Abstract: A surgical tool that includes a drive housing, an elongate shaft that extends from the drive housing, and an end effector arranged at a distal end of the elongate shaft and including a jaw secured to a jaw holder, the jaw providing a conductive plate and the jaw holder defining a passage. A wrist couples the end effector to the elongate shaft and includes a distal clevis having an axle that rotatably mounts the jaw holder to the distal clevis. An electrical conductor extends from the drive housing, through the wrist and the passage, and terminates at the conductive plate to supply electrical energy to the jaw.

Abstract: A surgical tool that includes a drive housing, an elongate shaft that extends from the drive housing, and an end effector arranged at a distal end of the elongate shaft and including a jaw secured to a jaw holder, the jaw providing a contact plate and the jaw holder defining a cable passage. A wrist couples the end effector to the elongate shaft and includes a distal clevis having an axle that rotatably mounts the jaw holder to the distal clevis. An electrical conductor extends from the drive housing, through the wrist and the cable passage, and terminates at the contact plate to supply electrical energy to the jaw.

Abstract: Surgical tools that are capable of both manipulating a needle and cutting surgical thread during a suturing operation can sometimes be problematic due to inadvertent severing of the surgical thread. Surgical tools capable of exposing a bladed cutting surface only when severing of surgical thread is desired can substantially alleviate this issue. Such surgical tools may comprise an end effector comprising an end effector axle, a first jaw and a second jaw rotatably mounted to the end effector axle, and a first cutting body having a first blade and second cutting body having a second blade. The first cutting body is configured to move in tandem with the first jaw and the second cutting body is configured to move in tandem with the second jaw, such that the first and second blades are occluded when the first and second jaws are closed or partially opened.

Abstract: A surgical tool that includes a drive housing, an elongate shaft that extends from the drive housing, and an end effector arranged at a distal end of the elongate shaft and including a jaw secured to a jaw holder, the jaw providing a contact plate and the jaw holder defining a cable passage. A wrist couples the end effector to the elongate shaft and includes a distal clevis having an axle that rotatably mounts the jaw holder to the distal clevis. An electrical conductor extends from the drive housing, through the wrist and the cable passage, and terminates at the contact plate to supply electrical energy to the jaw.

Abstract: A surgical tool that includes a drive housing, an elongate shaft that extends from the drive housing, and an end effector arranged at a distal end of the elongate shaft and having a jaw and a jaw holder that secures the jaw. A wrist couples the end effector to the elongate shaft and includes a distal clevis having an axle that rotatably mounts the jaw holder to the distal clevis. An electrical conductor extends from the drive housing and supplies electrical energy to the jaw via a supply conductor. At least one of the jaw holder and the axle is made of a non-conductive material that insulates the distal clevis from the electrical energy provided to the jaw.

Abstract: A surgical tool includes an elongate shaft, an end effector arranged at a distal end of the shaft, and a wrist that interposes the end effector and the distal end. The wrist including a proximal clevis included at the distal end, a pair of pivot discs rotatably coupled to the proximal clevis and providing a centerline extending through a center of each pivot disc, a distal wrist axle extending through the pair of pivot discs and along a pivot axis that is eccentric to the centerline, a distal plurality of pulleys mounted to the distal wrist axle, and a proximal plurality of pulleys mounted to the proximal clevis at a proximal wrist axle and offset from the distal plurality of pulleys. Rotation of the pair of pivot discs moves the distal wrist axle and thereby adjusts a distance between the proximal and distal pluralities of pulleys.

Abstract: A method of replacing cables in a cable-driven surgical tool includes accessing a cable system of the cable-driven surgical tool, the cable-driven surgical tool including a shaft and an end effector operatively coupled to the distal end of the shaft. The cable system comprises distal and proximal cable portions extending within the shaft and adjoined by a releasable interconnect, the distal cable portion being operatively coupled to the end effector. The distal and proximal cable portions are disconnectable at the releasable interconnect, wherein the distal cable portion exhibits a first diameter and the proximal cable portion exhibits a second diameter greater than the distal cable portion. The distal cable portion is then removed and replaced with a replacement distal cable portion mated to the proximal cable portion.

Abstract: Surgical tools that are capable of both manipulating a needle and cutting surgical thread during a suturing operation can sometimes be problematic due to inadvertent severing of the surgical thread. Surgical tools capable of exposing a bladed cutting surface only when severing of surgical thread is desired can substantially alleviate this issue. Such surgical tools may comprise an end effector comprising an end effector axle, a first jaw and a second jaw rotatably mounted to the end effector axle, and a first cutting body having a first blade and second cutting body having a second blade. The first cutting body is configured to move in tandem with the first jaw and the second cutting body is configured to move in tandem with the second jaw, such that the first and second blades are occluded when the first and second jaws are closed or partially opened.

Abstract: Surgical tools that are capable of both manipulating a needle and cutting surgical thread during a suturing operation can sometimes be problematic due to inadvertent severing of the surgical thread. Surgical tools capable of exposing a bladed cutting surface only when severing of surgical thread is desired can substantially alleviate this issue. Such surgical tools may comprise an end effector comprising an end effector axle, a first jaw and a second jaw rotatably mounted to the end effector axle, and a first cutting body having a first blade and second cutting body having a second blade. The first cutting body is configured to move in tandem with the first jaw and the second cutting body is configured to move in tandem with the second jaw, such that the first and second blades are occluded when the first and second jaws are closed or partially opened.

