clamp path when in the closed orientation within which the curved portion of the needle is received when the second jaw is in the open orientation. The first and second needle alignment portions are configured to rotate the needle when moving to the closed orientation.

Abstract: Minimally invasive robotic surgical instruments and related methods are disclosed. A surgical instrument includes an interface fitting that couples a proximal chassis of the instrument with a holding fixture of a robotic manipulator. A securing feature releasably prevents relative axial sliding between the interface fitting and the chassis. In response to binding of the surgical instrument within a minimally invasive surgical site so as to inhibit removal of the surgical instrument from the surgical site and inhibit disengagement of the interface fitting from the holding fixture, the securing feature can be released to allow relative axial sliding between the interface fitting and the chassis, thereby allowing the holding fixture and the interface fitting to be separated from the rest of the surgical instrument and repositioning of the robotic manipulator out of the way.

Abstract: A surgical instrument includes an elongated shaft and an end effector coupled to the shaft. The end effector includes a first member, a knife member, and a second member. The first member is movable towards a distal end of the end effector. The knife member is pivotally coupled to the first member. The second member is movable towards the distal end of the end effector. The knife member is configured to be in a cutting position during a translation of the first and second members towards the distal end of the end effector. The knife member is rotatable relative to the first member to stow the knife member into a non-cutting position after the translation of the first and second members towards the distal end of the end effector.

Abstract: A medical device includes a clevis, a first jaw, and a second jaw. The first jaw includes a first proximal gripping portion and a first distal gripping portion, and the first proximal gripping portion includes a first needle alignment portion. The second jaw is coupled to the clevis and includes a second proximal gripping portion and a second distal gripping portion, and the second proximal gripping portion includes a second needle alignment portion. The first and second needle alignment portions are located opposite each other when in the closed orientation. The first and second needle alignment portions define a clamp path when in the closed orientation within which the curved portion of the needle is received when the second jaw is in the open orientation. The first and second needle alignment portions are configured to rotate the needle when moving to the closed orientation.

Abstract: A surgical system includes a surgical arm a control system, and a motor assembly. The surgical arm is configured to removably couple an instrument to the surgical system. The surgical arm is adjustable to different configurations to change a position of an instrument coupled to the surgical arm. The motor assembly is separate from the control system and includes a motor, a memory to store calibrated parameters of the motor, and electronics coupled to the memory and the motor. The electronics are configured to retrieve the calibrated parameters of the motor from the memory, provide the calibrated parameters of the motor to the control system, receive an instruction for driving the motor from the control system, and send a control signal to the motor based on the instruction. The instruction is based on the calibrated parameters of the motor.

Abstract: A motor assembly and method of operating the motor assembly include a motor, a memory to store calibrated parameters of the motor, and electronics coupled to the memory and the motor. The electronics are configured to retrieve the calibrated parameters from the memory, provide the calibrated parameters to an external system, and receive control signals for driving the motor from the external system. The control signals are based on the calibrated parameters. The calibrated parameters include a motor speed versus no-load current relationship for the motor determined by a procedure that includes performing an initial calibration of the motor, wearing in the motor after performing the initial calibration, performing a final calibration of the motor after wearing in the motor, and storing the calibrated parameters in the memory based on the initial calibration and the final calibration.

Abstract: Sealing assemblies and methods are disclosed for sealing a surgical instrument having an internal drive shaft subject to lateral displacement. A sealing assembly includes a rigid portion shaped to interface with an instrument shaft of the surgical instrument. A laterally oriented slot is open at a radially perimeter location and configured to receive an o-ring seal via the perimeter location. Apertures are disposed on opposing sides of the slot and open to the slot. The apertures are configured to receive the drive shaft there through and are larger than the drive shaft to accommodate lateral displacement of the drive shaft. The slot includes opposing internal sides spaced to interface with opposed axial surfaces of the o-ring seal. The seal inhibits axial transmission of an insufflated gas and/or bodily fluids while accommodating lateral displacement of the drive shaft.

Abstract: Systems and methods for operating an end effector include an end effector for grasping a material, a drive system coupled to the end effector, and a processor. The processor is configured to use the drive system to grasp a material using the end effector, determine a grasping separation parameter of the end effector, determine, based on the determined grasping separation parameter, a prediction of success or failure in configuring the end effector for firing a staple through the material, and based on the determined grasping separation parameter, output an indicator of whether it is safe to proceed with stapling of the material grasped by the end effector.

