Abstract: A computer-assisted device include an actuator and one or more processors. The computer-assisted device is configured to support an instrument having an end effector located at a distal end. To perform an operation with the instrument, the one or more processors are configured to operate the end effector according to a state machine having a first state and a second state. In the first state a velocity set point of the actuator is set to a first velocity. In the second state the velocity set point of the actuator is set to a second velocity lower than the first velocity. The state machine transitions from the first state to the second state when a force or torque applied by the actuator is above a first threshold and transitions from the second state to the first state when the force or torque applied by the actuator is below a second threshold.

Abstract: A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device including an end effector located at a distal end of the instrument, an actuator, and drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device sets a velocity set point of the actuator to an initial velocity, monitors force or torque applied by the actuator, reduces the velocity set point when the applied force or torque is above a first threshold, increases the velocity set point when the applied force or torque is below a second threshold, decreases the velocity set point to zero when the applied force or torque is above a maximum threshold, and drives the actuator based on the velocity set point. The first and second thresholds are lower than the maximum threshold.

Abstract: A system and method of variable velocity control of an instrument by a computer-assisted device includes a computer-assisted device that includes an actuator and one or more processors. To perform an operation with an instrument coupled to the computer-assisted device, the one or more processors are configured to set a velocity set point of the actuator to an initial velocity, monitor force or torque applied by the actuator to actuate the instrument, when the applied force or torque is above a first force or torque limit, determine whether a total duration of a set of pauses occurring during the operation of the instrument is below a maximum pause threshold, and in response to determining that the total duration is below the maximum pause threshold, pause the operation of the instrument.

Abstract: A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device includes a surgical instrument having an end effector located at a distal end of the instrument, an actuator, and one or more drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device is configured to set a velocity set point of the actuator to an initial velocity and monitor force or torque applied by the actuator. When the applied force or torque is above a first force or torque limit it is determined whether a continue condition for the operation is satisfied. When the continue condition is satisfied the operation is paused and when the continue condition is not satisfied it is determined whether forced firing of the actuator should take place.

Abstract: Systems and related methods control movement of an end effector. A method of controlling movement of an end effector includes receiving, by a controller, a command to close or open an end effector that includes a first jaw member, a second jaw member, a wrist, and an instrument shaft. In response to the command, the controller controls movement of the end effector to simultaneously move the first jaw member relative to the second jaw member and actuate the wrist to orient the end effector so that at least one of a position and an orientation of a reference aspect of the end effector is substantially maintained in space.

Abstract: A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device including an end effector located at a distal end of the instrument, an actuator, and drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device sets a velocity set point of the actuator to an initial velocity, monitors force or torque applied by the actuator, reduces the velocity set point when the applied force or torque is above a first threshold, increases the velocity set point when the applied force or torque is below a second threshold, decreases the velocity set point to zero when the applied force or torque is above a maximum threshold, and drives the actuator based on the velocity set point. The first and second thresholds are lower than the maximum threshold.

Abstract: Systems and related methods control movement of an end effector. A method of controlling movement of an end effector includes receiving, by a controller, a command to close or open an end effector that includes a first jaw member, a second jaw member, a wrist, and an instrument shaft. In response to the command, the controller controls movement of the end effector to simultaneously move the first jaw member relative to the second jaw member and actuate the wrist to orient the end effector so that at least one of a position and an orientation of a reference aspect of the end effector is substantially maintained in space.

Abstract: An apparatus comprises a surgical instrument and a buttress configured to hold a fluid adhesive. In some versions, the buttress contains a two-part fluid adhesive where two fluid materials form a fluid adhesive when combined. In some versions, the buttress is configured to be compressed by the surgical instrument thereby pressurizing a portion of the buttress. Thereafter, the buttress may be severed and the pressurized region may be operable to urge the fluid adhesive to a tissue site.

