Abstract: Various embodiments described herein are directed to surgical instruments with visual feedback. In one embodiment, a surgical instrument with visual feedback comprises an end effector. The end effector has a first jaw member and a second jaw member. At least one sensor is coupled to the end effector. The at least one sensor is configured convert at least one state of the end effector to a feedback signal. The feedback signal is corresponding to the at least one state of the end effector. The feedback signal may be transmitted to a display to render a visual representation of the at least one state of the end effector. The surgical instrument may further comprise an instrument mounting portion to mount to a robotic surgical system. The instrument mounting portion comprises an interface to mechanically and electrically interface to the surgical instrument.

Abstract: A biopsy device comprises a body, a needle, and a cutter. A self-reversing cutter translation mechanism translates the cutter proximally and distally in response to rotation of the cutter in a single rotational direction. The cutter translation mechanism comprises a lead screw with discretely formed threads and a rotatable pawl. The cutter is translated proximally when the pawl is in a first rotational orientation; and distally when the pawl is in a second rotational orientation. Resilient members cause the pawl to be rotated between the first and second rotational orientations when the cutter reaches a distal position and a proximal position. A vacuum draws severed tissue samples through the interior of the cutter to deposit the samples in a holder. The translation mechanism engages a valve mechanism to provide simultaneous venting to part of the needle and reversal of the pawl orientation when the cutter reaches a distal position.

Abstract: A biopsy device comprises a body and a needle extending distally from the body. The needle comprises a cannula and a tissue piercing tip that is unitary with the cannula. The tissue piercing tip may be formed by compressing the distal end of the cannula to put two distal cannula portions in apposition with each other. One of the apposed distal cannula portions may be removed. The remaining distal cannula portion may be formed into a blade of the tissue piercing tip. A cutter may be moved relative to the needle to sever samples from tissue protruding through a transverse aperture formed in the cannula. A gap may be provided between the exterior of the cutter and the interior of the cannula, permitting the cutter to be distally vented while a proximal vacuum is communicated to the cutter to transport severed tissue samples proximally through the cutter.

Abstract: Various embodiments of surgical robot control systems are disclosed. In one example embodiment, the surgical robot control system comprises a housing. A controller is located within the housing and is coupled to a socket. The socket receives a handheld surgical user interface therein to control a surgical instrument. The surgical instrument is connected to the surgical robot and comprises an end effector and a mechanical interface to manipulate the end effector. The mechanical interface is coupled to the controller. At least one sensor is coupled to the controller and the socket to convert movement of the handheld surgical user interface into electrical signals corresponding to the movement of the surgical instrument. At least one feedback device is coupled to the controller to provide feedback to a user. The feedback is associated with a predetermined function of the surgical instrument.

Abstract: A biopsy device comprises a body and a needle extending distally from the body. The needle comprises a cannula and a tissue piercing tip that is unitary with the cannula. The tissue piercing tip may be formed by compressing the distal end of the cannula to put two distal cannula portions in apposition with each other. One of the apposed distal cannula portions may be removed. The remaining distal cannula portion may be formed into a blade of the tissue piercing tip. A cutter may be moved relative to the needle to sever samples from tissue protruding through a transverse aperture formed in the cannula. A gap may be provided between the exterior of the cutter and the interior of the cannula, permitting the cutter to be distally vented while a proximal vacuum is communicated to the cutter to transport severed tissue samples proximally through the cutter.

Abstract: An apparatus for use with a minimally invasive medical procedure into human breast tissue includes a cannula and an obturator. The cannula includes an open distal end, a lateral opening proximate to the open distal end, and a longitudinal lumen communicating with the lateral opening and the open distal end. The lumen has a non-circular cross-section. The obturator is sized for insertion into the cannula. The obturator has a distal end extending from the open distal end of the cannula when the obturator is inserted fully into the cannula. The obturator has a recess proximate of the distal end of the obturator. The recess is positioned along a portion of the length of the obturator to align with the lateral opening of the cannula when the obturator is inserted fully into the cannula.

Abstract: A needle may be fired into tissue by a needle firing mechanism, which may include a fork for holding the needle and a firing rod coupled with the fork. A spring urges the fork to a distal, fired position. A screw gear is coupled with the rod. A sled is positioned at the proximal end of the rod. A catch is configured to engage the sled when the sled is moved to a proximal position. The screw gear is operable to convert rotational motion from a motor and gear set into linear motion to move the rod proximally to engage the sled with the catch, thereby cocking the needle firing mechanism. The motor may also be used to translate the screw gear distally relative to the rod after the sled has engaged with the catch. A trigger is used to fire the cocked needle firing mechanism.

Abstract: A biopsy device includes a body having a cannula, a cutter positioned at least partly within the cannula, a tissue collection chamber, and a vacuum source. In one example, the biopsy device includes a cutter loader for rotating the cutter into a loaded position (e.g., open position). A trigger is engaged with a portion of the cutter loader and may be activated to allow the cutter to rotate back to a closed position. During this rotation, the cutter severs a tissue sample, which may thereafter be drawn through the cutter lumen into the tissue collection chamber under the influence of a vacuum created by the vacuum source. The vacuum source includes a piston configured to be operated by squeezing a scissors grip. A user may apply a single stroke or successive strokes to the piston to produce the vacuum.

