Abstract: A surgical end effector that includes first and second jaws that are selectively movable between a fully open position and a fully closed position relative to each other. At least one expandable tissue stop is located on one of the first and second jaws and is configured to extend between first and second jaw surfaces on the first and second jaws as the first and second jaws move between the fully open and the fully closed positions.

Abstract: An ultrasonic surgical instrument includes a body, a shaft, an ultrasonic transducer, a waveguide, and an end effector coupled to a distal end of the shaft. A rotation knob is rotatably coupled to the body and is configured to rotate the shaft, the waveguide, and the end effector together relative to the body. A torque transfer structure is positioned radially outwardly of and in direct contact with the waveguide at an acoustic node thereof. The torque transfer structure is rotationally fixed relative to the waveguide and is configured to rotationally couple the waveguide with the shaft and the rotation knob. The waveguide includes a first axial constraining feature defining a distally facing surface, and the torque transfer structure includes a second axial constraining feature defining a proximally facing surface configured to abut the distally facing surface to constrain the waveguide axially relative to the torque transfer structure and the body.

Abstract: A motorized surgical instrument is disclosed. The surgical instrument includes a displacement member, an energy source, a motor, a control circuit, and a position sensor. The control circuit is configured to initiate firing the displacement member at a predetermined electrical load on the energy source, wherein the predetermined electrical load is applied to the motor to actuate the displacement member, monitor the position of the displacement member via the position sensor, continually sample a voltage of the energy source during a first interval of travel of the displacement member, compare the sampled voltage to a threshold voltage, and continue firing the displacement at the first velocity when the sampled voltage is greater than or equal to the threshold voltage or adjust the first velocity when the sampled voltage is less than the threshold voltage. Techniques for handling motor stall conditions and transitions between velocities also are disclosed.

Abstract: Techniques for a surgical system are provided that allow an electromechanical surgical arm to be coupled at a location adjacent to a patient, such as a surgical table. A first mating element can be formed on a support member and it can be in electrical communication with a power source and a controller, and a second mating element can be formed on the electromechanical arm. The first and second mating elements can each have a respective electrical contact, and they can be configured such that mechanical coupling between the first and second mating element causes electrical communication to be established between the first and second electrical contacts and thus between the electromechanical arm and the power source and the controller. The mating elements can include tolerance elements that allow for some discrepancies between the mating elements while still providing a desired mechanical and electrical connection between the mating elements.

Abstract: A method of coating a slip ring for use with a surgical instrument is disclosed. The method includes the steps of providing a slip ring including a plurality of conductive elements, and depositing a material less conductive than the conductive elements onto the conductive elements of the slip ring.

Abstract: An apparatus for operating on tissue comprises an end effector, a shaft assembly, and an interface assembly. The end effector comprises an ultrasonic blade. The shaft assembly includes an articulation section operable to deflect the end effector away from the longitudinal axis. The interface assembly is operable to drive the end effector. The interface assembly comprises a base and a plurality of drive shafts. The base is configured to couple with a dock of a robotic control system. The drive shafts are oriented perpendicular to the longitudinal axis of the shaft assembly. A first drive shaft may be operable to rotate the shaft assembly relative to the base. A second drive shaft may be operable to drive the articulation section. A third drive shaft may be operable to drive a clamping arm to pivot toward the ultrasonic blade.

Abstract: A surgical tool includes a drive housing, a shaft extending from the drive housing, an end effector at an end of the shaft and having opposing jaws and a cutting element, and an unclamp lockout mechanism. The unclamp lockout mechanism including a pawl rotatably mounted to the shaft and positioned proximal to a closure yoke operatively coupled to the shaft, the pawl being pivotable between a stowed position, where the pawl is received within an aperture of the shaft, and a deployed position, where the pawl protrudes out of the aperture, and a biasing device that biases the pawl toward the stowed position. When the pawl is in the stowed position, the closure yoke is movable to a proximal position over at least a portion of the pawl to open the opposing jaws. When the pawl is in the deployed position, the closure yoke is prevented from moving to the proximal position.

Abstract: Trocar placement locations may be identified, before forming incisions in a patient, by visualizing reach of a surgical instrument relative to a surgical site within the patient. The reach of the surgical instrument is calculated from the position of a robotic manipulator associated therewith. An image of the reach of the surgical instrument may be generated, which a clinician may utilize to ascertain whether the surgical instrument has adequate access to the surgical site. The clinician may move the robotic manipulator to a new position relative to the surgical site and, as the robotic manipulator is repositioned, the image of the reach of the surgical instrument generated is continuously updated to correspond with the new position into which the robotic manipulator associated therewith has been moved.

Abstract: A stapling assembly is disclosed. The stapling assembly comprises a first jaw comprising a first ledge and a second jaw comprising a second ledge. The second jaw is movable between an open position and a closed position relative to the first jaw. The stapling assembly also comprises a closure member movable between a first position and a second position. The second jaw is in the open position when the closure member is in the first position, and the second jaw is in the closed position when the closure member is in the second position. The stapling assembly also comprises a firing member movable through a staple firing stroke. The firing member comprises a first extending member which rides along the first ledge during the staple firing stroke and a second extending member which rides along the second ledge during the staple firing stroke.

Abstract: A surgical instrument can include a shaft, an end effector, and an articulation joint configured to permit the end effector to rotate relative to the shaft about the articulation joint. The surgical instrument can further comprise a first articulation actuator for rotating the end effector in a first direction and a second articulation actuator for rotating the end effector in a second direction. The articulation actuators can be configured to push the end effector. The articulation actuators can assume different configurations depending on whether they are experiencing a compressive load or a tensile load. The articulation joint can comprise an articulation frame which forms a proximal joint with the shaft and a distal joint with the end effector. The joints can comprise fixed axis joints and/or ball-and-socket joints, for example. The articulation joint can comprise links having different sizes to facilitate the articulation of the articulation joint.

