Abstract: A surgical instrument includes a drive housing, a spline, a carriage, an elongate shaft assembly, an end effector, and an activating mechanism. The at least one spline includes a drive gear rotatable with the spline. The elongate shaft assembly extends from the carriage. The activating mechanism includes a barrel cam extending along a rotational axis and having a first cam profile radially extending about the rotational axis. The barrel cam is operatively coupled to the drive gear such that rotation of the drive gear is configured to actuate the activating mechanism to move at least a portion of the end effector. The first cam profile defines a plurality of slopes relative to the rotational axis such that the first cam profile is configured to drive movement of the end effector or the elongate shaft assembly at different rates according to the plurality of slopes.

Abstract: A surgical tool includes a drive housing removably coupled to a tool driver of a robotic surgical system, a shaft extending from the drive housing, an end effector arranged at an end of the shaft, and a computer system. The computer system is programmed to send a command signal to a motor of the tool driver to drive rotation of a drive shaft mounted within the drive housing, monitor torque and rotational motion of the motor with a torque sensor and a rotary encoder, respectively, in communication with the computer system, measure an unexpected change in the torque or the rotational motion of the motor with the torque sensor or the rotary encoder when the surgical tool is manually bailed out by manually rotating the drive shaft and backdriving the motor, report the unexpected change as a bailout signal, and disable the surgical tool once the bailout signal is received.

Abstract: A surgical stapler is disclosed comprising an end effector configured to receive a staple cartridge, a trocar movable relative to the end effector, an anvil removably coupleable to the trocar, a sensor, a housing comprising a display, and a control circuit operably coupled to the sensor and the display. The anvil is movable relative to the end effector based on movement of the trocar. The sensor is configured to sense a position of the anvil relative to the end effector. The control circuit is configured to interrogate the sensor to determine the position of the anvil and display a representation of the determined position on the display.

Abstract: Systems for customizing and troubleshooting the display of surgical data and wireless pairing techniques for surgical instruments are disclosed.

Abstract: A method of operating a surgical tool includes coupling a drive housing to a tool driver of a first robotic surgical system, driving rotation of a drive shaft mounted within the drive housing and thereby commencing a firing sequence of the end effector, and setting a bailout Boolean value as “true” in an internal computer of the drive housing upon commencing the firing sequence, and storing the bailout Boolean value in a memory of the internal computer. Manually bailing out the surgical tool before completing the firing sequence, installing the surgical tool on a tool driver of a second robotic surgical system, and querying the memory of the internal computer with the second robotic surgical system and recognizing the bailout Boolean value as “true”. Initiating one or more remedial actions to ensure safe operation of the surgical tool on the second robotic surgical system.

Abstract: A robotic surgical system that comprises a closure system. The closure system comprises a first pinion drivingly coupled to a first motor, a second pinion drivingly coupled to a second motor, and a closure gear selectively driven by the first pinion and the second pinion. The robotic surgical system further comprises a control circuit configured to implement a motor crosscheck operation. The control circuit is configured to receive a first parameter indicative of a first torque generated by the first motor, receive a second parameter indicative of a second torque generated by the second motor, compare the first parameter to the second parameter, and transmit a signal to a communication device, wherein the signal is based on the comparison and indicative of a status of the closure system.

Abstract: A surgical tool includes a drive housing, a shaft extending from the drive housing and including an inner grounding shaft, an end effector coupled to the shaft and having opposing jaws, a firing rod extending within the inner grounding shaft and terminating at a cutting element, and an unclamp lockout mechanism provided within the drive housing and including a pawl rotatably mounted to the inner grounding shaft and pivotable between a stowed position, where the pawl is received within an aperture defined in the inner grounding 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 pawl is received within a cutout defined by the firing rod, and moving the firing rod distally overcomes the biasing device and urges the pawl to the deployed position.

Abstract: An apparatus includes a body with a first body portion, a second body portion opposed from the first body portion, and a connecting portion that couples a proximal end of the first body portion with a proximal end of the second body portion. The connecting portion is configured to permit the first and second body portions to move toward and away from one another between a plurality of angular orientations. The first and second body portions define a distally opening angle. A first adjunct element and a second adjunct element are disposed on outwardly facing surfaces of the first and second body portions. The first and second body portions may be fixed in each of the angular orientations and may simultaneously apply the first and second adjunct elements to first and second jaws, respectively, of a surgical stapler end effector.

Abstract: A method is provided for applying an adjunct element to a surgical stapler end effector having first and second stapling surfaces using an applicator. The method includes providing the end effector in an open state in which the first and second stapling surfaces are spaced apart. With the end effector in the open state, at least a portion of the applicator is positioned between the first and second stapling surfaces. Without engaging a closure system input feature of the surgical stapler, a portion of the end effector is compressively engaged by the applicator to thereby secure the adjunct element to one of the first or second stapling surfaces. The applicator and the end effector are withdrawn relatively away from one another so that the adjunct element remains attached to the one of the first or second stapling surfaces of the end effector.

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: A method is provided for applying an adjunct element to a surgical stapler end effector having first and second stapling surfaces using an applicator. The method includes providing the end effector in an open state in which the first and second stapling surfaces are spaced apart. With the end effector in the open state, at least a portion of the applicator is positioned between the first and second stapling surfaces. Without engaging a closure system input feature of the surgical stapler, a portion of the end effector is compressively engaged by the applicator to thereby secure the adjunct element to one of the first or second stapling surfaces. The applicator and the end effector are withdrawn relatively away from one another so that the adjunct element remains attached to the one of the first or second stapling surfaces of the end effector.

