Abstract: A trocar assembly includes a trocar housing that defines a working chamber, and a cannula having opposing proximal and distal ends and defining a lumen that extends between the proximal and distal ends. One or more windows are defined in the cannula at or near the distal end, and one or more compliant deflection devices are arranged at or near the distal end and at least partially receivable within the one or more windows. Each compliant deflection device includes a radial biasing member that extends radially inward toward a centerline of the cannula.

Abstract: End effectors with increased clip loading capacity include those configured to dispense arcuate surgical clips. Such end effectors may comprise: a housing; and first and second arcuate jaw members protruding distally from the housing. Each arcuate jaw member has a curved profile and is shaped to receive an arcuate surgical clip having a complementary curved profile therebetween. Surgical tools may comprise the end effectors operably coupled to the distal end of an elongate shaft.

Abstract: A cable retention system for a power distribution unit includes a tether and a tether mount. The tether has an elongate portion and an attachment portion, and the attachment portion includes a channel therein. The tether mount has a base at a proximal end and a head at a distal end. The base is adapted to attach the proximal end of the tether mount to the power distribution unit. The tether is adapted to be secured to the tether mount by snap-fitting the head of the tether mount into the channel of the attachment portion.

Abstract: Various exemplary methods, systems, and devices for near field communication (NFC) between a surgical instrument and a robotic surgical system are provided. In general, a surgical tool is configured to move between different modes of communication with a robotic surgical system to which the tool is releasably and replaceably coupled. The different modes of communication are detectable by the robotic surgical system by the tool's frequency of NFC with the robotic surgical system. The tool includes a mechanism configured to be manipulated by a user of the tool to move the tool between the different modes of communication. The tool operating in a first mode of communication indicates to the robotic surgical system that the tool is operating in a normal state. The tool operating in each of one or more additional modes of communication indicates that the tool is operating in an error state.

Abstract: An end effector for a surgical clip applier includes a body having, a clip revolver rotatably coupled within a bore of the body and containing one or more surgical clips, a torsion member constrained between the body and the clip revolver to exert rotational force on the clip revolver, and a clip advancer that is slidingly coupled within an inner bore of the clip revolver. The inner bore of the clip revolver includes a plurality of grooves in which the clip advancer may translate. The clip advancer aligns with a distal-most surgical clip as it travels within a first of the grooves. The torsion member rotates the clip revolver as the clip advancer travels distally from the first groove so that the clip advancer travels into a second groove of the grooves, such that the clip advancer is in alignment with a second distal-most surgical clip.

Abstract: A trocar assembly includes a trocar housing that defines a working chamber, and a cannula having a proximal end and a distal end and defining a lumen that extends between the proximal and distal ends. The cannula is coupled to the trocar housing at the proximal end to facilitate communication between the lumen and the working chamber. A plurality of compliant deflection devices are provided at or near the distal end of the cannula, and each compliant deflection device includes a radial biasing member that extends radially inward toward a centerline of the cannula to center a surgical tool within the lumen and minimize unintended oscillation and vibration of the surgical tool.

Abstract: A trocar assembly includes a trocar housing that defines a working chamber, and a cannula coupled to the trocar housing at a proximal end to facilitate communication between the cannula and the working chamber. A tool stabilizing device is coupled to at least one of the trocar housing and the cannula and is actuatable to stabilize and center a surgical tool within the cannula.

Abstract: End effectors with increased clip loading capacity include a housing having a tapered section at a distal end; first and second jaw members protruding distally from the tapered section; a surgical clip feeder arranged within the housing and configured to contain a plurality of surgical clips therein; and a feedbar longitudinally movable between the housing and the plurality of surgical clips, the feedbar having a distal portion engageable with a distal-most surgical clip of the plurality of surgical clips within the tapered section. The plurality of surgical clips is arrangeable within the surgical clip feeder at a non-zero angle with respect to a longitudinal axis of the end effector. Actuation of the feedbar engages and advances the distal-most surgical clip out of the surgical clip feeder and into interposition between the first and second jaw members.

Abstract: A trocar assembly includes a trocar housing that defines a working chamber, and a cannula having a proximal end and a distal end, wherein the cannula is coupled to the trocar housing at the proximal end to facilitate communication between the cannula and the working chamber. A plurality of radial support members are arranged at or near the distal end and comprise a plurality of keystones arranged side by side to form a ring within the cannula. Each radial support member extends radially inward toward a centerline of the cannula to center a surgical tool within the cannula and thereby minimize unintended oscillation and vibration of the surgical tool.

