Abstract: An apparatus is provided for applying an adjunct element to at least one of opposing first and second jaws of an end effector of a surgical stapler, wherein each of the first and second jaws includes a stapling surface and an external surface opposed from the respective stapling surface. The apparatus comprises: (a) a platform configured to be positioned between the first and second jaws of the end effector; (b) an adjunct element positioned on the platform; and (c) at least one closure surface opposed from the platform, wherein the at least one closure surface is configured to mechanically engage the external surface of at least one of the first or second jaws to thereby transition the end effector from an open state toward a closed state for placing the respective stapling surface of the at least one of the first or second jaws in contact with the adjunct element.

Abstract: An apparatus includes a platform, an adjunct material, and an engagement feature. The platform includes an upper support and a lower support. The adjunct material is positioned on the upper support or the lower support. The upper support is configured to move relative to the lower support to apply the adjunct material to a jaw of an end effector incorporated into a surgical stapler. The engagement feature is configured to interact with a predetermined portion of the end effector to permit movement of the upper support relative to the lower support and thereby apply the adjunct material to the jaw of the end effector. The engagement feature is further configured to inhibit movement of the upper support relative to the lower support when the engagement feature is disengaged from the predetermined portion of the end effector.

Abstract: A robotic surgical tool includes a handle having a drive input and a spline, a bailout ring arranged at the handle, and a slipper clutch mechanism received within the bailout ring. The slipper clutch mechanism including a slip carrier rotationally fixed to the bailout ring and defining a vertical slot that slidably receives a pin, a first ring arranged within the slip carrier and defining a first interface, a second ring arranged within the slip carrier atop the first ring and defining a second interface, and a pinion gear operatively coupled to the spline and arranged to intermesh with radial gear teeth defined on the second ring. Manual rotation of the bailout ring rotates the slip carrier and the pin and thereby rotates the first and second ring in succession to rotate the spline and manually bail out a function of the robotic surgical tool.

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 robotic surgical system includes a robotic arm, a surgical device coupled with the robotic arm and configured to extend through a body wall of a patient, and a controller in communication with the robotic arm. The controller is configured to determine a position of the surgical device relative to the patient. The controller is also configured to acknowledge a maximum allowable metric associated with the body wall at the determined position, and determine a metric associated with the body wall at the determined position. The controller is furthermore configured to drive the robotic arm to manipulate the surgical device such that the determined metric does not exceed the maximum allowable metric.

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: An apparatus is provided for applying an adjunct element to at least one of opposing first and second jaws of an end effector of a surgical stapler, wherein each of the first and second jaws includes a stapling surface and an external surface opposed from the respective stapling surface. The apparatus comprises: (a) a platform configured to be positioned between the first and second jaws of the end effector; (b) an adjunct element positioned on the platform; and (c) at least one closure surface opposed from the platform, wherein the at least one closure surface is configured to mechanically engage the external surface of at least one of the first or second jaws to thereby transition the end effector from an open state toward a closed state for placing the respective stapling surface of the at least one of the first or second jaws in contact with the adjunct element.

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: 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: 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: 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.

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 includes a platform, an adjunct material, and an engagement feature. The platform includes an upper support and a lower support. The adjunct material is positioned on the upper support or the lower support. The upper support is configured to move relative to the lower support to apply the adjunct material to a jaw of an end effector incorporated into a surgical stapler. The engagement feature is configured to interact with a predetermined portion of the end effector to permit movement of the upper support relative to the lower support and thereby apply the adjunct material to the jaw of the end effector. The engagement feature is further configured to inhibit movement of the upper support relative to the lower support when the engagement feature is disengaged from the predetermined portion of the end effector.

Abstract: A method of operating a surgical tool includes sending a command signal from a computer system to a motor to drive rotation of a drive shaft mounted within a drive housing of the surgical tool, monitoring one or more operational parameters of the motor with one or more monitoring devices in communication with the computer system, and measuring an unexpected change in the operational parameters of the motor with the monitoring devices. The unexpected change includes a measured operational parameter that is inconsistent with the command signal. The unexpected change is reported to the computer system as a bailout signal, and the surgical tool is disabled once the bailout signal is received at the computer system.

Abstract: A method includes advancing an end effector of a surgical tool to a surgical site, setting a desired force vector to be assumed on the end effector during actuation of the end effector, engaging tissue at the surgical site with the end effector and calculating a force vector assumed on the end effector, and maneuvering the end effector to obtain the desired force vector.

Abstract: A method includes advancing an end effector of a surgical tool to a surgical site, the surgical tool being pivotably mounted to a robotic arm at a tool driver, engaging tissue at the surgical site with the end effector, calculating a force vector assumed on the end effector by engaging the tissue, optimizing the force vector to obtain an optimized force vector, and actuating the end effector after applying the optimized force vector on the end effector.

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: A method of operating a surgical tool includes sending a command signal from a computer system to a motor to drive rotation of a drive shaft mounted within a drive housing of the surgical tool, monitoring one or more operational parameters of the motor with one or more monitoring devices in communication with the computer system, and measuring an unexpected change in the operational parameters of the motor with the monitoring devices. The unexpected change includes a measured operational parameter that is inconsistent with the command signal. The unexpected change is reported to the computer system as a bailout signal, and the surgical tool is disabled once the bailout signal is received at the computer system.

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 includes advancing an end effector of a surgical tool to a surgical site, the surgical tool being pivotably mounted to a robotic arm at a tool driver, engaging tissue at the surgical site with the end effector, calculating a force vector assumed on the end effector by engaging the tissue, optimizing the force vector to obtain an optimized force vector, and actuating the end effector after applying the optimized force vector on the end effector.