Abstract: Devices, systems, and methods are provided in which movement of a tool is controlled based on sensed parameters. In one embodiment, an electromechanical tool is provided having an instrument shaft and an end effector formed thereon. The electromechanical tool is configured to be mounted on an electromechanical arm, and the electromechanical tool is configured to move with or relative to the electromechanical arm and perform surgical functions. A controller is operatively coupled to the electromechanical arm and the electromechanical tool and is configured to retard advancement of the electromechanical tool toward a tissue surface based on a sensed amount of displacement of a tissue surface, a strain on the tissue of the patient, the temperature of the electromechanical tool, or the like.

Abstract: An apparatus includes a body, a shaft assembly, an end effector, and a control module. The shaft assembly extends distally from the body and includes an acoustic waveguide. The waveguide is configured to acoustically couple with an ultrasonic transducer. The end effector includes an ultrasonic blade, a clamp arm, an electrode, and a sensor. The ultrasonic blade is in acoustic communication with the waveguide. The clamp arm is operable to compress tissue against the ultrasonic blade. The electrode is operable to apply radiofrequency (RF) electrosurgical energy to tissue. The sensor is operable to sense a condition of tissue contacted by the end effector. The control module is operable to control delivery of ultrasonic power and RF electrosurgical energy through the end effector based on data from the sensor.

Abstract: A surgical instrument including a first jaw that is configured to support a staple cartridge therein. An axially movable firing member is configured to move between a beginning position and an ending position by a first flexible drive member and a second flexible drive member. A firing member lock is configured to prevent the firing member from distally moving from the beginning position to the ending position unless an axially movable camming member in the staple cartridge that is supported in the first jaw is in a starting position.

Abstract: A computing device, such as a surgical hub, may obtain performance data associated with a device, such as a surgical device in an operation room. Based on the performance data, a computing device may identify a performance signature associated with the surgical device. A computing device may determine whether the surgical device is an original equipment manufacturer (OEM) device or a counterfeit device. A computing device may compare the operation data and/or the performance signature to data (e.g., data from a ML trained model) associated with OEM devices. Based on the comparison, a computing device may determine whether the operation data associated with the surgical device is within a normal operation parameter. If a computing device determines that the operation data outside of the normal operation parameter, the computing device may send a message to a health care professional.

Abstract: Retainers and retainer systems for staple cartridges with implantable adjuncts are disclosed. The retainers and retainer systems enable a compressive force to be applied to implantable adjuncts on staple cartridges.

Abstract: A first subassembly includes a body and an ultrasonic blade. A second subassembly is configured to removably couple with the first subassembly and includes a first clamp arm and a first clamp arm actuator. The first clamp arm is configured to be located on a first side of the longitudinal axis of the body, and the first clamp arm actuator is configured to be located on a second side of the longitudinal axis, when the second subassembly is coupled with the first subassembly. The third subassembly is similar to the second subassembly except that the second clamp arm of the third subassembly is configured to be located on the second side of the longitudinal axis of the body when the third subassembly is coupled with the first subassembly.

Abstract: An implantable adjunct for use with a surgical stapling instrument is provided. The implantable adjunct comprises means for allowing a clinician to determine the degree of skew, if any, that the adjunct may experience when implanted into a subject with a surgical stapling instrument. The implantable adjunct comprises one or more reference systems configured to be compared to the staples, the edges of the adjunct, and/or any other adjunct elements by a clinician once the adjunct has been implanted into the subject. The one or more reference systems comprise references that define one or more zones of the adjunct. A clinician can visually determine what zone, or zones, of the adjunct the staples have satisfactorily, and/or unsatisfactorily, purchased the adjunct.

Abstract: An end effector is disclosed comprising a cartridge channel, a staple cartridge positionable in the cartridge channel, and a firing assembly configured to lock itself if the staple cartridge is not positioned in the cartridge channel. Moreover, the firing assembly is configured to lock itself if the staple cartridge has been at least partially spent.

Abstract: An articulable wrist for an end effector includes a first linkage, a second linkage rotatably coupled to the first linkage at a first articulation joint, and a flexible member extending at least partially through a central channel cooperatively defined by the first and second linkages. A first pivot guide is rotatably coupled to the second linkage at the first articulation joint and rotatable about a first pivot axis extending through the first articulation joint, the first pivot guide defining a central aperture alignable with the central channel and sized to accommodate the flexible member therethrough. The first pivot guide supports an outer diameter of the flexible member at the first articulation joint and prevents the flexible member from flexing beyond the first pivot axis during articulation.

