Abstract: A robotic surgical tool includes a handle and an elongate shaft extendable through the handle and including an outer proximal tube and an inner spline rotatably received within the outer proximal tube. A first actuation system is housed within the handle and operable to rotate the inner spline relative to the outer proximal tube and thereby transfer torque to a proximal or distal end of the shaft. A second actuation system is housed within the handle and operable to drive the outer proximal tube and thereby advance or retract the elongate shaft in z-axis translation through the handle.

Abstract: A robotic surgical tool includes a handle having a drive input and a spline, a bailout ring arranged at the handle, and a slipper clutch mechanism received within the bailout ring. The slipper clutch mechanism including a slip carrier rotationally fixed to the bailout ring and defining a vertical slot that slidably receives a pin, a first ring arranged within the slip carrier and defining a first interface, a second ring arranged within the slip carrier atop the first ring and defining a second interface, and a pinion gear operatively coupled to the spline and arranged to intermesh with radial gear teeth defined on the second ring. Manual rotation of the bailout ring rotates the slip carrier and the pin and thereby rotates the first and second ring in succession to rotate the spline and manually bail out a function of the robotic surgical tool.

Abstract: A surgical tool includes a drive housing having an elongate shaft extending therefrom and an end effector arranged at a distal end of the shaft, a drive input rotatably mounted to the drive housing and having an input shaft extending therefrom, and upper and lower capstans mounted to the input shaft. First and second drive cables are coupled to the upper and lower capstans, respectively, and extend to the end effector, and a clutch feature is arranged to mate the upper capstan to the lower capstan and is movable between an engaged position, where rotation of the input shaft in either angular direction correspondingly rotates the upper and lower capstans in the same angular direction, and a disengaged position, where the upper and lower capstans are rotatable independent of each other in at least one angular direction.

Abstract: A robotic surgical tool includes an elongate shaft, an end effector arranged at a distal end of the shaft and including opposing first and second jaws, and an articulable wrist that interposes the end effector and the distal end, the wrist including a linkage providing one or more lateral arms receivable within a corresponding one or more grooves defined in the first and second jaws, wherein mounting the linkage to the first and second jaws at the corresponding one or more groove generates a jaw pivot where the first and second jaws pivot between open and closed positions.

Abstract: A robotic surgical tool includes a handle providing a drive input, an elongate shaft extendable through the handle and having an end effector arranged at a distal end of the shaft, and an accumulator system housed within the handle and operatively coupled to the drive input such that actuation of the drive input operates the accumulator system. At least one drive cable is threaded through the accumulator system and extends distally along the shaft, wherein operation of the accumulator system acts on the at least one drive cable to operate the end effector.

Abstract: A robotic surgical tool includes an elongate shaft extendable through a handle providing a drive input, a drive cable extending along a portion of the shaft and having a proximal end anchored to the shaft proximal to the handle and a distal end anchored to the shaft distal to the handle, an actuation system housed within the handle and operatively coupled to the drive input such that actuation of the drive input operates the actuation system, and a toggle mechanism arranged at a proximal end of the shaft and actuatable to close or open opposing jaws of an end effector arranged at a distal end of the shaft. The drive cable is threaded through portions of the actuation system and the toggle mechanism such that operation of the actuation system acts on the drive cable and thereby actuates the toggle mechanism to close or open the opposing jaws.

Abstract: A robotic surgical tool includes an elongate shaft, an end effector arranged at a distal end of the shaft and including a first jaw providing a first jaw extension and a second jaw providing a second jaw extension, and an articulable wrist that interposes the end effector and the distal end, the wrist including an articulation joint rotatable about a first pivot axis, and first and second pulleys rotatably mounted to the articulation joint at a second pivot axis perpendicular to the first pivot axis, the first pulley interposing the first jaw extension and a first joint portion of the articulation joint, and the second pulley interposing the second jaw extension and a second joint portion of the articulation joint. Joining the first and second joint portions secures the first and second pulleys within the wrist.

Abstract: A robotic surgical tool includes an elongate shaft extendable through a handle that provides a drive input, an actuation system housed within the handle and operatively coupled to the drive input such that actuation of the drive input operates the actuation system, a rocker bar system arranged at a proximal end of the shaft and actuatable to articulate an end effector at a distal end of the shaft, and first and second drive cables extending along a portion of the shaft, each drive cable having a proximal end anchored to the shaft proximal to the handle and a distal end anchored to the shaft distal to the handle, wherein the drive cables are threaded through portions of the actuation and rocker bar systems such that operation of the actuation system acts on the drive cables and thereby actuates the rocker bar system to articulate the end effector.

Abstract: A robotic surgical tool includes an elongate shaft, an end effector arranged at a distal end of the shaft and including opposing first and second jaws, an articulable wrist that interposes the end effector and the distal end and includes one or more articulation joints, at least one guiding component arranged within a central portion of the wrist, and a knife rod extending through and supported by the at least one guiding component and terminating at a knife.

Abstract: A robotic surgical tool includes an elongate shaft, an end effector arranged at a distal end of the shaft and including opposing first and second jaws, an articulable wrist that interposes the end effector and the distal end, the wrist including an articulation joint pivotable about an axis and a linkage mounted to the first and second jaws, a distal wedge positioned distal to the articulation joint and within a central portion of the wrist, and an electrical conductor extending through the wrist and to an electrode located at the end effector, wherein the distal wedge guides the electrical conductor to the electrode.

