Abstract: A surgical tool comprising a drive housing having a first end and a second end, a spline extending between the first and second ends and being rotatably coupled to the first end at a drive input, a drive gear coupled to and rotatable with the spline, a carriage movably mounted to the spline and housing an activating mechanism operatively coupled to the drive gear such that rotation of the spline actuates the activating mechanism, and a bailout mechanism arranged at the second end. The bailout mechanism may include a lever that is movable relative to the spline, from a first position, where the spline is disengaged from the lever, to a second position, where the spline engages the lever such that rotation of the lever correspondingly rotates the spline.

Abstract: A surgical tool comprising a drive housing having a first end, a spline extending from the first end and having a spline pinion gear mounted to the spline, a drive input that rotatably couples the spline to the first end and provides an input pinion gear; a clutch interposing the spline and input pinion gears and defining an internal gear, and an armature. The armature may be operatively coupled to the clutch and operable to shift the clutch from a first position, where the internal gear simultaneously mates with the spline and input pinion gears such that rotation of the drive input correspondingly rotates the spline, to a second position, where the internal gear is disengaged from the input pinion gear such that the spline is rotatable independent of the drive input.

Abstract: A surgical tool comprising a drive housing having first and second ends, a lead screw extending between the first and second ends and rotatably coupled to the first end at a drive input, a carriage mounted to the lead screw at a carriage nut and movable within the drive housing between the first and second ends, and an instrument driver arranged at an end of a robotic arm and matable with the first end. A drive output is matable with the drive input such that rotation of the drive output correspondingly rotates the drive input and the lead screw to thereby translate the carriage nut along the lead screw. A fin may be connected to the carriage and accessible by a user from an exterior of the drive housing to manually translate the carriage along the lead screw and thereby backdrive the drive output.

Abstract: A surgical tool comprising a drive housing having a first end and a second end, a spline extending between the first and second ends, a carriage provided in the drive housing and movable between the first and second ends, and a mechanism for manually actuating the spline. The mechanism may be arranged at the first or second end of the drive housing. The mechanism may further include a frame, a spline coupling rotatably mounted to the frame to receive an end of the spline, and a ring gear rotatable about the frame and operatively coupled to a pinion gear attached to the spline coupling such that rotation of the ring gear about the frame correspondingly actuates the spline.

Abstract: A surgical tool comprising a drive housing having a first end and a second end, a spline extending from the first end, a carriage movably mountable to the spline and comprising one or more proximal layers and one or more distal layers, and a latch. The latch may be pivotable between a locked position, where the latch secures the one or more proximal layers to the one or more distal layers, and an unlocked position, where the one or more proximal layers are free to separate from the one or more distal layers.

Abstract: An end effector is disclosed comprising a cartridge channel, a staple cartridge positionable in the cartridge channel, and a firing assembly configured to lock itself if the staple cartridge is not positioned in the cartridge channel. Moreover, the firing assembly is configured to lock itself if the staple cartridge has been at least partially spent.

Abstract: A robotic surgical tool comprises a stage assembly and a core assembly removably mountable to the stage assembly. The stage assembly may comprise a lead screw and at least one spline extendable between first and second ends of the stage assembly, and a nut rotatably mounted to the lead screw to translate between the first and second ends upon rotation of the lead screw. The core assembly may comprise a drive housing that is movably mountable to the stage assembly to translate, with the nut, between the first and second ends of the stage assembly. The surgical tool may also comprise a shroud assembly having a primary shroud and a secondary shroud, the primary shroud at least partially enclosing the core assembly when installed on the stage assembly, and the secondary shroud being movable between a first position, where the secondary shroud occludes an opening in the primary shroud, and a second position, where the opening in the primary shroud is exposed.

Abstract: A robotic surgical tool comprises a lead screw and at least one spline extending between first and second end, and a drive puck movably mounted to the lead screw and the spline and movable between the first and second ends. A spline coupling is rotatably coupled to the drive puck and receives the spline such that rotation of the spline correspondingly rotates the spline coupling. An instrument drive output is rotatably coupled to the drive puck and operatively coupled to the spline coupling, such that rotation of the spline coupling correspondingly rotates the instrument drive output. A drive housing is mountable to the drive puck and includes a drive input rotatably mounted to the drive housing and matable with the instrument drive output such that rotation of the instrument drive output correspondingly rotates the drive input.

Abstract: A method of assembling a robotic surgical tool includes providing a handle having first and second ends, a lead screw, and a spline extendable between the first and second ends. The lead screw is rotated in a first direction to translate an elevator layer of a carriage proximally along a longitudinal axis of the handle, the elevator layer being movably mounted to the lead screw at a carriage nut. One or more additional layers of the carriage are removably coupled to the elevator layer and an elongate shaft extends distally from the additional layers, and an end effector is arranged at a distal end of the shaft. The elevator layer is penetrated by the end effector and the shaft upon coupling the additional layers to the elevator layer, and the lead screw is rotated in a second direction opposite the first direction to translate the carriage distally.

Abstract: A robotic surgical tool comprises a handle having a first end and a second end, a lead screw and at least one spline extendable between the first and second ends of the handle, and a carriage movably mountable to the lead screw at a carriage nut. The carriage includes an elevator layer and one or more additional layers removably coupled to the elevator layer. An elongate shaft may be provided that extends distally from the one or more additional layers and penetrates the elevator layer and the first end when the one or more additional layers are coupled to the elevator layer. An end effector may be arranged at a distal end of the elongate shaft.

