Abstract: A surgical instrument, has an end effector that includes an ultrasonic blade, and a clamp arm that moves relative to the ultrasonic blade from an opened position toward an intermediate position and a closed position. The clamp arm is offset from the ultrasonic blade to define a predetermined gap in the intermediate position between the opened position and the closed position. A clamp arm actuator connects to the clamp arm and moves from an opened configuration to a closed configuration to direct the clamp arm from the opened position toward the intermediate position and the closed position. A spacer connects with the clamp arm to inhibit movement of the clamp arm from the intermediate position toward the closed position for maintaining the predetermined gap between the clamp arm and the ultrasonic blade.

Abstract: A surgical instrument of a robotic surgical system includes an elongated shaft assembly, and end effector, and an instrument cassette assembly. The elongated shaft assembly has a proximal end portion and a distal end portion. The end effector is supported the distal end portion of the elongated shaft assembly. The instrument cassette assembly is supported on the proximal end portion of the elongated shaft assembly. The instrument cassette assembly includes a cassette housing and an actuator system supported in the cassette housing. The actuator system is operably coupled to the end effector for operating the end effector.

Abstract: An injection device (10; 110, 210) is described of the type that receives a syringe, extends it, discharges its contents and then retracts it automatically. The injection device makes use of a fluid-damped delay mechanism.