Abstract: Surgical end effectors are disclosed having angled tissue-contacting surfaces. The end effectors may have a first jaw member that is movable relative to a second jaw member between an open position and a closed position. The first jaw member may have a first positively-angled tissue-contacting surface. The second jaw member may have a second positively-angled tissue-contacting surface. At least one of the jaw members may have at least one active electrode configured to deliver RF energy to tissue located between the first jaw member and the second jaw member when in the closed position.

Abstract: A surgical instrument assembly can comprise a handle including an electric motor, a shaft assembly including a drive member, and a magnet configured to generate a magnetic field. The surgical instrument assembly further comprises, one, a rotatable output shaft operably coupled with the electric motor and the drive member and, two, a wire coil wound around the output shaft which is positioned in the magnetic field. The wire coil is rotated within the magnetic field when the output shaft is rotated about a longitudinal axis which induces a current in the wire coil. The surgical instrument assembly further comprises a strain gauge mounted to the output shaft configured to detect strain created within the output shaft and, in addition, a circuit mounted to the output shaft, wherein the circuit and/or the strain gauge is powered by the current induced in the wire coil.

Abstract: Motor speed control systems are disclosed that include a motor having an output shaft, a motor speed control system, a sensor to detect the speed of the motor, and a controller to receive a signal from the sensor and to control the speed of the output shaft. A gear reduction assembly is operably coupled to the output shaft and a detectable element located in the gear reduction assembly. The sensor senses the detectable element. The sensor is placed in the radial path of the detectable element. Another system includes a brushless motor having a housing and an output shaft, the brushless motor comprising electromagnetic field coils arrayed radially around a central magnetic shaft, a gear reduction assembly operably coupled to the output shaft, and a sensor placed in proximity to the brushless motor. The sensor communicates with a controller to control the speed of the output shaft.

Abstract: Techniques for a surgical system are provided that allow controlling a force applied by an electromechanical surgical tool coupled to an electromechanical surgical arm. A force limiter can be associated with at least one of the surgical arm and the tool and is used to limit the force applied by jaws of the tool to tissue when the tissue is engaged therebetween or when the tissue is otherwise manipulated. The force can be limited to a maximum force value, which can be preselected, and it can be adjustable based on user input or automatically. Also are provided techniques for a surgical system that allow controlling a stiffness of an electromechanical passive arm coupled to a fixture and having an active arm mounted thereon. The stiffness is adjusted, either manually or automatically, by adjusting a friction at a joint of the arm based on an angle at the arm's joint.

Abstract: A surgical instrument includes a body, at least one user input feature, an elongate shaft, a needle applier, and a motor. The needle applier includes a needle and a drive assembly coupled to the needle. The drive assembly is configured to drive the needle along an orbital path about a rotation axis that is transverse to the longitudinal axis of the shaft, in response to an actuation of the user input feature. The motor is configured provide motion to the needle applier to thereby actuate the drive assembly.

Abstract: A surgical instrument includes cartridge receiving assembly, a shaft assembly, and an interface assembly. The cartridge receiving assembly is operable to receive a needle driving cartridge. The shaft assembly includes a first actuation member that is operable to actuate the cartridge receiving assembly to thereby drive a needle from a needle driving cartridge received in the cartridge receiving assembly. The interface assembly includes a base and a plurality of drive shafts extending upwardly from the base. The drive shafts extend along respective axes that are perpendicular to the longitudinal axis of the shaft assembly. The drive shafts are rotatable independently relative to each other. A first drive shaft of the plurality of drive shafts is operable to drive the first actuation member. The interface assembly is configured to couple with a robotic control system.

Abstract: Various exemplary methods, systems, and devices for control of surgical tools in a robotic surgical system are provided. In general, a robotic surgical system can be configured to control a surgical instrument in one of first and second modes of operation. In the first mode, the robotic surgical system can be configured to receive an input from a master tool indicating movement of the master tool. In response to the input, the robotic surgical system can be configured to cause the instrument to corresponding move. In the second mode, the robotic surgical system can be configured to receive an input from the master tool indicating movement of the master tool, and, in response to the input, adjust a non-positional output characteristic of the instrument. The robotic surgical system can be configured to switch control of the instrument between the first and second modes.

Abstract: A surgical instrument includes a body, an input feature, an elongate shaft, and a needle applier. The needle applier is coupled to the elongate shaft, which extends distally from the body. The needle applier includes a needle, a drive assembly, and a guide assembly. The drive assembly includes a link configured to drive the needle orbitally about a rotation axis that is transverse to the longitudinal axis of the shaft in response to actuation of the input feature. The guide assembly is in communication with the input feature and the drive assembly. The guide assembly is responsive to the input feature to guide a distal portion of the link along a semi-circular path.

Abstract: A surgical needle includes a pair of ends, a mid-region extending between the ends, and at least one grasping feature configured for grasping by a suturing instrument. An end of a suture is secured to the mid-region of the needle in a manner such that the end of the suture defines an oblique angle with at least part of the centerline defined by the mid-region of the needle. The end of the suture may be disposed in a hollow portion of the needle. The grasping feature may include a notch such as a scallop. The suture may be pivotally coupled with the needle via a ball or pin. The needle may have one or more sharp points. The sharp point may include three converging cutting edges, at least two planar surfaces bounded by the three cutting edges, and a rounded surface bounded by two of the three cutting edges.