Abstract: A cable retention system for a power distribution unit includes a tether and a tether mount. The tether has an elongate portion and an attachment portion, and the attachment portion includes a channel therein. The tether mount has a base at a proximal end and a head at a distal end. The base is adapted to attach the proximal end of the tether mount to the power distribution unit. The tether is adapted to be secured to the tether mount by snap-fitting the head of the tether mount into the channel of the attachment portion.

Abstract: A surgical tool that includes a drive housing, an elongate shaft that extends from the drive housing, and a plurality of drive cables extending within the elongate shaft between the drive housing and an end effector coupled to a distal end of the elongate shaft. A cable brake assembly is at least partially arranged within a cavity defined in the drive housing or the elongate shaft, the cable brake assembly having one or more brakes and a brake pad engageable with one or more of the plurality of drive cables. The cable brake assembly is actuatable between a first position, where the plurality of drive cables are free to move longitudinally within the elongate shaft, and a second position, where the one or more brakes and the brake pad engage and prevent the one or more of the plurality of drive cables from moving.

Abstract: Various exemplary methods, systems, and devices for near field communication (NFC) between a surgical instrument and a robotic surgical system are provided. In general, a surgical tool is configured to move between different modes of communication with a robotic surgical system to which the tool is releasably and replaceably coupled. The different modes of communication are detectable by the robotic surgical system by the tool's frequency of NFC with the robotic surgical system. The tool includes a mechanism configured to be manipulated by a user of the tool to move the tool between the different modes of communication. The tool operating in a first mode of communication indicates to the robotic surgical system that the tool is operating in a normal state. The tool operating in each of one or more additional modes of communication indicates that the tool is operating in an error state.

Abstract: An end effector for a surgical clip applier includes an elongate body, a clip forming system positioned within the body and arranged to receive an unformed surgical clip, and an actuation mechanism operatively coupled to the clip forming system to actuate the clip forming system and thereby bend the unformed surgical clip into a tissue-ready surgical clip. First and second jaw members are positioned at a distal end of the body and arranged to receive the tissue-ready surgical clip for crimping.

Abstract: A surgical system includes a detector, comprising an array of pixels configured to detect light reflected by a surgical instrument and generate a first signal comprising a first dataset representative of a visible image of the surgical instrument. The surgical system also includes a processor configured to receive the first signal, generate a modified image of the surgical instrument that includes a control panel. The control panel includes one or more control elements representative of one or more operating parameters of the surgical instrument. The processor is further configured to receive an input to the control panel from a user, the input being effective to change one of the operating parameters. The processor is also configured to generate a command signal based on the input to change the one of the operating parameters.

Abstract: A trocar assembly includes a trocar housing that defines a working chamber, and a cannula having a proximal end and a distal end, wherein the cannula is coupled to the trocar housing at the proximal end to facilitate communication between the cannula and the working chamber. A radial support assembly is arranged at or near the distal end and includes a plurality of radial support members that extend radially inward toward a centerline of the cannula to center a surgical tool within the cannula and thereby minimize unintended oscillation and vibration of the surgical tool.

Abstract: Various exemplary surgical tool and robotic surgical system interfaces are provided. In general, a sterile barrier can be positioned between a robotic surgical system and a surgical tool releasably coupled to the robotic surgical system. The surgical tool can be in a sterile environment on one side of the sterile barrier, and the robotic surgical system can be in a non-sterile environment on the other, opposite side of the sterile barrier. The robotic surgical system can be configured to control movement of the surgical tool releasably coupled thereto using a magnetic field that extends across the sterile barrier between the surgical tool and the robotic surgical system.

Abstract: A cable retention system for a power distribution unit includes a tether and a tether mount. The tether has an elongate portion and an attachment portion, and the attachment portion includes a channel therein. The tether mount has a base at a proximal end and a head at a distal end. The base is adapted to attach the proximal end of the tether mount to the power distribution unit. The tether is adapted to be secured to the tether mount by snap-fitting the head of the tether mount into the channel of the attachment portion.

Abstract: A surgical system includes a detector, comprising an array of pixels configured to detect light reflected by a surgical instrument and generate a first signal comprising a first dataset representative of a visible image of the surgical instrument. The surgical system also includes a processor configured to receive the first signal, generate a modified image of the surgical instrument that includes a control panel. The control panel includes one or more control elements representative of one or more operating parameters of the surgical instrument. The processor is further configured to receive an input to the control panel from a user, the input being effective to change one of the operating parameters. The processor is also configured to generate a command signal based on the input to change the one of the operating parameters.