Abstract: A control system for a robotic surgical system is disclosed. The control system includes a control circuit configured to determine a closure force applied to a closure member, determine a position of a firing member, and set a new closure force based on the closure force applied to the closure member and the position of the firing member.

Abstract: An end effector for use with a surgical instrument is disclosed. The end effector comprises a shaft defining a longitudinal axis, a first jaw, a second jaw movable relative to the first jaw, a closure member configured to move the second jaw relative to the first jaw, a slot, a first pin, and a second pin. The first jaw comprises a tissue-contacting surface. The first pin is engaged between the first jaw and the second jaw. The closure member is configured to move the first pin to apply a closing force to the second jaw. The second pin extends into the slot. The second jaw is rotatable relative to the first jaw about the second pin. The first pin and the second pin comprise a clamped configuration where the first pin and the second pin are aligned along the longitudinal axis.

Abstract: A surgical shaft assembly includes a slip ring assembly. The slip ring assembly has a first connector, a first conductor mounted on the first connector, and a first water-proof insulative layer on the first conductor. The slip ring assembly has a second connector rotatable relative to the first connector, a second conductor mounted on the second connector, and a second water-proof insulative layer on the second conductor. The slip ring assembly also has a dielectric layer located between the first water-proof insulative layer and the second water-proof insulative layer. The first conductor and the second conductor are configured to form a capacitive channel therebetween.

Abstract: A fastener cartridge comprising a cartridge body and unfired fasteners is disclosed. The cartridge body comprises fastener cavities and a deck comprising a variable height tissue compression surface. A longitudinal slot is defined through at least a portion of the variable height tissue compression surface. The fastener cavities comprise a first fastener cavity and a second fastener cavity. The first and second fastener cavities are defined in the variable height tissue compression surface on a first side of the longitudinal slot. The first fastener cavity is laterally offset from the second fastener cavity. The unfired fasteners comprise a first unfired fastener removable positioned in the first fastener cavity and a second unfired fastener removable positioned in the second fastener cavity. The first unfired fastener comprises a first height. The second unfired fastener comprises a second height that is different from the first height.

Abstract: A surgical instrument that includes a motion sensor configured to sense movement of the surgical instrument and a control circuit coupled to the motion sensor. The control circuit is configured to monitor the motion sensor to sense movement of the surgical instrument, transition the surgical instrument to a sleep mode when the surgical instrument has been stationary for a period above a predetermined threshold, and transition the surgical instrument to an operational mode when the surgical instrument has been moved. In the sleep mode the control circuit is configured to place a component of the surgical instrument in a low-power state. In the operational mode the control circuit is configured to activate the component of the surgical instrument.

Abstract: A detachable motor-powered surgical instrument. The instrument may include a housing that includes at least one engagement member for removably attaching the housing to an actuator arrangement. A motor is supported within the housing for supplying actuation motions to various portions of a surgical end effector coupled to the housing. The housing may include a contact arrangement that is configured to permit power to be supplied to the motor only when the housing is operably attached to the actuator arrangement.

Abstract: A surgical instrument comprises an end effector, a shaft, and a housing extending proximally from the shaft. The surgical instrument includes an articulation assembly configured to articulate the end effector relative to the shaft, a firing assembly configured to fire a plurality of staples, for example, and a locking member movable between a locked configuration and an unlocked configuration. The housing is removably couplable to the shaft when the locking member is in the unlocked configuration and the housing includes a motor configured to drive at least one of the firing assembly and the articulation assembly. The housing also includes a controller in communication with the motor, wherein the controller is configured to activate the motor to reset at least one of the firing assembly and the articulation assembly to a home state when the locking member is moved between the locked configuration and the unlocked configuration.

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: A staple cartridge assembly is disclosed which comprises offset staple rows.

Abstract: A stapling assembly comprising a proximal end, a distal end, a first jaw, a second jaw, a staple cartridge, a first motor-driven system, and a second motor-driven system is disclosed. The first jaw comprises a first bottom surface. The second iaw is rotatably coupled to the first iaw about a pivot and is movable between an unclamped position and a fully-clamped position. The second jaw comprises a second bottom surface. The staple cartridge comprises a plurality of staples removably stored therein. The first motor-driven system is configured to engage the second bottom surface of the second iaw to move the second iaw toward the fully-clamped position. The second motor-driven system is configured to engage the second jaw and the first bottom surface of the first jaw and hold the second jaw in the fully-clamped position. The second motor-driven system is actuatable after the first motor-driven system has been actuated.