Abstract: Systems and methods for operating an end effector include a first jaw, a second jaw, a first actuation mechanism configured to actuate the first jaw and the second jaw toward each other with a first force, and a second actuation mechanism configured to actuate the first jaw and the second jaw toward each other with a second force greater than the first force. The second actuation mechanism is different from the first actuation mechanism. In some embodiments, the first actuation mechanism includes a first pull cable configured to increase an angle between the first jaw and the second jaw and a second pull cable configured to decrease the angle between the first jaw and the second jaw. In some embodiments, the second actuation mechanism includes a lead screw.

Abstract: A surgical instrument having an elongated shaft having a shaft distal end and a shaft proximal end. An end effector is coupled to the shaft distal end and includes opposed jaws. A housing is included in one of the jaws, the housing having a housing proximal end, a housing distal end, an upper surface, a distal garage having lateral surfaces that extend above the upper surface, and a plurality of staple openings extending through the upper surface. A knife member is supported within the housing for movement distally. The knife member is moveable into a predetermined parked position such that a first portion of the cutting blade displaces below the upper surface and a second portion remains displaced above the upper surface. There is enough lateral clearance in the predetermined parked position between the lateral faces and the second portion to accommodate a dislodged staple.

Abstract: An articulable medical device includes a link, a transfer member, a tool member, and a non-drive wire. The tool member has a base portion movably coupled to the transfer member, and a contact portion configured to engage a target tissue. The transfer member is rotatably coupled to the link to rotate with the tool member relative to the link from a first orientation to a second orientation. The non-drive wire has a first end portion coupled to an energy source, a second end portion coupled to the tool member contact portion, and a central portion between the first and second end portions that includes a transition portion disposed within a cavity defined within the base portion of the tool member, a distal portion of the link, or the transfer member, which has a compact first configuration in the first orientation and an expanded second configuration in the second orientation.

Abstract: In some embodiments, torque compensation in a clamping instrument includes control electronics obtaining an initial torque limit for the clamping instrument, adjusting the initial torque limit based on a temperature of a motor assembly used to operate the clamping instrument, and clamping the clamping instrument according to the adjusted torque limit. The adjusted torque limit corresponds to a maximum torque that may be applied by the clamping instrument to perform the clamping. In some embodiments, torque compensation in a stapling instrument includes control electronics obtaining an initial torque limit for the stapling instrument, adjusting the initial torque limit based on a number of times the stapling instrument has been fired, and firing the stapling instrument according to the adjusted torque limit. The adjusted torque limit corresponds to a maximum torque that may be applied by the stapling instrument to perform the firing.

Abstract: Embodiments of a clamping system are disclosed. In some embodiments, a system used with a motor assembly and a clamping device is presented, the system adjusting torque limits in the motor assembly according to conditions, for example operating temperature of the motor assembly and aging of the clamping device and the motor assembly. The clamping device can be, for example, a stapler or a vessel sealer.

Abstract: A surgical instrument includes an elongated shaft and an end effector coupled to the shaft. The end effector includes a first member, a knife member, and a second member. The first member is movable towards a distal end of the end effector. The knife member is pivotally coupled to the first member. The second member is movable towards the distal end of the end effector. The knife member is configured to be in a cutting position during a translation of the first and second members towards the distal end of the end effector. The knife member is rotatable relative to the first member to stow the knife member into a non-cutting position after the translation of the first and second members towards the distal end of the end effector.

Abstract: A surgical instrument with a stowing knife blade includes an elongated shaft, an end effector coupled to the shaft and including two opposed jaws, a housing included in one of the jaws, a first member mounted in the housing and movable distally, a knife pivotally coupled with the first member, and a second member. The knife is configured to cut when advanced distally. The first and second members are moved distally at the same rate during a cutting motion of the knife and the second member blocks a rotation of the knife relative to the first member during the cutting motion of the knife. After moving through the first distance, relative movement between the first and second members occurs so as to permit or induce the previously blocked rotation of the knife so that the knife can be stowed.