Abstract: A method of controlling a robotic surgical system is provided, where the robotic surgical system including an arm having an instrument with jaws and an access port each coupled to the arm. The method includes detecting a position of the instrument, and opening the jaws of the instrument, in response to a determination that a distance between the position of the instrument and a position of the access port is greater than a predetermined distance.

Abstract: A method of verifying torque measurements of a reaction torque transducer of an instrument drive unit includes a controller receiving a verification signal, generating an acceptable range of torques, receiving a torque signal, comparing the torque signal to the acceptable range of torques, and stopping a motor if the torque applied by the motor is outside of the acceptable range of torques. The verification signal is indicative of the current drawn by the motor and the torque signal is indicative of torque applied by the motor.

Abstract: An actuation mechanism for actuating an electromechanical end effector includes a housing, and a shaft assembly extending distally from the housing. The shaft assembly includes a shaft, a longitudinal knife bar, a first hub, and a second hub. The shaft is axially movable relative to the housing and configured to be coupled to the electromechanical end effector. Rotation of a first screw of the housing moves the first hub to effect longitudinal movement of the shaft. The longitudinal knife bar is axially movable relative to the shaft and configured to be coupled to a knife blade of the electromechanical end effector. Rotation of a second screw of the housing moves the second hub to effect axial movement of the longitudinal knife bar.

Abstract: An instrument drive connector includes a housing assembly, an elongated shaft extending distally from the housing assembly, and a first drive assembly at least partially disposed within the housing assembly and the elongated shaft. The first drive assembly includes a first drive screw, a first input drive coupler non-rotatably coupled to a proximal end of the first drive screw, a first drive nut threadedly engaged with a threaded body portion of the first drive screw and longitudinally movable relative thereto in response to rotation of the first drive screw, and a locking link. The locking link includes an elongated body having a proximal end portion coupled to the first drive nut and longitudinally movable relative thereto between a proximal non-locking position and a distal locking position, and a distal end portion including a switch actuation assembly including a switch actuating arm biased towards the distal locking position.

Abstract: A method of controlling a robotic surgical system is provided, where the robotic surgical system including an arm having an instrument with jaws and an access port each coupled to the arm. The method includes detecting a position of the instrument, and opening the jaws of the instrument, in response to a determination that a distance between the position of the instrument and a position of the access port is greater than a predetermined distance.

Abstract: The sterile interface module includes a body member for coupling a surgical instrument to a robotic surgical assembly, a decoupling collar supported on the body member and movable relative to the body member from a first position to a second position, and a drive transfer assembly supported by the body member. The drive transfer assembly includes a drive coupler and a transfer shaft extending from the drive coupler. The drive coupler engages the robotic surgical assembly and the transfer shaft engages the surgical instrument. The drive coupler engages the robotic surgical assembly while the decoupling collar is in the first position to enable the robotic surgical assembly to robotically control the surgical instrument. The drive coupler is retracted within the body member while the decoupling collar is in the second position to prevent the drive coupler from engaging the robotic surgical assembly.

Abstract: An instrument drive connector includes a housing assembly, an elongated shaft extending distally from the housing assembly, and a first drive assembly at least partially disposed within the housing assembly and the elongated shaft. The first drive assembly includes a first drive screw, a first input drive coupler non-rotatably coupled to a proximal end of the first drive screw, a first drive nut threadedly engaged with a threaded body portion of the first drive screw and longitudinally movable relative thereto in response to rotation of the first drive screw, and a locking link. The locking link includes an elongated body having a proximal end portion coupled to the first drive nut and longitudinally movable relative thereto between a proximal non-locking position and a distal locking position, and a distal end portion including a switch actuation assembly including a switch actuating arm biased towards the distal locking position.

Abstract: A robotic surgical instrument for actuating an electromechanical end effector includes a housing, a first input drive, a second input drive, and a shaft assembly. The housing has a proximal end configured to be coupled to an instrument drive unit. The first and second input drives are rotatably disposed within the housing and configured to be drivingly coupled to respective first and second motors of the instrument drive unit. The shaft assembly extends distally from within the housing and includes a shaft and a rod. The shaft has a distal end, and a proximal end operably coupled to the first and second input drives. The rod has a proximal end threadingly coupled to the distal end of the shaft. Rotation of the first and second input drives rotates the shaft to effect axial movement of the rod relative to the shaft.

Abstract: An instrument adapter includes a housing, a drive member, a nut, and a shaft assembly. The nut is threadedly coupled to the drive member and axially movable relative thereto. The shaft assembly includes a shaft and a link. The shaft extends distally from the housing and is configured to be operably coupled to an end effector. The link has a proximal end movably coupled to the nut and a distal end configured to selectively lock the end effector to the shaft assembly. The link is movable between a proximal non-locking position, and a distal locking position. The nut is movable between a first position along the drive member, in which the nut resists proximal movement of the link from the distal position to the proximal position, and a second position, in which the nut does not resist proximal movement of the link from the distal position to the proximal position.

Abstract: An actuation mechanism for actuating an electrosurgical end effector includes a housing and a shaft assembly extending distally from the housing. The shaft assembly includes an elongate collar, a shaft extending through the elongate collar, and a longitudinal bar axially movable relative to the shaft. The elongate collar has an internal threadform extending along a length thereof. The longitudinal bar includes a proximal end having an extension engaged to the internal threadform of the elongate collar and a distal end configured to be coupled to a knife blade of an electrosurgical end effector. Rotation of the elongate collar axially moves the longitudinal bar relative to the elongate collar to move the knife blade.

