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: In various embodiments, a surgical instrument is disclosed. The surgical instrument comprises a handle assembly having a closure trigger, a closure actuator coupled to the closure trigger at a first pivot, and a closure spring. The closure actuator moves proximally on a longitudinal axis in response to actuation of the closure trigger. The closure spring applies a force vector to the closure spring tangential to the longitudinal axis. A shaft assembly is coupled to the handle assembly. An end effector is coupled to a distal end of the shaft assembly. The end effector comprises a jaw assembly comprising a first jaw member and a second jaw member. The first jaw member is pivotally moveable with respect to the second jaw member. At least one of the first and second jaw members are operatively coupled to the closure actuator.

Abstract: A system for use with a surgical instrument includes an end effector, a memory circuit to store computer-executable instructions, and a processor. The end effector comprises a cutting member and a load cell sensor configured to sense a measure of force used to advance the cutting member through captured tissue. The processor is configured to execute the computer-executable instructions to initiate a first treatment cycle, access the measure of force used during the first treatment cycle to advance the cutting member through the captured tissue, determine that the measure of force exceeds a predetermined threshold, and generate an alert to a user of the surgical instrument based on the determination that a value of the measure of force exceeds the predetermined threshold. The predetermined threshold is based on an accumulation of biological material on the cutting member and a normal operational parameter of the first treatment cycle.

Abstract: Surgical devices and methods are described herein that provide improved motor control and feedback, thereby combining advantages of manually-operated and powered surgical devices. In one embodiment, a surgical device includes a proximal handle portion that includes a motor, a distal end effector coupled to the handle portion, and a cutting element configured to cut tissue engaged by the end effector, wherein the motor is configured to supply power that moves the cutting element. The device also includes a motor control mechanism configured to cause the amount of the power to dynamically change in response to a manual user input when the cutting element is moving.

Abstract: An apparatus including a body, a shaft assembly extending distally from the body, and an end effector configured to grasp and transmit RF energy to the tissue. The end effector includes a first jaw having a first tissue grasping feature and a second jaw. The second jaw is pivotably coupled to the first jaw between an open position, a partially closed position, and a closed position. The second jaw includes a proximal taper having a proximal electrode surface, a distal taper including a distal electrode surface, and a juncture between the proximal and distal electrode surface. The juncture is spaced further from the first tissue grasping feature compared to the proximal and distal end while the second jaw is in the partially closed position. The proximal and distal electrode surface deform to define a gap with the first tissue grasping feature while in the closed position.

Abstract: Surgical devices and methods are described herein that provide improved motor control and feedback, thereby combining advantages of manually-operated and powered surgical devices. In one embodiment, a surgical device includes a proximal handle portion that includes a motor, a distal end effector coupled to the handle portion, and a cutting element configured to cut tissue engaged by the end effector, wherein the motor is configured to supply power that moves the cutting element. The device also includes a motor control mechanism configured to cause the amount of the power to dynamically change in response to a manual user input when the cutting element is moving.

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: A surgical tool and control system therefor is provided. The surgical tool can include an instrument mount configured to engage with a robotic manipulator assembly, which can include a gear assembly configured to be actuated by the robotic manipulator assembly. The surgical tool can include an end effector coupled to the gear assembly, which is configured to be actuated by the gear assembly. The surgical tool can include a lockout configured to transition between a first state in which the lockout is physically engaged with the gear assembly to prevent a movement thereof and a second state in which the lockout is disengaged from the gear assembly. The surgical tool can include a control circuit configured to determine whether the end effector is in an energized state or a de-energized state and in the energized state, cause the lockout to transition between the first state and the second state.

Abstract: An end effector includes a first and second jaw member each comprising a first and second electrode. The first and second jaw members are movable relative to the other between an open position and a closed position. An electrically conductive member is located at the distal end of the first jaw member. The electrically conductive member is sized and configured to define a minimum distance between the first and second electrodes along the length of the first and second electrodes. An electrically insulative member is located on one of the first jaw member or the second jaw member. The electrically insulative member is sized and configured to engage tissue and has a dimension extending from one of the first jaw member or the second jaw member. The dimension is less than the minimum distance.