Abstract: A surgical instrument includes a body portion, a shaft, and an end effector that is operable to compress, staple, and cut tissue. The end effector includes and anvil and a staple cartridge. The anvil has a body and a modular releasable curved tip that connects with the body. The curved tip may be elastically deformable. The curved anvil tip and the tip of the cartridge include cooperating features that assist in gripping tissue during clamping. A separate cartridge may be provided that retains a replacement anvil tip and a replacement staple cartridge, where the replacement anvil tip and staple cartridge include the cooperating features. The separate cartridge may also include anvil tip and staple cartridge removal features to assist in removal of previously installed anvil tips and staple cartridges.

Abstract: Various exemplary methods and devices for actuating surgical instruments are provided. In general, a surgical device can include one or more actuation shafts configured to facilitate actuation of the device. In an exemplary embodiment, the device can include four actuation shafts, two actuation shafts to facilitate articulation of the device, one actuation shaft to facilitate opening and closing of jaws at a distal end of the device, and one actuation shaft to facilitate moving a cutting element of the device. In an exemplary embodiment, each of the one or more actuation shafts can include a distal elongate member and a proximal elongate member having a proximal end attached to a distal end of the distal elongate member. The proximal elongate member can be rigid, and the distal elongate member can be flexible.

Abstract: A surgical instrument assembly comprising a cartridge jaw, a cartridge positioned in the cartridge jaw, staples removably stored in the cartridge, a drive screw extending within the cartridge iaw, a firing member operably engaged with the drive screw, an anvil iaw, an electric motor configured to rotate the drive screw, and a control system is disclosed. The cartridge jaw comprises a distal end. The firing member comprises a knife edge configured to incise tissue. The drive screw is rotatable to drive the firing member toward the distal end during a staple firing stroke. The staples are deformed against the anvil iaw during the staple firing stroke. The control system is configured to limit the torque supplied by the electric motor to limit the force of the firing member and configured to control the speed of the electric motor.

Abstract: Articulation joints for use in connection with a surgical instrument that has a portion that must be passed through a trocar or similar structure and then articulated relative to another portion of the instrument received within the trocar. Various embodiments of the articulation joint include at least one flexible driven member to articulate the surgical implement relative to the handle assembly of the instrument.

Abstract: A surgical instrument includes a body assembly, a shaft assembly that releasably attaches to the body assembly, and an end effector at a distal end of the shaft assembly. The body assembly includes a first electrical contact and a first sealing portion. The shaft assembly includes a second electrical contact and a second sealing portion. The first and second electrical contacts are configured to electrically couple together to establish an electrical connection therebetween when the shaft assembly is attached to the body assembly. The first and second sealing portions are configured to sealingly engage one another when the shaft assembly is attached to the body assembly to establish a liquid-tight seal that surrounds the electrical connection.

Abstract: An electrosurgical system includes an RF current generator, a handle body, and an end effector in mechanical communication with the handle body. The end effector has a first jaw including a first electrode having a first electrode surface in electrical communication with a first terminal of the generator. The end effector also includes a second jaw including a second electrode having an essentially planar second electrode surface in electrical communication with a second terminal of the generator The first jaw includes at least one feature configured to apply an amount of a compressive force to a tissue compressed between the at least one feature and the second electrode surface that differs from an amount of a compressive force applied to the tissue compressed between the first electrode surface and the second electrode surface when the first jaw is placed in a proximate position to the second jaw.

Abstract: Stapling assemblies for use with a surgical stapler and methods for manufacturing the same are provided. Three dimensional adjuncts for use with a surgical stapling assembly and methods for manufacturing the same are also provided.

Abstract: A surgical severing and stapling instrument, suitable for laparoscopic and endoscopic clinical procedures, clamps tissue within an end effector of an elongate channel pivotally opposed by an anvil. An E-beam firing bar moves distally through the clamped end effector to sever tissue and to drive staples on each side of the cut. The E-beam firing bar affirmatively spaces the anvil from the elongate channel to assure properly formed closed staples, especially when an amount of tissue is clamped that is inadequate to space the end effector. In particular, an upper pin of the firing bar longitudinally moves through an anvil slot and a channel slot is captured between a lower cap and a middle pin of the firing bar to assure a minimum spacing. Forming the E-beam from a thickened distal portion and a thinned proximal strip enhances manufacturability and facilitates use in such articulating surgical instruments.

Abstract: An electromechanical robotic arm is provided having a distal end with a tool engaging member configured to mate with an electromechanical tool and a trocar holding member configured to mate with a trocar. The trocar holding member can have at least one engagement mechanism configured to engage and orient a trocar to mate the trocar to the trocar holding member in a desired orientation.

Abstract: A surgical tool includes a drive housing, a drive input and input shaft rotatably mounted to the drive housing, and a drive assembly mounted to the input shaft and including an upper capstan rotatably mounted to the input shaft with a first one-way bearing, and a lower capstan rotatably mounted to the input shaft with a second one-way bearing. First and second drive cables are coupled to the upper and lower capstans and extend to an end effector of the surgical tool. Rotating the input shaft in a first angular direction rotationally disengages the lower capstan from the input shaft and drives the upper capstan in the first angular direction, and rotating the input shaft in a second angular direction rotationally disengages the upper capstan from the input shaft and drives the lower capstan in the second angular direction.