Abstract: An apparatus includes a body, a shaft assembly, and an end effector. The end effector includes an ultrasonic blade and a clamp arm assembly. The ultrasonic blade is in acoustic communication with an acoustic waveguide of the shaft assembly. The clamp arm assembly is pivotable toward and away from the ultrasonic blade. The clamp arm assembly includes a first electrode and a second electrode. The first and second electrodes are operable to cooperate to apply bipolar RF energy to tissue.

Abstract: Circular stapling instruments and anvil assemblies. The anvil assemblies may have collapsible anvil support members that may be inserted through an opening in a patient and then expanded to be attached to an anvil plate assembly that has a staple-forming surface thereon. The anvil support member is attachable to the anvil plate assembly in such a way that when the anvil assembly is coupled to the stapling head of a circular stapler, the staple-forming surface is in substantial registry with the staples supported in the stapling head. A variety of different anvil support members and anvil plate assemblies are disclosed.

Abstract: A surgical instrument includes a shaft assembly and an articulation control assembly. The shaft assembly includes an articulation section that is configured to deflect a distal end portion from the longitudinal axis. The articulation control assembly includes an articulation control member and a transmission assembly. The articulation control member is rotatably mounted relative to the shaft assembly. The transmission assembly is operatively connected between the articulation control member and the articulation section of the shaft assembly. The transmission assembly is configured to transmit selective manipulation of the articulation control member to the articulation section and selectively actuate the articulation section.

Abstract: A surgical tool is disclosed. The surgical tool has a tool mounting portion having a tool mounting housing, a tool mounting plate, and a coupler to couple a shaft assembly having an articulation section to the tool mounting portion. An articulation mechanism is located within the tool mounting portion and is configured to receive a proximal end of the shaft assembly to articulate the articulation section of the shaft assembly. The articulation mechanism has a cam mechanism operative to articulate the articulation section of the shaft assembly. An interface mechanically and electrically couples the tool mounting portion to a manipulator.

Abstract: An end effector for an electrosurgical instrument is disclosed which includes a first jaw, a first energy delivery surface, a first distal end, and a first proximal end. A second jaw of the end effector includes a second energy delivery surface, a second distal end, and a second proximal end. The end effector also includes an electrically conductive gap setting member which defines a distal gap distance between the first and second energy delivery surfaces. At least one pivot is fixed to one of the jaws to set a proximal gap distance between the first and second energy delivery surfaces. A method for making an end effector and a method for assembling an end effector for an electrosurgical instrument are also disclosed.

Abstract: An apparatus comprises a body assembly, a shaft, an acoustic waveguide, an articulation section, an end effector, and an articulation drive assembly. The shaft extends distally from the body assembly and defines a longitudinal axis. The acoustic waveguide comprises a flexible portion. The articulation section is coupled with the shaft. A portion of the articulation section encompasses the flexible portion of the waveguide. The articulation section comprises a plurality of body portions aligned along the longitudinal axis and a flexible locking member. The flexible locking member is operable to secure the body portions in relation to each other and in relation to the shaft. The end effector comprises an ultrasonic blade in acoustic communication with the waveguide. The articulation drive assembly is operable to drive articulation of the articulation section to thereby deflect the end effector from the longitudinal axis.

Abstract: An electrosurgical device comprises a body, an end effector, a cutting member, and a shaft. The end effector includes a pair of jaws that are operable to deliver RF energy to tissue that is clamped between the jaws. The cutting member is operable to sever tissue that is clamped between the jaws. The shaft extends between the body and the end effector. The shaft includes an articulation section that is operable to selectively position the end effector at non-parallel positions relative to the longitudinal axis of the shaft. Some versions include a rotation section that is distal to the articulation section. The rotation section is operable to rotate the end effector relative to the articulation section.

Abstract: An apparatus includes a body, a shaft assembly, and an end effector. The end effector includes an ultrasonic blade and a clamp arm assembly. The ultrasonic blade is in acoustic communication with an acoustic waveguide of the shaft assembly. The clamp arm assembly is pivotable toward and away from the ultrasonic blade. The clamp arm assembly includes a first electrode and a second electrode. The first and second electrodes are operable to cooperate to apply bipolar RF energy to tissue.

Abstract: An end effector for an electrosurgical instrument is disclosed which comprises a first jaw comprising a first energy delivery surface, a first distal end, and a first proximal end; and a second jaw comprising a second energy delivery surface, a second distal end, and a second proximal end, wherein the first energy delivery surface comprises a first curved portion that is outwardly curved, and the second energy delivery surface comprises a second curved portion that is inwardly curved. The first jaw or the second jaw is configured for pivotal movement between an open position and a closed position. In the open position, the first and second distal ends are separated apart. In the closed position, the first and second distal ends are in proximity. The end effector also comprises an electrically conductive member which protrudes from either the first or second jaw.

Abstract: The disclosure provides a method of manufacturing a flexible circuit electrode assembly and an apparatus manufactured by said method. According to the method, an electrically conductive sheet is laminated to an electrically insulative sheet. An electrode is formed on the electrically conductive sheet. An electrically insulative layer is formed on a tissue contacting surface of the electrode. The individual electrodes are separated from the laminated electrically insulative sheet and the electrically conductive sheet. In another method, a flexible circuit is vacuum formed to create a desired profile. The vacuum formed flexible circuit is trimmed. The trimmed vacuum formed flexible circuit is attached to a jaw member of a clamp jaw assembly.