Abstract: A robotic surgical tool includes a drive housing having a lead screw extending from a first end of the drive housing, a carriage movably mounted to the lead screw at a carriage nut secured to the carriage, and an elongate shaft extending from the carriage and penetrating the first end, the shaft having an end effector arranged at a distal end thereof and comprising a proximal shaft portion releasably coupled to a distal shaft portion at a releasable interface. Proximal and distal portions of one or more mechanisms of the surgical tool extend from the carriage to the end effector within the proximal and distal shaft portions, respectively, and the one or more mechanisms are operable to operate or articulate the end effector.

Abstract: A biopsy device includes a needle extending distally from a body. The needle includes a transverse aperture, a first lumen, and a second lumen. A cutter is movable within the first lumen to sever tissue protruding through the transverse aperture. A valve assembly is operable to change the pneumatic state of the second lumen. The valve assembly includes a valve body and a translating member slidably disposed in a bore of the valve body. The valve body includes a first port and a second port. The first port is in fluid communication with the second lumen of the needle. The second port is in fluid communication with atmospheric air. The translating member selectively couples the first port with the second port based on the longitudinal position of the translating member within the bore. The translating member translates relative to the valve body based on the position of the cutter.

Abstract: A device including smart sensors with a local signal processor is disclosed. The device includes an end-effector including at least one sensor and a signal processing component corresponding to the at least one sensor; and a handle configured to receive processed information from the signal processing component. The processed information is generated by the signal processing component at the end-effector based on data received from the at least one sensor at the end-effector.

Abstract: A robotic surgical tool includes a handle having a first end and a second end opposite the first end, an exoskeleton extending between the first and second ends and having a non-circular cross-section and a carriage movably arranged within the exoskeleton and having a non-circular cross-section compatible with the non-circular cross-section of the exoskeleton. The robotic surgical tool also includes an elongate shaft extending from the carriage and penetrating the first end, the shaft having an end effector arranged at a distal end thereof The carriage is movable between the first and second ends to advance or retract the end effector relative to the handle where the exoskeleton guides the carriage between the first and second ends.

Abstract: A robotic surgical tool includes a drive housing having a first end and a second end, at least one spline extending between the first and second ends and including a drive gear that rotates with rotation of the spline, and a carriage movably mounted to the spline. An elongate shaft extends from the carriage and through the first end, an end effector is arranged at a distal end of the elongate shaft, and a wrist interposes the end effector and the distal end of the shaft. An activating mechanism is housed in the carriage and operatively coupled to the drive gear such that rotation of the drive gear correspondingly actuates the activating mechanism and thereby causes the wrist to articulate the end effector in at least one plane.

Abstract: A robotic surgical tool for a robotic instrument driver that includes a handle having a first end, at least one spline rotatably coupled to the handle and extending proximally from the first end, a carriage movably mounted to the at least one spline and including a first layer and a second layer operatively coupled to the first layer. At least one spline extends through a portion of at least one of the first and second layers and the carriage translates along the at least one spline. The robotic surgical tool also includes an elongate shaft extending from the carriage and penetrating the first end, the shaft having an end effector arranged at a distal end thereof and an activating mechanism coupled to one or both of the first and second layers and actuatable to operate a function of the end effector.

Abstract: A robotic surgical tool includes a drive housing having a first end, a second end, and a lead screw extending between the first and second ends, a carriage movably mounted to the lead screw at a carriage nut secured to the carriage, and an activating mechanism including a drive gear rotatably mounted to the carriage and rotatable to actuate the activating mechanism. A torsion cable extends between the drive gear and a drive input arranged at the first end, wherein rotating the drive input rotates the torsion cable and thereby transmits a torsional load along the torsion cable to the drive gear to actuate the activating mechanism.

Abstract: A robotic surgical tool includes a drive housing having a first end, a second end, and a lead screw extending between the first and second ends, a carriage movably mounted to the lead screw, and an activating mechanism coupled to the carriage. The activating mechanism includes a motor mounted to the carriage and operable to rotate a drive gear, and a driven gear engageable with the drive gear such that rotation of the drive gear causes the driven gear to rotate and thereby actuate the activating mechanism.

Abstract: A robotic surgical tool includes a drive housing having first and second ends, a spline extending between the ends and including a drive gear that rotates with spline rotation, and a carriage mounted to the spline. A shaft extends from the carriage, penetrates the first end, and has an end effector arranged at a distal end. An activating mechanism is housed in the carriage and includes an input gear operatively coupled to the drive gear such that rotation of the drive gear correspondingly rotates the input gear, and a firing rod defining external threads threadably engageable with internal threads of the input gear. The firing rod is coupled to a knife at the end effector such that movement of the firing rod correspondingly moves the knife in the same direction. The drive gear is rotated to rotate the input gear and thereby move the firing rod and the knife.

Abstract: A robotic surgical system includes a surgical tool including a drive housing having first and second ends, a carriage movably mounted to the drive housing, and an elongate shaft extending from the carriage and penetrating the first end, the shaft having an end effector arranged at a distal end. An instrument driver is arranged at an end of a robotic arm and includes a body having proximal and distal ends and defining a central aperture extending between the proximal and distal ends, the shaft and the end effector penetrate the instrument driver by extending through the central aperture, an outer housing extending between the proximal and distal ends, a tool drive assembly provided at the proximal end and extending into the outer housing, and a drive motor operatively coupled to the tool drive assembly and operable to cause the tool drive assembly to rotate relative to the outer housing.