Abstract: A surgical instrument includes a handle portion, a shaft housing a firing bar, an end effector comprising an anvil, a lower jaw, and a stapling and severing assembly responsive to a longitudinal closing motion produced by the handle portion and the shaft. The lower jaw is configured to receive a removable cartridge. The cartridge includes a housing, a plurality of staples disposed in the housing, and a deck disposed over the plurality of staples. The deck defines apertures, with each aperture being substantially disposed over each staple. The cartridge further includes an agent. The firing bar is operable to assist with releasing the agent onto a severed line of tissue when the firing bar is advanced.

Abstract: A surgical instrument includes a handle portion, a shaft housing a firing bar, an end effector comprising an anvil, a lower jaw, and a stapling and severing assembly responsive to a longitudinal closing motion produced by the handle portion and the shaft. The lower jaw is configured to receive a removable cartridge. The cartridge includes a housing, a plurality of staples disposed in the housing, and a deck disposed over the plurality of staples. The deck defines apertures, with each aperture being substantially disposed over each staple. The cartridge further includes an agent. The firing bar is operable to assist with releasing the agent onto a severed line of tissue when the firing bar is advanced.

Abstract: An apparatus comprises a surgical instrument and a buttress configured to hold a fluid adhesive. In some versions, the buttress contains a two-part fluid adhesive where two fluid materials form a fluid adhesive when combined. In some versions, the buttress is configured to be compressed by the surgical instrument thereby pressurizing a portion of the buttress. Thereafter, the buttress may be severed and the pressurized region may be operable to urge the fluid adhesive to a tissue site.

Abstract: A polymeric, surgical clip having first and second curved legs with each having a pair of opposing side surfaces joined at their proximal ends by a flexible hinge section and movable from an open position to a closed position for clamping a vessel between curved opposing inner surfaces. The first leg terminates at its distal end in a female locking member, and the second leg member terminates in a male locking member complimentary to the female locking member. The clip is provided with low profile boss-like elements on the legs thereof to reduce the risk of snagging a suture during coronary artery bypass graft surgery.

Abstract: A polymeric, surgical clip having first and second curved legs with each having a pair of opposing side surfaces joined at their proximal ends by a flexible hinge section and movable from an open position to a closed position for clamping a vessel between curved opposing inner surfaces. The first leg terminates at its distal end in a female locking member, and the second leg member terminates in a male locking member complimentary to the female locking member such that when the first and second leg members are moved from an open position to a closed position about the hinge section the male member is lockingly engaged in the female locking member. The clip has at least one cutting guide extending outward from and disposed along at least a portion of the length of at least one of the side surfaces of at least one of the first and second legs. The cutting guide aids in cutting the ligated tissue a safe distance from the clip such that a tissue cuff is formed.

Abstract: A polymeric, surgical clip having first and second curved legs joined at their proximal ends by a flexible hinge section and movable from an open position to a closed position for clamping a vessel between curved opposing inner surfaces. The first leg terminates at its distal end in a female locking member comprising a resilient inwardly turned hook having a recess in the mouth of the hook, and the second leg member terminates in a male locking member complimentary to the female locking member and comprising a detent such that when the first and second leg members are moved from an open position to a closed position about the hinge section the hook member will deflect about the distal end of the second leg member thereby engulfing the male locking member in the mouth of the hook and matingly engaging the detent in the recess thereof, thus securely locking the clip in the closed position. The locking feature provides greater closure security to the clip when clamping large diameter or uncompressible tissue.

Abstract: A polymeric, surgical clip having first and second curved leg members joined at their proximal end by a hinge portion and movable from an open position to a closed position for clamping a vessel between curved deposing inner surfaces which are substantially parallel when the clip is closed. The first leg terminates at its distal end in a deflectable hook member defining a crest or cutting edge along at least a portion of the outer surface thereof, and the second leg member terminates in a locking portion complimentary to the hook member such that when the first and second leg members are moved from an open position to a closed position about the hinge means the hook member will deflect about the distal end of the second leg member to lock the clip in a closed position.