Abstract: A robotic surgical tool includes a tool driver including a first inductive coil, a drive housing releasably mounted to the tool driver and including a second inductive coil, a shaft extending from the drive housing and terminating at an end effector operatively coupled to a distal end of the shaft, and a firing rod extending from the drive housing within the shaft and terminating at the end effector, the firing rod including a magnetically responsive material and being movable within the drive housing between a retracted position and an extended position. One of the inductive coils generates a magnetic field, and the other measures an intensity of the magnetic field and a field distortion caused by movement of the firing rod. A change in the field distortion provides an indication of movement of the firing rod between the retracted and extended positions.

Abstract: The present disclosure provides a surgical instrument including an end effector, a drive member movable to effectuate a motion in said end effector, a motor operable to move the drive member to effectuate the motion in the end effector and a bailout assembly operable to perform a mechanical bailout of the surgical instrument in response to a bailout error. The bailout assembly includes a bailout door, a bailout handle accessible through the bailout door. The bailout handle is operable to move the drive member to effectuate a bailout motion in the end effector. A controller includes a memory and a processor coupled to the memory. The processor is configured to detect the bailout error. The processor is programed to stop the motor in response to the detection of the bailout error.

Abstract: A surgical instrument includes an end effector, a shaft assembly, a drive, and an activating mechanism. The end effector includes first and second jaws. At least one of the first and second jaws is pivotable relative to the other of the first and second jaws between open and closed positions. The shaft assembly extends proximally from the end effector. The drive is operatively connected to a portion of at least one of the end effector or the shaft assembly. The activating mechanism includes an actuation body operatively connected to the drive. The portion is configured to perform a first actuation profile in response to the actuation body moving along a first predetermined path or perform a second actuation profile in response to the actuation body moving along a second predetermined path. Selection of the first predetermined path is configured to prevent the actuation body from accessing the second predetermined path.

Abstract: A surgical tool includes a drive housing removably coupled to a tool driver of a robotic surgical system, a shaft extending from the drive housing, an end effector arranged at an end of the shaft, and a computer system. The computer system is programmed to send a command signal to a motor of the tool driver to drive rotation of a drive shaft mounted within the drive housing, monitor torque and rotational motion of the motor with a torque sensor and a rotary encoder, respectively, in communication with the computer system, measure an unexpected change in the torque or the rotational motion of the motor with the torque sensor or the rotary encoder when the surgical tool is manually bailed out by manually rotating the drive shaft and backdriving the motor, report the unexpected change as a bailout signal, and disable the surgical tool once the bailout signal is received.

Abstract: A surgical instrument is configured to compensate for battery pack and drivetrain failures. One method includes generating a firing sequence, determining whether a subset of rechargeable battery cells is damaged during the firing sequence, and stepping-up an output voltage of the battery pack to complete the firing sequence in response to a determination that a subset of the rechargeable battery cells is damaged. Another method includes generating a mechanical output to motivate a drivetrain to transmit a motion to a jaw assembly of the surgical instrument, activating a safe mode in response to an acute failure of the drivetrain, and activating a bailout mode in response to a catastrophic failure of the drivetrain. Another method includes driving a drivetrain, sensing and recording vibration information from the drivetrain, generating an output signal based on the vibration information, and determining a status of the surgical instrument based on the output signal.

Abstract: An end effector is disclosed comprising a cartridge channel, a staple cartridge positionable in the cartridge channel, and a firing assembly configured to lock itself if the staple cartridge is not positioned in the cartridge channel. Moreover, the firing assembly is configured to lock itself if the staple cartridge has been at least partially spent.

Abstract: The present disclosure provides a method for controlling a surgical instrument. The method includes connecting a power assembly to a control circuit, wherein the power assembly is configured to provide a source voltage, energizing, by the power assembly, a voltage boost convertor circuit configured to provide a set voltage greater than the source voltage, and energizing, by the voltage boost convertor, one or more voltage convertors configured to provide one or more operating voltages to one or more circuit components.

Abstract: Surgical instruments and control systems therefor are disclosed. A surgical instrument can comprise: a power circuit comprising a power source and a switch, a microcontroller coupled to the power circuit, a handle comprising an attachment portion, and a control circuit in signal communication with the microcontroller. The attachment portion can comprise a first electrical contact in signal communication with the microcontroller. The control circuit can comprise a sensor configured to detect an attachment state of the attachment portion. The control circuit can communicate the detected attachment state to the microcontroller, and the microcontroller can ignore signals from the first electrical contact when the control circuit communicates a detached state. The attachment portion can comprise a second electrical contact coupled to a second power circuit, and the second power circuit can decouple the second electrical contact and the second power source when the sensor detects the detached state.

Abstract: A control circuit for use with a robotic surgical system. The control circuit is configured to receive a parameter indicative of a rotary position of an articulation motor. The articulation motor is configured to drive an articulation joint of a robotic surgical tool, wherein the articulation motor is configured to move through a first range of positions and a second range of positions. The control circuit is further configured to implement a first operating state, and implement a second operating state when the parameter corresponds to a transition of the articulation motor from the first range of positions to the second range of positions. The control circuit is further configured to re-implement the first operating state when the parameter corresponds to a return of the articulation motor from the second range of positions into the first range of positions by a threshold anti-dither angle.

Abstract: A surgical tool includes a drive housing removably coupled to a tool driver of a robotic surgical system, a shaft extending from the drive housing, an end effector arranged at an end of the shaft, and a computer system. The computer system is programmed to send a command signal to a motor of the tool driver to drive rotation of a drive shaft mounted within the drive housing, monitor torque and rotational motion of the motor with a torque sensor and a rotary encoder, respectively, in communication with the computer system, measure an unexpected change in the torque or the rotational motion of the motor with the torque sensor or the rotary encoder when the surgical tool is manually bailed out by manually rotating the drive shaft and backdriving the motor, report the unexpected change as a bailout signal, and disable the surgical tool once the bailout signal is received.