Abstract: A method of replacing cables in a cable-driven surgical tool includes accessing a cable system of the cable-driven surgical tool, the cable-driven surgical tool including a shaft and an end effector operatively coupled to the distal end of the shaft. The cable system comprises distal and proximal cable portions extending within the shaft and adjoined by a releasable interconnect, the distal cable portion being operatively coupled to the end effector. The distal and proximal cable portions are disconnectable at the releasable interconnect, wherein the distal cable portion exhibits a first diameter and the proximal cable portion exhibits a second diameter greater than the distal cable portion. The distal cable portion is then removed and replaced with a replacement distal cable portion mated to the proximal cable portion.

Abstract: Interposing a releasable interconnect between distal and proximal cable portions of a cable within a cable-driven surgical tool may facilitate cable replacement. Cable-driven surgical tools may comprise: an elongate shaft defining a lumen that extends between a proximal end and a distal end of the elongate shaft, an end effector operably coupled to the distal end of the elongate shaft, and a plurality of cable systems extending within the lumen and operably engaging the end effector. Each cable system comprises a distal cable portion and a proximal cable portion that are adjoined by a releasable interconnect.

Abstract: Interposing a releasable interconnect between distal and proximal cable portions of a cable within a cable-driven surgical tool may facilitate cable replacement. Cable-driven surgical tools may comprise: an elongate shaft defining a lumen that extends between a proximal end and a distal end of the elongate shaft, an end effector operably coupled to the distal end of the elongate shaft, and a plurality of cable systems extending within the lumen and operably engaging the end effector. Each cable system comprises a distal cable portion and a proximal cable portion that are adjoined by a releasable interconnect.

Abstract: A surgical tool that includes a drive housing, an elongate shaft that extends from the drive housing, and an end effector arranged at a distal end of the elongate shaft and having a jaw and a jaw holder that secures the jaw. A wrist couples the end effector to the elongate shaft and includes a distal clevis having an axle that rotatably mounts the jaw holder to the distal clevis. An electrical conductor extends from the drive housing and supplies electrical energy to the jaw via a supply conductor. At least one of the jaw holder and the axle is made of a non-conductive material that insulates the distal clevis from the electrical energy provided to the jaw.

Abstract: Surgical tools that are capable of both manipulating a needle and cutting surgical thread during a suturing operation can sometimes be problematic due to inadvertent severing of the surgical thread. Surgical tools capable of exposing a bladed cutting surface only when severing of surgical thread is desired can substantially alleviate this issue. Such surgical tools may comprise an end effector comprising an end effector axle, a first jaw and a second jaw rotatably mounted to the end effector axle, and a first cutting body having a first blade and second cutting body having a second blade. The first cutting body is configured to move in tandem with the first jaw and the second cutting body is configured to move in tandem with the second jaw, such that the first and second blades are occluded when the first and second jaws are closed or partially opened.

Abstract: Surgical devices are provided having end effectors including a jaw closure. The devices herein generally include a handle portion, an elongate shaft, and an effector having first and second jaws configured to engage tissue. In some embodiments, the devices can be configured to allow for the removal of the upper jaw and the cutting blade when the device is not in use. In certain aspects, the jaw and/or cutting blade can be cleaned, sterilized, and reused or completely replaced. In some aspects, the device can then be reassembled including the cleaned or new elements, and reused.

Abstract: Various surgical devices and methods are provided for monitoring and regulating tissue compression and cutting to improve tissue effect. In general, these devices include a handle portion, an elongate shaft, and an effector disposed at a distal end of the shaft and configured to engage tissue. In one embodiment, one or more sensors can be positioned at various locations on the device and can determine a force applied to tissue engaged by the end effector. When the force exceeds a threshold, a notification signal can be issued to a user. In another embodiment, a sensor can determine an amount of current moving between jaws of the end effector and a controller can slow a speed of the cutting element when the sensed current exceeds a threshold amount.

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 devices are provided having end effectors including a jaw closure. The devices herein generally include a handle portion, an elongate shaft, and an effector having first and second jaws configured to engage tissue. In some embodiments, the devices can be configured to allow for the removal of the upper jaw and the cutting blade when the device is not in use. In certain aspects, the jaw and/or cutting blade can be cleaned, sterilized, and reused or completely replaced. In some aspects, the device can then be reassembled including the cleaned or new elements, and reused.

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: Various surgical devices and methods are provided for monitoring and regulating tissue compression and cutting to improve tissue effect. In general, these devices include a handle portion, an elongate shaft, and an effector disposed at a distal end of the shaft and configured to engage tissue. In one embodiment, one or more sensors can be positioned at various locations on the device and can determine a force applied to tissue engaged by the end effector. When the force exceeds a threshold, a notification signal can be issued to a user. In another embodiment, a sensor can determine an amount of current moving between jaws of the end effector and a controller can slow a speed of the cutting element when the sensed current exceeds a threshold amount.