Abstract: A surgical control system is disclosed including a controller, a feedback device operably coupled to the controller, and a user interface operably coupled to the controller. The user interface is configured to provide an input to the controller. The controller is configured to provide a control signal to a robotic surgical system to control a function of the robotic surgical system, receive a feedback signal from the robotic surgical system, and provide the feedback signal to the feedback device. The feedback device is configured to provide feedback associated with the robotic surgical system to a user in response to the feedback signal.

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 end effector includes a grasping portion that includes a first jaw member having a first electrode, a second jaw member having a second electrode, a first electrically conductive member located either on the first jaw member or the second jaw member, and a gap setting portion having a second electrically conductive member located at the distal end of either the first jaw member or the second jaw member. The electrically insulative member is sized and configured to engage tissue and the second electrically conductive member sized and configured to define a minimum distance between the first and second electrodes.

Abstract: A surgical apparatus includes a body assembly, a shaft, an acoustic waveguide, an articulation section, an end effector, and a rigidizing member. The shaft extends distally from the body assembly and defines a longitudinal axis. The acoustic waveguide includes 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 includes a first member and a second member. The second member is longitudinally translatable relative to the first member. The end effector includes an ultrasonic blade in acoustic communication with the waveguide. The rigidizing member is configured to selectively engage at least a portion of the articulation section to thereby selectively provide rigidity to the articulation section.

Abstract: A medical instrument is disclosed. The medical instrument includes at least one electrical contact element, a battery, a radio frequency (RF) generation circuit coupled to and operated by the battery and operable to generate an RF drive signal and to provide the RF drive signal to the at least one electrical contact, and a battery discharge circuit coupled to the battery. A processor is coupled to the battery discharge circuit and a memory is coupled to the processor. The memory stores machine executable instructions that when executed cause the processor to monitor activation of the RF generation circuit and disable the RF generation circuit when the RF drive signal is fired a predetermined number of times. The medical instrument may include an activation switch and/or a disposal switch supported by the housing.

Abstract: Methods and devices are provided for retracting a cutting assembly in the event of a failure on a motorized electrosurgical device. A surgical device is provided that includes a handle portion with an elongate shaft extending distally therefrom. The elongate shaft has first and second jaws at a distal end, and the jaws are configured to engage tissue. The surgical device also has a cutting assembly configured to cut tissue engaged between the first and second jaws. A drive shaft extends from the handle of the surgical device through the elongate shaft and is coupled to the cutting assembly for moving the cutting assembly. The surgical device has a motorized gear assembly with at least one motor driven gear that is configured to move the drive shaft. The surgical device also has a bailout assembly that is configured to manually move the drive shaft.

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: Methods and devices for controlling motorized surgical devices are provided. In general, the methods and devices can allow a surgical device to grasp and cut tissue. In some embodiments, the device's motor can begin providing power for grasping and/or cutting tissue in response to an output from the device's sensor, the device can adjust power provided by the motor based on whether the device is clamping tissue or is being fired, the device can adjust an amount of power provided by the motor based on an amount of user-applied force to the device's actuator and/or can control drive direction of the motor based on the amount of the force, the device can maintain a force applied to the device, the device can self-shift the motor, and/or the device can adjust an amount of power provided to the device's end effector based on a degree of the end effector's closure.

Abstract: Surgical instruments having articulating portions or joints are described herein. In one embodiment, a surgical instrument can include a distal end effector, a proximal actuating portion, and an articulating portion disposed between the end effector and the actuating portion. The articulating portion can include an inner component formed of a first material and an outer component formed of a second material, wherein a modulus of elasticity of the first material is higher than a modulus of elasticity of the second material. Such an instrument can be less complex and less expensive than known articulation mechanisms while providing similar capabilities.