Abstract: A surgical instrument. The surgical instrument includes an elongated channel configured to support a staple cartridge, an anvil pivotably connected to the elongated channel, a knife mechanically coupled to the staple cartridge, an electric motor and a control circuit electrically connected to the electric motor. The control circuit is configured to change a firing motion a first way based on a first value of a projected peak firing force and a second way based on a second value of the projected peak firing force value.

Abstract: A surgical system is disclosed including an end effector and a drive system configured to effect at least one function of the end effector. The end effector includes a first jaw, a second jaw rotatable relative to said first jaw between an open configuration and a closed configuration, and a staple cartridge comprising staples removably stored therein. The drive system includes a motor and an impact mechanism including a rotary input drivable by the motor and a rotary output drivable by the rotary input. Rotation of the rotary output is configured to effect the at least one function of the end effector. The impact mechanism is configurable between a coupled state, wherein rotation of the rotary input causes corresponding rotation of the rotary output, and a slipped state, wherein the rotary input rotates relative to the rotary output.

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: An apparatus includes a body, a shaft, a stapling head assembly, and an anvil. The body includes a motor, a first user input feature, and a second user input feature. The first user input feature is operable to activate the motor. The shaft extends distally from the body. The stapling head assembly is positioned at a distal end of the shaft. The stapling head assembly includes an anvil coupling feature, at least one annular array of staples, and a staple driver. The second user input feature is operable to drive the anvil coupling feature longitudinally. The staple driver is operable to drive the at least one annular array of staples. The motor is operable to drive the staple driver. The anvil is configured to couple with the anvil coupling feature. The anvil is further configured to deform the staples driven by the staple driver.

Abstract: A surgical instrument includes a handle assembly, an elongate shaft, an end effector, and control system having a processor and a memory. The handle assembly is movable between a plurality of positions and includes an interface. The control system can cause the processor to toggle between a plurality of interface configurations each associated with one of the positions of the handle assembly. Additionally, or alternatively, the control system can toggle the interface between a primary interface configuration with operational controls and a secondary interface configuration with navigation controls. Additionally, or alternatively, the interface can include a touchscreen configured to provide a firing input signal to the processor. Additionally, or alternatively, a surgical assembly can include the surgical instrument and a remote operating unit with a secondary interface configured to control the end effector.

Abstract: A surgical stapler. The surgical stapler includes a drive system, an electric motor, a battery and a control system. The electric motor is mechanically coupled to the drive system. The battery is electrically couplable to the electric motor. The control system is electrically connected to the electric motor and includes an H-bridge circuit, an electrically resistive element and an electrically inductive element. The H-bridge circuit includes a high side and a low side. The low side of the H-bridge circuit includes first and second switching devices. The electrically resistive element is electrically connected in series with the first switching device. The electrically inductive element is electrically connected to the electrically resistive element. The control system is configured to control a force applied to the drive system based on a current downstream of the electrically resistive element.

Abstract: A control circuit for use with a robotic surgical system. The control circuit is configured to receive a parameter indicative of a rotary position of an articulation motor. The articulation motor is configured to drive an articulation joint of a robotic surgical tool, wherein the articulation motor is configured to move through a first range of positions and a second range of positions. The control circuit is further configured to implement a first operating state, and implement a second operating state when the parameter corresponds to a transition of the articulation motor from the first range of positions to the second range of positions. The control circuit is further configured to re-implement the first operating state when the parameter corresponds to a return of the articulation motor from the second range of positions into the first range of positions by a threshold anti-dither angle.

Abstract: A surgical system with clamp closure compensation includes a surgical instrument with a shaft assembly, an end effector, and a closure assembly. The shaft assembly has an articulation section configured to articulate to a selected articulation of a plurality of articulation configurations including a straight configuration and a plurality of predetermined articulated configurations. The end effector distally extends from the articulation section and has a first jaw and a second jaw movably secured relative to each other such that the first and second jaws are configured to selectively move from an open configuration to a first closed configuration. The closure assembly is operatively connected to the end effector and configured to urge the first and second jaws from the open configuration to the first closed configuration based at least on the selected articulation of the articulation section for adjusting tissue compression to compensate for the selected articulation.

Abstract: A surgical tool that comprises a surgical end effector comprising opposing jaws, an elongate shaft extending distally to the surgical end effector, and a housing defining a passage therethrough, wherein the elongate shaft extends through the passage. The surgical tool further comprises an actuation mechanism configured to selectively move the housing along the elongate shaft relative to the surgical end effector. The actuation mechanism comprises a pulley, a cable engaged with the pulley, and a lock arrangement configured to releasably lock the housing relative to the elongate shaft. The lock arrangement comprises a washer positioned around the elongate shaft. The cable is engaged with the washer. An actuation of the pulley is configured to apply a tension to the cable to pivot the washer relative to the elongate shaft from a locked orientation to an unlocked orientation.

Abstract: An apparatus includes a body, a shaft, a stapling head assembly, and an anvil. The body includes a motor, a first user input feature, and a second user input feature. The first user input feature is operable to activate the motor. The shaft extends distally from the body. The stapling head assembly is positioned at a distal end of the shaft. The stapling head assembly includes an anvil coupling feature, at least one annular array of staples, and a staple driver. The second user input feature is operable to drive the anvil coupling feature longitudinally. The staple driver is operable to drive the at least one annular array of staples. The motor is operable to drive the staple driver. The anvil is configured to couple with the anvil coupling feature. The anvil is further configured to deform the staples driven by the staple driver.