Abstract: A robotic surgical tool includes a shaft extendable through a handle, an end effector arranged at a distal end of the shaft and including a first and second jaws providing first and second jaw extension, a plurality of drive members extending along the shaft and actuatable by the handle, and an articulable wrist interposing the end effector and the distal end. The wrist includes a proximal clevis, a distal clevis rotatably coupled to the proximal clevis, first and second pulleys rotatably mounted to the distal clevis, the first jaw extension being pinned to the first pulley and the second jaw extension being pinned to the second pulley, and a linkage mounted to the jaws. The plurality of drive members terminate at the first and second pulleys and are antagonistically operable to open and close the jaws and articulate the end effector in pitch and yaw.

Abstract: A robotic surgical tool includes a handle, an elongate shaft extended through the handle, and an actuation system housed within the handle and including a drive belt extending along a portion of the shaft and having a distal end anchored to the shaft distal to the handle and a proximal end anchored to the shaft proximal to the handle, and a drive gear mounted to the handle to receive the drive belt. Operating the actuation system rotates the drive gear to drive the drive belt and thereby cause z-axis translation of the shaft through the handle.

Abstract: A robotic surgical tool includes an elongate shaft extended through a handle and having an end effector arranged at a distal end thereof, a rack extending along a portion of the shaft and operatively coupled to a knife located at the end effector, a first actuation system housed within the handle and operable to drive the rack and thereby advance or retract the knife at the end effector, the first actuation system including a sector gear engageable with the rack and including a tooth-free zone, and a second actuation system housed within the handle and operable to cause z-axis translation of the shaft through the handle. Rotating the sector gear such that the tooth-free zone faces the rack decouples the shaft from the first actuation system to allow the shaft to freely move in z-axis translation.

Abstract: A robotic surgical tool includes a handle providing a first drive input and a second drive input, an elongate shaft extendable through the handle and having an end effector arranged at a distal end thereof, and a rack extending along a portion of the shaft and operatively coupled to a knife located at the end effector. Actuation of the first drive input transitions the rack between a locked configuration, where the rack is locked to the shaft, and a released configuration, where the rack is released from the shaft. Actuation of the second drive input with the rack in the locked configuration drives the rack and causes z-axis translation of the shaft through the handle. Actuation of the second drive input with the rack in the released configuration drives the rack relative to the shaft and thereby advances or retracts the knife at the end effector.

Abstract: An end effector for a surgical tool includes a first jaw that defines an aperture, a second jaw rotatably coupled to the first jaw, and a spacer pin received within the aperture and protruding from an upper surface of the first jaw. The spacer pin is adjustable within the aperture to define a jaw gap between the first and second jaws when the second jaw is moved to a closed position and engages the spacer pin, and the spacer pin is secured within the aperture to set the jaw gap.

Abstract: An articulable wrist for an end effector includes a first linkage rotatably coupled to a second linkage at a first articulation joint, a flexible member extending at least partially through a central channel cooperatively defined by the first and second linkages, and a first pair of roller supports arranged at the first articulation joint and laterally offset from each other, each roller support extending parallel to a first pivot axis extending through the first articulation joint. A drive cable extends through a first axially-extending conduit defined in the flexible member and through a gap defined between the first pair of roller supports. The drive cable is supported at the first articulation joint by the first pair of roller supports during articulation and the first pair of roller supports prevents a centerline of the drive cable from moving past the first pivot axis during actuation of the end effector.

Abstract: An end effector includes a distal clevis, an axle mounted to the distal clevis, a first jaw holder and corresponding first jaw member rotatably mounted to the axle, and a second jaw holder and corresponding second jaw member rotatably mounted to the axle. A sleeve axle has a first end, a second end, and a central passageway that extends between the first and second ends. The axle is received within the central passageway and the sleeve axle is rotatable relative to the axle.

Abstract: A surgical visualization system may include particle trend analysis. The surgical visualization system may include a field programable gate array (FPGA) that is configured to transform sensor information of backscattered laser light into real-time information of particle movement (e.g., blood cells) in a portion of a surgical field. The system may communicate the real-time information to a processor that is remote to the FPGA for aggregation and analysis. The surgical visualization system may display both a metric representing a present state of moving particles and an aggregated state of the moving particles. The system may display both the rate of particle movement and the acceleration for use by the surgeon.

Abstract: A robotic surgical tool includes a tool driver, and a drive housing inductively coupled to the tool driver when mounted to the tool driver and generating a magnetic field, the drive housing including one or more component parts made of or including a magnetically responsive material.

Abstract: A surgical tool includes an elongate shaft, an end effector arranged at a distal end of the shaft, and a wrist that interposes the end effector and the distal end. The wrist including a proximal clevis included at the distal end, a pair of pivot discs rotatably coupled to the proximal clevis and providing a centerline extending through a center of each pivot disc, a distal wrist axle extending through the pair of pivot discs and along a pivot axis that is eccentric to the centerline, a distal plurality of pulleys mounted to the distal wrist axle, and a proximal plurality of pulleys mounted to the proximal clevis at a proximal wrist axle and offset from the distal plurality of pulleys. Rotation of the pair of pivot discs moves the distal wrist axle and thereby adjusts a distance between the proximal and distal pluralities of pulleys.