Abstract: An apparatus is configured to apply an adjunct material to at least one of a first stapling surface or a second stapling surface of a surgical stapler. The apparatus includes a contact structure defining a longitudinal axis and an expansion mechanism. The contact structure includes a first contact member configured to support a first portion of the adjunct material and a second contact member movably coupled with the first contact member that is configured to support a second portion of the adjunct material. The first and second contact members are configured to move away from one another in opposing directions to apply the first portion of the adjunct material to the first stapling surface and the second portion of the adjunct material to the second stapling surface. The expansion mechanism is selectively operable to transition the contact structure from a non-expanded state toward the expanded state.

Abstract: A method includes grasping a user input device in communication with a surgical tool of a robotic surgical system, the surgical tool including an end effector with opposing jaws, squeezing the user input device and thereby actuating a motor that closes the jaws and clamps down on tissue at a surgical site, and calculating with a computer system in communication with the surgical tool work completed by the motor to close the jaws and clamp down on the tissue. The computer system generates one or more effort indicators when the work completed by the motor meets or exceeds one or more predetermined work increments corresponding to operation of the motor, and communicates the one or more effort indicators to an operator.

Abstract: An apparatus includes: (a) at least one platform configured to be positioned between opposing first and second jaws of an end effector of a surgical stapler, wherein the at least one platform is configured to transition between a first state and a second state; (b) at least one adjunct element positioned on the at least one platform; (c) at least one detector configured to detect a predetermined portion of the end effector; and (d) a driver configured to selectively transition the at least one platform from the first state to the second state in a direction toward at least one of the first or second jaws when the at least one detector detects the predetermined portion of the end effector for placing the at least one adjunct element in contact with a corresponding surface of the at least one of the first or second jaws.

Abstract: A surgical tool includes a drive housing, a closure tube extending from the drive housing, and an end effector arranged at an end of the closure tube and having opposing jaws. A method of operating the surgical tool includes operating one or more motors in a first direction at a constant velocity and thereby urging the closure tube to move and actuate the opposing jaws to engage and clamp onto tissue, stopping operation of the motor(s) in the first direction when a torque on the motor(s) exceeds a predetermined torque, storing an angular position of the motor(s) when the torque exceeds the predetermined torque, operating the motor(s) in a second direction opposite the first direction over a preset angular magnitude, and upon reaching the preset angular magnitude, operating the motor(s) in the first direction at the constant velocity.

Abstract: A surgical instrument includes a drive housing, a spline, a carriage, an elongate shaft assembly, an end effector, and an activating mechanism. The at least one spline includes a drive gear rotatable with the spline. The elongate shaft assembly extends from the carriage. The activating mechanism includes a barrel cam extending along a rotational axis and having a first cam profile radially extending about the rotational axis. The barrel cam is operatively coupled to the drive gear such that rotation of the drive gear is configured to actuate the activating mechanism to move at least a portion of the end effector. The first cam profile defines a plurality of slopes relative to the rotational axis such that the first cam profile is configured to drive movement of the end effector or the elongate shaft assembly at different rates according to the plurality of slopes.

Abstract: A surgical instrument includes a drive housing, a spline, a carriage, an elongate shaft assembly, an end effector, and an activating mechanism. The spline includes a drive gear rotatable via the spline. The shaft assembly extends from the carriage. The activating mechanism is housed in the carriage and includes a barrel cam extending along a rotational axis. The barrel cam has a first cam profile radially extending about the rotational axis. The barrel cam is operatively coupled to the drive gear such that rotation of the drive gear is configured to actuate the activating mechanism to move at least a portion of the end effector. The first cam profile defines a first operational section, a second operational section, and an operational transition positioned between the first and second operational sections. The first and the second operational sections extend from the operational transition in opposite directions.

Abstract: A surgical instrument includes an end effector, a shaft assembly, a drive, and an activating mechanism. The end effector includes first and second jaws. At least one of the first and second jaws is pivotable relative to the other of the first and second jaws between open and closed positions. The shaft assembly extends proximally from the end effector. The drive is operatively connected to a portion of at least one of the end effector or the shaft assembly. The activating mechanism includes an actuation body operatively connected to the drive. The portion is configured to perform a first actuation profile in response to the actuation body moving along a first predetermined path or perform a second actuation profile in response to the actuation body moving along a second predetermined path. Selection of the first predetermined path is configured to prevent the actuation body from accessing the second predetermined path.

Abstract: A surgical instrument includes a drive housing, a spline, a carriage, an elongate shaft assembly, an end effector, and an activating mechanism. The spline includes a drive gear rotatable via the spline. The shaft assembly extends along a longitudinal axis from the carriage. The shaft assembly includes a wrist disposed between the end effector and a distal end of the shaft assembly. The activating mechanism includes a barrel cam extending along a rotational axis and having a first cam profile radially extending about the rotational axis. The barrel cam is operatively coupled to the drive gear such that rotation of the drive gear is configured to actuate the activating mechanism to move at least a portion of the end effector or the shaft assembly. The first cam profile defines a lock zone configured to selectively lock movement of the portion of the end effector or the shaft assembly.

Abstract: An apparatus is configured to apply an adjunct material to a stapling surface of a jaw of a surgical stapler. The jaw includes an outer surface disposed opposite the stapling surface. The apparatus includes a housing and an arm. The housing includes a first contact feature that is configured to contact one of the adjunct material or the outer surface of the jaw. The arm is operatively coupled with the housing. The arm includes a second contact feature that is configured to move relative to the first contact feature to contact the other of the adjunct material or the outer surface of the jaw. The first and second contact features are configured to cooperate to apply a compression force in a direction toward the first contact feature to pinch the adjunct material against the stapling surface to mount the adjunct material to the stapling surface.