Abstract: Various exemplary methods, systems, and devices for causing end effector motion with a robotic surgical system are provided. In general, a surgical tool can be configured to releasably and removably couple to a robotic surgical system. The robotic surgical system can include two motors configured to provide torque to the surgical tool to drive one single function of the surgical tool. In at least some embodiments, at least one of the two motors configured to cooperate with another motor to drive the single function of the surgical tool can be configured to drive a second function of the surgical tool.

Abstract: Adjunct material is provided that has multiple reservoirs formed therein and releasably carrying a plurality of vessels that each retain at least one medicant. An implantable adjunct has at least one bioabsorbable polymer configured to maintain the vessels within a reservoir. Disruption of the at least one bioabsorbable polymer allows release of the vessels from at least one of the reservoirs. A rate of the vessels' release can be controlled by a degradation rate of the at least one bioabsorbable polymer. The released vessels are, in turn, disrupted to thereby cause at least one medicant disposed therein to release and thus provide a desired effect on tissue in-growth.

Abstract: The present invention generally provides methods and devices for controlling movement of an end effector, and in particular for causing mimicked motion between an input tool and an end effector during a surgical procedure. In an exemplary embodiment, a surgical system is provided having a master assembly with an input tool and a slave assembly with an end effector. The master assembly and the slave assembly can be coupled together by a mechanical assembly that is configured to mechanically transfer mimicked, rather than mirrored, motion from the input tool to the end effector. A floating frame is also provided and can be utilized with the surgical system. The floating frame can have a counterbalance that allows the surgical system to “float” above a patient and provide a weightless feel to movement of the surgical system. In addition, the floating frame can provide a number of additional degrees of freedom for ease of movement of the surgical system around the patient and/or the operating room.

Abstract: A battery assembly is disclosed which includes a housing and one or more battery cells position in the housing. The battery assembly further comprises features configured to absorb an impact force and protect the battery cells. The battery assembly further comprises features configured to accommodate the thermal expansion of the battery cells.

Abstract: A switch comprising an interior cavity and a switching element movably disposed within the interior cavity to define a first position and a second position, the second position being different from the first position. A biasing element imparts a biasing force to the switching element to place the switching element in either the first or the second position until an external force imparted to the switching element exceeds the biasing force, thereby causing the switching element to move to the other one of the first or the second position. A biasing force-adjusting element is cooperatively engaged with the biasing element, wherein a magnitude of the biasing force is adjustable using the biasing force-adjusting element. An electrically-conductive contact, coupled to the switching element, defines a first switching state when the switching element is in the first position and a second switching state when the switching element is in the second position.

Abstract: Various exemplary methods, systems, and devices for moving a surgical instrument coupled to a robotic surgical system are provided. In general, a robotic surgical system can include a movement assembly configured to facilitate movement of surgical instrument coupled to the robotic surgical system, e.g., coupled to an electromechanical arm of the robotic surgical system. The movement can include translational movement of the surgical instrument in which the instrument is selectively advanceable and retractable in opposed directions, e.g., proximal direction and distal direction, up vertically and down vertically, etc. The translational movement can be along a shaft of the instrument such that the movement assembly can be configured to selectively translate the instrument along a longitudinal axis of the shaft.

Abstract: A surgical tool is disclosed. The surgical tool has a tool mounting portion having a tool mounting housing, a tool mounting plate, and a coupler to couple a shaft assembly having an articulation section to the tool mounting portion. An articulation mechanism is located within the tool mounting portion and is configured to receive a proximal end of the shaft assembly to articulate the articulation section of the shaft assembly. The articulation mechanism has a cam mechanism operative to articulate the articulation section of the shaft assembly. An interface mechanically and electrically couples the tool mounting portion to a manipulator.

Abstract: A surgical instrument includes an end effector having first and second jaws that cooperate to capture tissue therebetween, a movable firing member to cut the tissue, an actuator actuatable between various settings that define various output values of a characteristic of motion of the firing member, and a real-time feedback system. The real-time feedback system includes a sensor to assess a parameter of the end effector, a zone indicator adjustable between various positions inside and outside a desired zone, and a circuit to receive the sensor input from the sensor, the sensor input defining a measurement of a parameter of the end effector, and select one of various positions based upon the measurement of the parameter of the end effector, the selected position representing a status of a current output value of the characteristic of motion of the firing member, and adjust the zone indicator to the selected position.

Abstract: A surgical system for use with a robotic surgical system is disclosed. The surgical system comprises a stapling head, an elongate shaft coupled to the stapling head, and a rigid housing coupled to the elongate shaft. The housing comprises a first rotary disc member, a second rotary disc member, a third rotary disc member and a fourth rotary disc member. Each of the rotary disc members are configured to be driven by the robotic surgical system. Each rotary disc member is rotatable about a different axis to operate the stapling head. The first rotary disc member is configured to rotate more than a complete rotation about its axis to operate the stapling head.

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: An electrically powered surgical instrument includes a surgical end effector having a surgical procedure effecting actuation assembly. A handle is coupled with the end effector. An electric motor is disposed within a shell of the handle and has power terminals and a drive train actuating the assembly when the motor is supplied with power. A break-before-make power supply switch at the handle selectively controls supply of power to the motor. A post-termination braking circuit electrically short-circuits the power terminals when the switch does not supply power to the motor. A method for post-termination braking of an electrical motor utilizes the permanent magnetic field of the motor to counteract an inertia-induced over-stroke characteristic of the motor, drive train, and/or actuation assembly after powered operation by short-circuiting the still-spinning motor to create an electrically generated magnetic field in opposition to the permanent magnetic field upon ceasing supply of power to the motor.

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: 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: 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 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 system for stimulating the release of satiety hormone in a subject comprises a stimulus device which is implantable in the subject and adapted to apply an electrical stimulus to a tissue of a gastrointestinal system of said subject, and a detection device which is implantable in the subject and adapted to continuously monitoring at least one of a mechanical characteristic and an electrical characteristic of the subject to detect an ingestion of food by said subject, wherein the detection device cooperates with the stimulus device such that the stimulus device applies said electrical stimulus in response to a detected ingestion of food.

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.