Abstract: A staple cartridge is disclosed. The staple cartridge can include a cartridge body having a plurality of staple cavities defined therein. The staple cavities can be obliquely oriented relative to a longitudinal axis of the staple cartridge. The staple cavities can be arranged in a plurality of rows including an inner row, an intermediate row, and an outer row. The lateral and/or longitudinal spacing and/or overlap between the staples in adjacent rows can vary to optimize the flexibility and/or sealing properties of the staple line. The size and orientation of the staples can also vary row-to-row and/or longitudinally.

Abstract: A surgical instrument includes an ultrasonic transducer assembly comprising a coupling portion laterally movable at an ultrasonic frequency. In addition, the surgical instrument includes an ultrasonic transmission waveguide extending from the coupling portion and an ultrasonic treatment element defining a cutting surface, wherein the ultrasonic treatment element extends from the ultrasonic transmission waveguide, and wherein the lateral movement of the coupling portion is in a direction perpendicular to a plane defined by the cutting surface of the ultrasonic treatment element.

Abstract: An adapter for a robotic surgical tool autowasher system includes a frame matable with a drive housing of the robotic surgical tool, a shoulder defined on the frame and at least partially circumscribing a basin defined in the frame, and one or more fluid apertures defined in the basin and extending through the frame from a top surface to a bottom surface. One or more alignment features protrude from the frame and are arranged to align with and extend into a corresponding one or more apertures defined in a bottom of the drive housing. At least one of the one or more alignment features only partially plugs an associated aperture of the corresponding one or more apertures.

Abstract: A surgical tool includes a drive housing having an input shaft arranged therein for rotation, a shaft extending from the drive housing and having an end effector arranged at a distal end thereof, and a drive cable extending within the shaft and operatively coupled to the end effector. A cable band is coupled to the input shaft and operatively couples the input shaft to the drive cable, and an idler pulley is rotatably mounted within the drive housing, the cable band being routed at least partially around the idler pulley. Rotation of the input shaft moves the cable band and thereby controls longitudinal movement of the drive cable to articulate the end effector.

Abstract: A robotic surgical system includes a robotic manipulator that includes a mounting fixture defining a longitudinal channel, and a surgical tool removably coupleable to the mounting fixture. The surgical tool including a tool housing matable with the mounting fixture, an elongate shaft extending from the tool housing and receivable within the channel, and a latching mechanism provided on the elongate shaft and comprising one or more retention tabs biased radially outward with one or more biasing members. The one or more retention tabs are movable between a deployed state, where the one or more retention tabs protrude radially outward through a corresponding one or more slots to engage the mounting fixture, and a retracted state, where the one or more retention tabs are urged radially inward through the one or more slots to disengage the mounting fixture.

Abstract: A surgical end effector comprising a first jaw and a second jaw is disclosed. The first jaw comprises a staple cartridge including a plurality of staples. The second jaw comprises an anvil comprising an anvil surface and a plurality of staple-forming pockets defined in the anvil surface. The second jaw is movable relative to the first jaw. The second jaw comprises an unclamped position, a first clamped position, and a second clamped position. The first clamped position is different than the second clamped position. The anvil surface is in contact with the staple cartridge when the second jaw is in the first clamped position. The staples are configured to be formed against the staple-forming pockets when the second jaw is in the second clamped position. The anvil surface and the staple cartridge are not in contact with each other when the second jaw is in the second clamped position.

Abstract: The present disclosure provides a surgical instrument that includes an end effector having a first jaw, a second jaw that is movable relative to the first jaw, and at least one electrode in the first jaw. The surgical instrument also includes a control circuit configured to provide electrosurgical energy to the at least one electrode and a electrical conductor electrically connected between the end effector and the control circuit. The control circuit includes a shaft control segment and an electrosurgical energy control segment. The shaft control segment is configured to provide a control signal for operating the end effector to the end effector through the electrical conductor. The electrosurgical energy control segment is configured to provide the electrosurgical energy to the at least one electrode through the electrical conductor.