Abstract: A surgical system for selective connection to a robotic arm includes an instrument drive unit and a surgical instrument detachably coupled to the instrument drive unit. The instrument drive unit includes a first actuator, a linkage member having opposing first and second portions, and a drive member. The first portion of the linkage member is operatively coupled to the first actuator such that actuation of the first actuator moves the first portion in a first direction and the second portion in a second direction opposite of the first direction. The drive member is operatively coupled to the second portion of the linkage member. The surgical instrument includes a driven member operatively associated with the drive member of the instrument drive unit and an end effector operatively coupled with the driven member, wherein translation of the driven member effects a first function of the end effector.

Abstract: An instrument adapter includes a housing, a drive member, a nut, and a shaft assembly. The nut is threadedly coupled to the drive member and axially movable relative thereto. The shaft assembly includes a shaft and a link. The shaft extends distally from the housing and is configured to be operably coupled to an end effector. The link has a proximal end movably coupled to the nut and a distal end configured to selectively lock the end effector to the shaft assembly. The link is movable between a proximal non-locking position, and a distal locking position. The nut is movable between a first position along the drive member, in which the nut resists proximal movement of the link from the distal position to the proximal position, and a second position, in which the nut does not resist proximal movement of the link from the distal position to the proximal position.

Abstract: A method of verifying torque measurements of a reaction torque transducer of an instrument drive unit includes a controller receiving a verification signal, generating an acceptable range of torques, receiving a torque signal, comparing the torque signal to the acceptable range of torques, and stopping a motor if the torque applied by the motor is outside of the acceptable range of torques. The verification signal is indicative of the current drawn by the motor and the torque signal is indicative of torque applied by the motor.

Abstract: A surgical assembly includes a surgical instrument and a holder. The surgical instrument includes an elongate body and an end effector. The elongate body has a proximal portion and a distal portion that defines a longitudinal axis therealong. The proximal portion is movable relative to the distal portion between a first condition and a second condition. In the first condition, the proximal portion is parallel to the longitudinal axis. In the second condition, the proximal portion is non-parallel to the longitudinal axis. The holder is configured to be coupled to the elongate body to selectively retain the proximal portion of the elongate body in the first condition.

Abstract: A method of verifying torque measurements of a reaction torque transducer of an instrument drive unit includes a controller receiving a verification signal, generating an acceptable range of torques, receiving a torque signal, comparing the torque signal to the acceptable range of torques, and stopping a motor if the torque applied by the motor is outside of the acceptable range of torques. The verification signal is indicative of the current drawn by the motor and the torque signal is indicative of torque applied by the motor.

Abstract: The present disclosure relates to cannula assemblies for use with robotic surgical systems. According to an aspect of the present disclosure, a surgical cannula assembly for use with a mounting structure of a robotic arm, is provided. The surgical cannula assembly includes a cannula configured for reception of a surgical instrument at least partially therethrough; an attachment mechanism configured to releasably engage the cannula; and a barrier configured to extend through a channel of the mounting structure. The barrier includes a proximal ring for positioning adjacent a proximal face of the mounting structure, a distal ring for positioning adjacent a distal face of the mounting structure, and a cylindrical section defining a lumen therein and extending between the proximal ring and the distal ring, the cannula configured for insertion within the lumen in a distal-to-proximal direction.

Abstract: A motion sensor for detecting the movement of a patient is provided and includes a housing, a spring loaded return mechanism supported in the housing, an encoder, and a sensor. The spring loaded return mechanism includes a spool rotatably supported within the housing, a biasing member coupled to the housing and the spool, and a cord supported on the spool. The encoder is located on the spool and is configured to monitor a length of cord extended from the housing. The sensor is configured to communicate a signal when the cord is extended beyond a predetermined or preset length.

Abstract: An actuation mechanism for actuating an electromechanical end effector includes a housing, and a shaft assembly extending distally from the housing. The shaft assembly includes a shaft, a longitudinal knife bar, a first hub, and a second hub. The shaft is axially movable relative to the housing and configured to be coupled to the electromechanical end effector. Rotation of a first screw of the housing moves the first hub to effect longitudinal movement of the shaft. The longitudinal knife bar is axially movable relative to the shaft and configured to be coupled to a knife blade of the electromechanical end effector. Rotation of a second screw of the housing moves the second hub to effect axial movement of the longitudinal knife bar.

Abstract: An instrument drive connector includes a housing assembly, an elongated shaft extending distally from the housing assembly, and a first drive assembly at least partially disposed within the housing assembly and the elongated shaft. The first drive assembly includes a first drive screw, a first input drive coupler non-rotatably coupled to a proximal end of the first drive screw, a first drive nut threadedly engaged with a threaded body portion of the first drive screw and longitudinally movable relative thereto in response to rotation of the first drive screw, and a locking link. The locking link includes an elongated body having a proximal end portion coupled to the first drive nut and longitudinally movable relative thereto between a proximal non-locking position and a distal locking position, and a distal end portion including a switch actuation assembly including a switch actuating arm biased towards the distal locking position.

Abstract: A method of controlling a robotic surgical system is provided, where the robotic surgical system including an arm having an instrument with jaws and an access port each coupled to the arm. The method includes detecting a position of the instrument, and opening the jaws of the instrument, in response to a determination that a distance between the position of the instrument and a position of the access port is greater than a predetermined distance.