Abstract: An apparatus comprises an end effector, a shaft assembly, and an interface assembly. The end effector is coupled with the shaft assembly. The shaft assembly comprises a translating member extending through the shaft assembly. The interface assembly is operable to engage the shaft assembly and comprises a plurality of drive shafts and a rack. One of the drive shafts is operable to drive the rack along a path that is parallel to the longitudinal axis of the shaft assembly. A plurality of racks may be used to rotate the shaft assembly, articulate the shaft assembly, and/or drive the translating member through the shaft assembly to thereby actuate the end effector.

Abstract: A surgical stapler configured to clamp, staple, and cut tissue is disclosed. The surgical stapler comprises a housing, a shaft, a staple cartridge, an expandable anvil, and a distal head portion. The shaft extends from the housing and comprises three concentric actuators. The three concentric actuators are operable independently of each other. The three concentric actuators are actuatable relative to the housing and are configured to perform three separate and distinct end effector functions. The staple cartridge comprises a unitary cartridge body. The distal head portion is configured to rotate relative to the shaft. One of the separate and distinct end effector functions comprises rotating the distal head portion to expand the anvil.

Abstract: The disclosure provides a method of manufacturing a flexible circuit electrode assembly and an apparatus manufactured by said method. According to the method, an electrically conductive sheet is laminated to an electrically insulative sheet. An electrode is formed on the electrically conductive sheet. An electrically insulative layer is formed on a tissue contacting surface of the electrode. The individual electrodes are separated from the laminated electrically insulative sheet and the electrically conductive sheet. In another method, a flexible circuit is vacuum formed to create a desired profile. The vacuum formed flexible circuit is trimmed. The trimmed vacuum formed flexible circuit is attached to a jaw member of a clamp jaw assembly.

Abstract: Various embodiments of surgical robot control systems are disclosed. In one example embodiment, the surgical robot control system comprises a housing. A controller is located within the housing and is coupled to a socket. The socket receives a handheld surgical user interface therein to control a surgical instrument. The surgical instrument is connected to the surgical robot and comprises an end effector and a mechanical interface to manipulate the end effector. The mechanical interface is coupled to the controller. At least one sensor is coupled to the controller and the socket to convert movement of the handheld surgical user interface into electrical signals corresponding to the movement of the surgical instrument. At least one feedback device is coupled to the controller to provide feedback to a user. The feedback is associated with a predetermined function of the surgical instrument.

Abstract: An apparatus comprises an end effector, a shaft assembly, and an interface assembly. The end effector is coupled with the shaft assembly. The shaft assembly comprises a translating member extending through the shaft assembly. The interface assembly is operable to engage the shaft assembly and comprises a plurality of drive shafts and a rack. One of the drive shafts is operable to drive the rack along a path that is parallel to the longitudinal axis of the shaft assembly. A plurality of racks may be used to rotate the shaft assembly, articulate the shaft assembly, and/or drive the translating member through the shaft assembly to thereby actuate the end effector.

Abstract: Surgical devices and methods for cutting tissue are provided having a cutting element that is biased to facilitate tissue cutting. For example, a surgical device is provided with a handle that has an elongate shaft assembly with first and second jaws for engaging tissue. The surgical device includes a cutting element that is moveable through a slot formed in at least the second jaw for cutting tissue engaged between the first and second jaws. In an exemplary embodiment, the cutting element is biased toward the second jaw such that the cutting element remains within the slot in the second jaw when thick tissue is engaged.

Abstract: An apparatus comprises a body assembly, a shaft, an acoustic waveguide, an articulation section, an end effector, an articulation drive assembly, and a locking feature. The shaft extends distally from the body assembly. The waveguide comprises a flexible portion. The articulation drive assembly is operable to drive articulation of the articulation section to thereby deflect the end effector from the longitudinal axis of the shaft. The articulation drive assembly comprises an actuator. The actuator is movable relative to the body assembly to drive articulation of the articulation section. The locking feature is in communication with the actuator. The locking feature is movable between an unlocked state and a locked state. The locking feature is configured to permit movement of the actuator relative to the body assembly in the unlocked state. The locking feature is configured to prevent movement of the actuator relative to the body assembly in the locked state.

Abstract: Devices and methods for increasing rotational torque during end effector articulation are provided. In general, a surgical device can include an end effector configured to articulate. The end effector can be configured to move between different angular orientations relative to an elongate shaft of the device having the end effector at a distal end thereof. The elongate shaft and the end effector can be configured to be rotated relative to a handle portion of the device. The device can include at least one friction member configured to provide increased resistance to rotation of the elongate shaft and the end effector when the end effector is articulated as compared to when the end effector is not articulated. The at least one friction member can thus be configured to increase rotational torque when the end effector is articulated as compared to when the end effector is not articulated.

Abstract: An apparatus comprises an end effector, an elongate shaft, and a handle assembly. The shaft includes an articulation section that is operable to deflect the end effector away from the longitudinal axis of the shaft. The handle assembly includes a rotary member positioned within an intermediate section of the handle assembly. The rotary member is rotatable about an axis that is parallel to the longitudinal axis of the shaft. The rotary member is operable to control the articulation section of the shaft. The rotary member may include opposing thread sections that simultaneously drive lead screws in opposite longitudinal directions, to thereby control the articulation section. The shaft may be rotatable relative to the handle assembly, and the apparatus may selectively lock or resist such rotation based on the articulation state of the articulation section.