Abstract: A stapling assembly system for use with a surgical stapling instrument is disclosed. The stapling assembly system comprises a shaft portion and a first replaceable cartridge jaw that comprises a first retainer configured to prevent first staple drivers from falling out of said first replaceable cartridge jaw. The stapling assembly system further comprises a second replaceable cartridge jaw that comprises a second retainer configured to prevent second staple drivers from falling out of said second replaceable cartridge jaw. The stapling assembly system further comprises a second jaw comprising an anvil, a firing member configured to engage said first staple drivers during a first firing stroke of said firing member and said second staple drivers during a second firing stroke of said firing member, and a lockout configured to selectively prevent said firing member from being advanced through a said firing stroke.

Abstract: A surgical instrument includes a body, first and second drive elements, a shaft, and a needle applier. The first drive element has a distal portion located at a distal end of the body. The second drive element has a proximal portion located at a proximal end of the shaft. The proximal portion of the second drive element is configured to removably couple with the distal portion of first drive element such that the first and second drive elements are aligned along a common axis and such that the first drive element is configured to communicate motion to the second drive element. The needle applier includes a needle and a drive assembly, which is configured to drive the needle along an orbital path about a rotation axis that is transverse to the longitudinal axis, in response to motion of the second drive element.

Abstract: A surgical instrument for use during a surgical procedure includes an instrument body, an ultrasonic transducer assembly extending along a longitudinal axis, a power cord, and a transducer slip joint. The ultrasonic transducer assembly is rotatably mounted within the instrument body about the longitudinal axis and defines a first outer profile. The power cord projects from the instrument body to provide electrical power to the ultrasonic transducer assembly for operating an acoustic waveguide. The transducer slip joint is positioned between the power cord and the ultrasonic transducer assembly and electrically and mechanically connects the power cord to the ultrasonic transducer assembly. The ultrasonic transducer assembly selectively rotates relative to the power cord for inhibiting the power cord from winding upon rotation of the ultrasonic transducer assembly. The transducer slip joint also defines a second outer profile that fits within the first outer profile of the ultrasonic transducer assembly.

Abstract: A retainer for assembling tissue thickness compensators to a surgical stapler can comprise a grip, a first surface for supporting a first tissue thickness compensator, a second surface for supporting a second tissue thickness compensator, and clips for aligning and attaching the retainer to the surgical stapler. The clips may align and attach the retainer to a staple cartridge of the surgical instrument. The clips may align the retainer with an anvil of the surgical instrument. An insertion tool may be used in combination with the retainer to insert the retainer into the surgical stapler and to push the tissue thickness compensators against the anvil and/or the staple cartridge of the surgical instrument.

Abstract: A two-part tissue thickness compensator assembly can include a first tissue thickness compensator configured to be positioned relative to an anvil of a surgical stapler, a second tissue thickness compensator configured to be positioned relative to a staple cartridge of the surgical stapler, and a hinge connecting the first tissue thickness compensator to the second tissue thickness compensator. The first and/or second tissue thickness compensators may include additional engagement features, such as a raised ridge that engages a slot in the anvil and/or the staple cartridge. In certain embodiments, the first and/or second tissue thickness compensators may include an encasement that contains a suitable biologic agent. An end effector assembly may be provided for attachment to a surgical instrument that includes, for example, a staple cartridge, an anvil, a first tissue thickness compensator positioned on the anvil, and a second tissue thickness compensator positioned on the staple cartridge.

Abstract: A method of operating a surgical instrument is disclosed. The surgical instrument includes an electronic system comprising an electric motor coupled to the end effector; a motor controller coupled to the motor; a parameter threshold detection module configured to monitor multiple parameter thresholds; a sensing module configured to sense tissue compression; a processor coupled to the parameter threshold detection module and the motor controller; and a memory coupled to the processor. The memory stores executable instructions that when executed by the processor cause the processor to monitor multiple levels of action thresholds and monitor speed of the motor and increment a drive unit of the motor, sense tissue compression, and provide rate and control feedback to the user of the surgical instrument.

Abstract: A stapling system comprising a housing is disclosed. The housing comprises a first rotatable drive disk. The stapling system further comprises a closure member configured to transmit a closing motion from the first rotatable drive disk to an anvil to move the anvil into a closed position. The stapling system further comprises a second rotatable drive disk, wherein the second rotatable drive disk is operable independently of the first rotatable drive disk and is configured to transmit a second operative motion. The stapling system further comprises a firing member configured to perform a firing stroke in response to the second operative motion. The stapling system further comprises a control system that assures that the closing motion and the firing stroke are separate and distinct and that prevents the firing stroke from occurring prior to the completion of the closing motion.

Abstract: A surgical kit includes an instrument and two or more cartridges. The instrument includes a body, a shaft assembly, and a cartridge receiving assembly. The cartridge receiving assembly has a movable output feature, which is configured to move in response to activation of the actuation input feature. The cartridges may include a first suturing cartridge and a second suturing cartridge, with first and second suture needles, respectively. The second suture needle may extend along an arc that has a larger radius of curvature than an arc associated with the first suture needle. The cartridges may also include a drive assembly that is operable to drive the needle along an orbital path in response to movement of the actuation input feature. The cartridges may also include features that are operable to apply clips or staples. The cartridges may also include features that are operable to grasp or cut.

Abstract: An ultrasonic surgical device comprises a handle assembly, a shaft assembly, and a removable transducer module. The transducer module includes a waveguide, a locking mechanism, and an electronics assembly including at least one button. The handle assembly includes a trigger assembly configured to actuate the button(s) of the electronics assembly when the transducer module is coupled with the handle assembly. The shaft assembly engages the waveguide of the transducer module and is disposed at the distal end of the handle assembly. The distal end of the shaft assembly includes a harmonic blade. When assembled with the handle assembly, the transducer module is capable of providing ultrasonic energy to the harmonic blade.

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.