Abstract: An energy module connectable to a surgical instrument is disclosed. The energy module can include a circuit, which can include a first amplifier and a second amplifier coupled to a port of the energy module to which a surgical instrument is connectable. The first amplifier can be configured to generate a first drive signal at a first frequency range and the second amplifier can be configured to generate a second drive signal at a second frequency range. The circuit can be configured to control the amplifiers to deliver the first drive signal, the second drive signal, and/or a combination of the first and second drive signals to a surgical instrument connected to the port.

Abstract: A surgical instrument comprises a controller configured to control application of RF or ultrasonic energy at a low level when displacement or intensity of a button is above a first threshold but below a second threshold higher than the first threshold, and control application of RF or ultrasonic energy at a high level when the displacement or intensity exceeds the second threshold. In another aspect, a surgical instrument comprises a first sensor configured to measure a tissue characteristic at a first location, a second sensor configured to measure the tissue characteristic at a second location, and a controller configured to, based at least in part on the measured tissue characteristic at the first location and the second location, control application of RF or ultrasonic energy.

Abstract: A method of replacing a consumable of a surgical tool includes securing the surgical tool, which includes a drive housing, a shaft extending from the drive housing, an end effector arranged at a distal end of the shaft and including opposing upper and lower jaws, a wrist interposing the shaft and the end effector, and a knife assembly including a knife arranged at the end effector and first and second drive members extending to the drive housing. The method includes uncoupling the end effector from the wrist, moving the end effector distally from the wrist while the wrist remains intact, removing the knife assembly from the end effector, and thereby entirely separating the end effector from proximal portions of the surgical tool, replacing the consumable of the surgical tool, reconnecting the knife assembly to the surgical tool, and re-coupling the end effector to the wrist.

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 instrument. The surgical instrument includes an end effector that comprises a staple channel and an anvil that is movably translatable relative to the staple channel. A tool mounting portion is configured to interface with a robotic system and operably communicate with the end effector. The instrument further includes a first sensor that has an output that represents a first condition of a portion of the robotic system. A second sensor has an output that represents a position of the anvil. A third sensor has an output that represents a position of a reciprocating knife within the end effector. An externally accessible memory device communicates with the first, second and third sensors.

Abstract: A surgical tool configured to receive rotary inputs from a robotic surgical system. The surgical tool comprises a distal end effector comprising jaws for clamping tissue therebetween, an intermediate shaft portion coupled to the distal end effector, and a proximal housing coupled to the intermediate shaft portion. The proximal housing comprises an arrangement of rotary drives comprising a first rotary drive. The first rotary drive comprises an input shaft configured to receive a rotary input from the robotic surgical system, a transition nut slidably positioned on the input shaft, and an output gear. The first rotary drive further comprises a high-speed gear configured to selectively drive the output gear, a high-torque gear configured to selectively drive the output gear, and a spring arrangement configured to bias the transition nut along the input shaft from a high-speed operating state to a high-torque operating state upon obtaining a threshold torque.

Abstract: In general, devices, systems, and methods for fiducial identification and tracking are provided.

Abstract: A surgical stapling system includes an anvil, a blade, a motor and gear assembly, a motor power supply, and a motor controller. A method of controlling the motor includes receiving first and second data indicative of operations of the motor under first and second conditions, respectively, and adjusting a motor control signal based on a difference between the first and second data. Another method includes receiving initial manufacture motor and gear assembly data from a manufacture and operational data during an initial use of the system, and adjusting parameters of the control signal based on a difference between the manufacture data and the operational data. Another method includes controlling a pulse-width modulated (PWM) motor control signal, receiving data regarding an interaction between the blade and a tissue clamped by the anvil, and adjusting a frequency of the PWM signal based on the data related to the interaction.

Abstract: A method implemented by a surgical instrument is disclosed. The surgical instrument includes first and second jaws and a flexible circuit including multiple sensors to optimize performance of a radio frequency (RF) device. The flexible circuit includes at least one therapeutic electrode couplable to a source of RF energy, at least two sensing electrodes, and at least one insulative layer. The insulative layer is positioned between the at least one therapeutic electrode and the at least two sensing electrodes. The method includes contacting tissue positioned between the first and second jaws of the surgical instrument with the at least one therapeutic electrode and at the least two sensing electrodes; sensing signals from the at least two sensing electrodes; and controlling RF energy delivered to the at least one therapeutic electrode based on the sensed signals.

Abstract: A surgical computing system may receive usage data associated with movement of a surgical instrument and user inputs to the surgical instrument. The surgical computing system may receive motion and biomarker sensor data from sensing systems applied to the operator of the surgical instrument. The surgical computing system may determine, based on at least one of the usage data and/or the sensor data, a control feature for implementation by the surgical instrument. The surgical computing system may communicate the determined control feature(s) to the surgical instrument. The surgical instrument may modify its operation based on the control features.