Abstract: A powered surgical cutting and stapling instrument is disclosed. The instrument includes at least one sensor to measure at least one parameter associated with the instrument, at least one processor, and a memory operatively associated with the processor. The memory includes machine executable instructions that when executed by the processor cause the processor to monitor the at least one sensor over a predetermined time period and determine a rate of change of the measured parameter.

Abstract: A surgical instrument includes a body, a shaft assembly, a stapling head assembly, an anvil, an anvil adjustment assembly, a trigger, and a lockout assembly. The stapling head assembly is operable to drive an annular array of staples. The anvil is configured to couple with the stapling head assembly. The anvil adjustment assembly includes a translating member, which translates relative to the body to thereby adjust the longitudinal position of the anvil relative to the stapling head assembly. The trigger is operable to actuate the stapling head assembly. The lockout assembly includes an electrically powered braking feature. A method of operating the surgical instrument includes providing the lockout assembly in a first state to permit translation of the translating member. The translating member is then translated. The lockout assembly is then transitioned to a second state to prevent further translation of the translating member.

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 robotic surgical system that comprises a closure system. The closure system comprises a first pinion drivingly coupled to a first motor, a second pinion drivingly coupled to a second motor, and a closure gear selectively driven by the first pinion and the second pinion. The robotic surgical system further comprises a control circuit configured to implement a motor crosscheck operation. The control circuit is configured to receive a first parameter indicative of a first torque generated by the first motor, receive a second parameter indicative of a second torque generated by the second motor, compare the first parameter to the second parameter, and transmit a signal to a communication device, wherein the signal is based on the comparison and indicative of a status of the closure system.

Abstract: A method of operating a surgical tool includes coupling a drive housing to a tool driver of a first robotic surgical system, driving rotation of a drive shaft mounted within the drive housing and thereby commencing a firing sequence of the end effector, and setting a bailout Boolean value as “true” in an internal computer of the drive housing upon commencing the firing sequence, and storing the bailout Boolean value in a memory of the internal computer. Manually bailing out the surgical tool before completing the firing sequence, installing the surgical tool on a tool driver of a second robotic surgical system, and querying the memory of the internal computer with the second robotic surgical system and recognizing the bailout Boolean value as “true”. Initiating one or more remedial actions to ensure safe operation of the surgical tool on the second robotic surgical system.

Abstract: A method of homing a drive input of a robotic surgical tool includes recording and storing a home position of the drive input in a memory included in the robotic surgical tool, establishing a slow zone for the drive input encompassing a known angular magnitude away from the home position, storing the slow zone in the memory, rotating the drive input toward the home position, and slowing a rotation speed of the drive input upon reaching the slow zone.

Abstract: A surgical robotic system includes a housing, wherein the housing includes a rotary drive; a motor that applies a rotary motion to the rotary drive; a surgical tool that releasably attaches to the housing, the surgical tool including: an end effector; a rotary interface that releasably couples to the rotary drive; a firing assembly; a lockout member movable from a locked state to an unlocked state by a sled; and a control circuit communicably coupled to the motor, wherein the control circuit is configured to: activate the motor to effect the motion of the firing assembly; monitor a current draw of the motor during the motion of the firing assembly; detect a fault state in the motion of the firing assembly based on the current draw of the motor; stop the motor based on the detection of the fault state; and alert a user regarding the fault state.

Abstract: A surgical tool includes a drive housing, a shaft extending from the drive housing and including an inner grounding shaft, an end effector coupled to the shaft and having opposing jaws, a firing rod extending within the inner grounding shaft and terminating at a cutting element, and an unclamp lockout mechanism provided within the drive housing and including a pawl rotatably mounted to the inner grounding shaft and pivotable between a stowed position, where the pawl is received within an aperture defined in the inner grounding shaft, and a deployed position, where the pawl protrudes out of the aperture, and a biasing device that biases the pawl toward the stowed position. When the pawl is in the stowed position, the pawl is received within a cutout defined by the firing rod, and moving the firing rod distally overcomes the biasing device and urges the pawl to the deployed position.

