Abstract: A surgical instrument comprising a closure drive, a firing drive, and a lockout is disclosed. The lockout prevents the firing drive from being actuated until the closure drive has been sufficiently actuated.

Abstract: A surgical instrument that includes a surgical end effector that is articulatable relative to a shaft between a home position and a maximum articulated position. A motor operably interfaces with the surgical end effector to move the end effector between the home position and the maximum articulated position. The motor is configured to operate at a first motor speed to articulate the end effector from the home position to a first articulated position between the home position and the maximum articulated position and to operate at a second motor speed to articulate the surgical end effector from the first articulated position to the maximum articulated position.

Abstract: An end effector includes a grasping portion that includes a first jaw member having a first electrode, a second jaw member having a second electrode, a first electrically conductive member located either on the first jaw member or the second jaw member, and a gap setting portion having a second electrically conductive member located at the distal end of either the first jaw member or the second jaw member. The electrically insulative member is sized and configured to engage tissue and the second electrically conductive member sized and configured to define a minimum distance between the first and second electrodes.

Abstract: A surgical instrument comprising a first jaw, a second jaw, and a firing member is disclosed. The firing member comprises one or more cams configured to position the first jaw relative to the second jaw. The cams are configured to reduce the strain experienced by the cams, the firing member, and the first and second jaws.

Abstract: A surgical apparatus comprises a body, a user input feature, a shaft assembly, an end effector, and a blade cooling system. The end effector comprises a clamp arm and an ultrasonic blade that may be coupled with an ultrasonic transducer. The clamp arm is configured to pivot toward and away from the ultrasonic blade. The cooling system is operable to deliver liquid coolant to the ultrasonic blade to thereby cool the ultrasonic blade. The user input feature is operable to both actuate the clamp arm and actuate the cooling system.

Abstract: A surgical instrument includes an end effector, a handle assembly, and a knife drive assembly. The end effector includes a first jaw, a second jaw, a knife, and an electrode assembly. The second jaw is pivotably coupled with the first jaw and is operable to move between an open position and a closed position. The knife is configured to actuate between a pre-fired position and a fired position. The electrode assembly is configured to apply RF energy to tissue. The handle assembly includes a housing associated with the first jaw and an arm associated with the second jaw. The arm is configured to pivot the second jaw between the open position and the closed position. The knife drive assembly includes an input assembly, an output assembly, and a threaded member rotatably disposed within the housing. The threaded member includes a first threaded portion and a second threaded portion. The first threaded portion is associated with the input assembly and includes a first pitch extending in a first pitch orientation.

Abstract: Surgical systems and methods are provided for controlling actuation and movement of various surgical devices.

Abstract: Various embodiments are directed to methods for use with a surgical device to harvest energy from a surgical generator. The surgical device in use in conjunction with the surgical generator may comprise an energy storage device in electrical communication with a surgical generator to provide energy to charge the energy storage device. The method may comprise the steps of receiving a drive signal from the generator. The method may also comprise directing at least a portion of the drive signal to the energy storage device in a first mode. The method may further comprise directing at least a portion of the drive signal to at least one energy element in a second mode.

Abstract: A piece of buttress material and an end-effector of a surgical instrument including features which can aid a surgeon in properly and quickly attaching the piece of buttress material to the end-effector. In various embodiments, a piece of buttress material can include retention features which can be engaged with portions of an end-effector to releasably retain the piece of buttress material to at least a portion of the end-effector. Similarly, an end-effector can include features configured to engage portions of a piece of buttress material to releasably retain the piece of buttress material to the end-effector. In at least one embodiment, more than one piece of buttress material can be releasably retained to an end-effector.

Abstract: A circular stapler apparatus for stapling tissue has a circular stapling head operable to drive staples toward an anvil to form the staples in a circular array. The anvil includes an anvil head, a proximal shaft extending proximally from the anvil head and having a proximal end disposed in a first plane, and a first pivot connecting the anvil head to the proximal shaft. The first pivot is operable to be disposed in a second plane that is laterally offset from the first plane. The anvil is configured to rotate via movement through multiple pivot points. The anvil may be configured to rotate to a position in which a portion of the anvil head is disposed below the first pivot and between the first pivot and the proximal shaft such that the anvil head is acutely angled with respect to a longitudinal axis of the proximal shaft.

Abstract: Apparatus and method to permit selective cutting and coagulation required in fine and delicate surgical procedures. The apparatus includes two body members having proximal ends and distal ends with jaw members located adjacent the body member's distal ends. The body members are joined at a pivot located adjacent to the first and second jaw members joining the first and second body members where the body members' rotation about the pivot defines a plane of rotation. The scissors are adapted for selective application of energy to at least one jaw member by a switch located in the plane of rotation.

Abstract: An exemplary system and method for homing a surgical tool are provided. In general, a surgical tool can include an end effector, an elongate shaft, and a wrist that couples the end effector to a distal end of the shaft can be configured to facilitate movement of the end effector relative to the shaft. The surgical tool can be coupled to a robotic surgical system featuring an imaging device and a processor. Through the use of closed-loop feedback and machine vision techniques, the end effector can be calibrated into a home position to ensure precise and accurate movement of the end effector when in use by a surgeon.

Abstract: A needle cartridge for a surgical suturing instrument includes a cartridge body, a track extending through the cartridge body and defining a circular path, an arcuate needle movably positioned within the track, and a suture thread extending from the arcuate needle. A needle driver operatively connects to the cartridge body and the arcuate needle. The needle driver is configured to orbit the arcuate needle along the circular path. A needle cover is secured to the cartridge body. A clearance channel extends through at least a portion of the cartridge body along the track in communication with the track such that the clearance channel at least partially defines a suture path. The suture path is configured to receive the suture thread extending from the trailing end of the arcuate needle as the arcuate needle moves along the circular path thereby inhibiting the suture thread from obstructing movement of the arcuate needle.

Abstract: A method of operating a surgical tool includes sending a command signal from a computer system to a motor to drive rotation of a drive shaft mounted within a drive housing of the surgical tool, monitoring one or more operational parameters of the motor with one or more monitoring devices in communication with the computer system, and measuring an unexpected change in the operational parameters of the motor with the monitoring devices. The unexpected change includes a measured operational parameter that is inconsistent with the command signal. The unexpected change is reported to the computer system as a bailout signal, and the surgical tool is disabled once the bailout signal is received at the computer system.

Abstract: Various surgical tools with bailout mechanisms are provided that allow direct engagement with one or more actuators to provide rapid and effective bailout (such as release, reversal, and/or retraction) of surgical tools while minimizing the amount of force and/or time to complete the bailout. Robotic surgical tools generally have a housing and an elongate tool shaft extending from the housing and having an end effector on a distal end thereof. The housing has a plurality of actuators for causing various functions of the end effector, such as rotation, articulation, clamping, firing, stapling, etc. The housing attaches to a tool driver on a robotic arm that electromechanically drives the actuators to control the end effector. A bailout mechanism can extend from the housing into the elongate shaft and directly engage the actuators to apply a force thereto to retract an actuator.

Abstract: An end effector for a surgical clip applier includes an elongate body, a clip revolver rotatably positioned within the body and providing an inner bore that defines a plurality of clip slots angularly spaced from each other about an inner surface of the inner bore, wherein a plurality of surgical clips are receivable within the plurality of clip slots in a nested helical array. First and second jaw members extend past a distal end of the body and aligned to receive a distal-most surgical clip of the plurality of surgical clips, wherein the clip revolver is rotatable to sequentially align each surgical clip with the first and second jaw members.