Abstract: In one general aspect, various embodiments of the present invention can include a motorized surgical cutting and fastening instrument having a drive shaft, a motor selectively engageable with the drive shaft, and a manual return mechanism configured to operably disengage the motor from the drive shaft and retract the drive shaft. In at least one embodiment, a surgeon, or other operator of the surgical instrument, can utilize the manual return mechanism to retract the drive shaft after it has been advanced, especially when the motor, or a power source supplying the motor, has failed or is otherwise unable to provide a force sufficient to retract the drive shaft.

Abstract: A method for assessing performance of a surgical instrument including one or more drivetrains is disclosed. The method includes sensing via one or more vibration sensors vibrations generated during operation of the one or more drivetrains of the surgical instrument, generating an output signal based on the sensed vibrations, filtering the output signal to generate a filtered signal of the sensed vibrations from the one or more drivetrains, processing the filtered signal to generate a processed signal of the sensed vibrations from the one or more drivetrains, and comparing predetermined threshold values for each of an acceptable status, a marginal status, and a critical status of the surgical instrument to corresponding values of the processed signal.

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: 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. The surgical instrument has a force delivery system which communicates a changing force to a user of the surgical instrument when a limit of a surgical function is reached. A sensor senses position of a moving element to communicate a signal to the force delivery system. In various embodiments, the system generates a vibratory force to signal the user.

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 surgical instrument can comprise a handle, a shaft extending from the handle, and an end effector rotatably coupled to the shaft by an articulation joint. The surgical instrument can further include a staple cartridge positioned within the end effector and a firing drive operably coupled with a trigger wherein the operation of the trigger can advance and/or retract a firing member of the firing drive relative to the end effector. The surgical instrument can further comprise an articulation drive which is selectively engageable with the firing drive. When the articulation drive is engaged with the firing drive, the operation of the firing drive can operate the articulation drive and articulate the end effector. When the articulation drive is not engaged with the firing drive, the firing drive can be operated independently of the articulation drive.

Abstract: A surgical tool includes a drive housing, a shaft extending from the drive housing, an end effector at an end of the shaft and having opposing jaws and a cutting element, and an unclamp lockout mechanism. The unclamp lockout mechanism including a pawl rotatably mounted to the shaft and positioned proximal to a closure yoke operatively coupled to the shaft, the pawl being pivotable between a stowed position, where the pawl is received within an aperture of the shaft, and a deployed position, where the pawl protrudes out of the aperture, and a biasing device that biases the pawl toward the stowed position. When the pawl is in the stowed position, the closure yoke is movable to a proximal position over at least a portion of the pawl to open the opposing jaws. When the pawl is in the deployed position, the closure yoke is prevented from moving to the proximal position.

Abstract: Various exemplary devices, systems, and methods for robotic surgical instruments having onboard generators are provided. In general, a surgical instrument is configured to releasably and replaceably couple to a robotic surgical system. The surgical instrument is configured to receive an input from the robotic surgical system that causes the surgical instrument to generate electrical power.

Abstract: A surgical tool includes a drive housing, a shaft extending from the drive housing, an end effector at an end of the shaft and having opposing jaws and a cutting element, and an articulable wrist configured to rotate the end effector within a plane. The wrist is articulated via antagonistic translation of a pair of drive members. Various systems are provided for homing one or more drive inputs that cause movement in the wrist and/or the end effector, or for controlling articulation of the drive inputs.

Abstract: A surgical instrument. The surgical instrument has a force delivery system which communicates a changing force to a user of the surgical instrument when a limit of a surgical function is reached. A sensor senses position of a moving element to communicate a signal to the force delivery system. In various embodiments, the system generates a vibratory force to signal the user.

Abstract: A robotic surgical system for deploying staples from a staple cartridge into tissue is disclosed. The surgical robotic system comprises an end effector, a drive system, a user interface, and a control circuit. The end effector comprises a first jaw and a second jaw movable relative to the first jaw from an open configuration toward a closed configuration. The drive system is configured to effect a motion at the end effector. The drive system comprises a motor and a drive member. The control circuit is configured to activate the drive system to effect the motion at the end effector, monitor a current draw of the motor, pause the drive system intermediate the effected motion at the end effector based on the current draw of the motor, restart the drive system to continue the effected motion at the end effector, and cause the user interface to provide feedback to a user.