Abstract: A biopsy device comprises a probe that is configured to couple with a holster. The probe comprises a needle, a cutter, and a body portion. The needle is rotatable and translatable relative to the body portion. The holster has a locking feature that is configured to prevent the needle from rotating relative to the body portion upon coupling of the probe with the holster. The locking feature may also be configured to prevent the needle from translating relative to the body portion upon coupling of the probe with the holster. The same probe may thus be used with a holster intended for use in a fixture-based, stereotactic setting, in which rotation and translation of the needle may be desired; and with a holster intended for use in a handheld, ultrasound-guided setting, in which rotation and translation of the needle may be less desired if not undesirable.

Abstract: A biopsy system includes a biopsy device, a vacuum canister, a vacuum control module, and a plurality of tubes. A first tube is configured to provide an axial vacuum to the biopsy device, while a second tube is configured to provide a lateral vacuum. A third tube is configured to communicate atmospheric air to the second tube. A fourth tube is configured to communicate saline to the second tube. The vacuum canister is configured to collect fluids drawn through the first tube and the second tube. The canister has a lid with trenches formed in it for retaining the first, second, third, and fourth tubes. The lid also has engagement regions for selectively pinching each of the tubes against to prevent fluid communication through selected tubes. The canister can be removably inserted into the vacuum control module, which includes components for selectively pinching the tubes against the engagement regions.

Abstract: A surgical instrument can comprise a lock movable between a locked position and an unlocked position, wherein the lock can be engaged with a drive shaft in order to prevent the drive shaft from being advanced when the lock is in its locked position. The surgical instrument can further comprise an electrical input and, in addition, a switch movable between an unactuated position and an actuated position, wherein the electrical input is electrically disconnected from an electrode when the switch is in its unactuated position, wherein the switch is configured to electrically couple the electrical input and the electrode when the switch is in its actuated position, and wherein the switch and the lock are operably coupled such that the movement of the switch from its unactuated position to its actuated position moves the lock from its locked position to its unlocked position.

Abstract: A surgical instrument can comprise a first drive system for advancing a knife bar between a first position and a second position in order to close a jaw, or clamping, member of an end effector. The first drive system can comprise a toggle clamp which can generate and transmit an asymptotical clamping load to the jaw member. The surgical instrument can further comprise a second drive system for advancing the knife bar between the second position and a third position. The second drive system can comprise a rack and pinion system and the surgical instrument can comprise a single trigger for actuating both the first drive system and the second drive system on the same stroke.

Abstract: A suture anchor loader comprises a housing with a port. A channel extends into the housing from the port, the channel being dimensioned to receive a surgical needle. A suture anchor is preloaded in the channel with a length of suture connected to the suture anchor and stored in the housing. A push rod is slideably positioned in the channel such that the suture anchor is intermediate the push rod and the port. An actuator is operatively connected to push rod to selectively deploy the anchor into the needle.

Abstract: A localization mechanism, or fixture, is used in conjunction with a breast coil for breast compression and for guiding a core biopsy instrument during prone biopsy procedures in both open and closed Magnetic Resonance Imaging (MRI) machines. The localization fixture includes a three-dimensional Cartesian positionable guide for supporting and orienting an MRI-compatible biopsy instrument, and, in particular, a sleeve to a biopsy site of suspicious tissues or lesions. A z-stop enhances accurate insertion, prevents over-insertion or inadvertent retraction of the sleeve. The sleeve receives a probe of the MRI-compatible biopsy instrument and may contain various features to enhance its imagability, to enhance vacuum and pressure assist therethrough, etc.

Abstract: A localization mechanism, or fixture, is used in conjunction with a breast coil for breast compression and for guiding a core biopsy instrument during prone biopsy procedures in both open and closed Magnetic Resonance Imaging (MRI) machines. The localization fixture includes a three-dimensional Cartesian positionable guide for supporting and orienting an MRI-compatible biopsy instrument, and in particular a sleeve, to a biopsy site of suspicious tissues or lesions. A depth stop enhances accurate insertion, and prevents over-insertion or inadvertent retraction of the sleeve. The sleeve receives a probe of the MRI-compatible biopsy instrument and may contain various features to enhance its imagability, to enhance vacuum and pressure assist therethrough, and marker deployment etc.

Abstract: A biopsy device includes a probe portion and a holster portion that may be coupled together. The probe portion includes a rotatable tissue sample holder that is configured to hold tissue samples. One or more portions of the tissue sample holder may be formed of a transparent or translucent material, e.g., a translucent manifold and shaft, transparent or translucent tissue sample trays, and a transparent cup that is external to the manifold and trays. The holster portion may include one or more sources of light, such as light emitting diodes (LEDs). The LEDs may be configured to illuminate at least a portion of the tissue sample holder, such as to facilitate viewing of tissue samples in the tissue sample holder. For instance, one LED may be aligned with the shaft of the tissue sample holder, while two additional LEDs may be positioned on both sides of the shaft.

Abstract: A biopsy device comprises a body and a needle extending distally from the body. The needle comprises a cannula and a tissue piercing tip that is unitary with the cannula. The tissue piercing tip may be formed by compressing the distal end of the cannula to put two distal cannula portions in apposition with each other. One of the apposed distal cannula portions may be removed. The remaining distal cannula portion may be formed into a blade of the tissue piercing tip. A cutter may be moved relative to the needle to sever samples from tissue protruding through a transverse aperture formed in the cannula. A gap may be provided between the exterior of the cutter and the interior of the cannula, permitting the cutter to be distally vented while a proximal vacuum is communicated to the cutter to transport severed tissue samples proximally through the cutter.

Abstract: A biopsy device comprises a body, a needle, and a cutter. A self-reversing cutter translation mechanism translates the cutter proximally and distally in response to rotation of the cutter in a single rotational direction. The cutter translation mechanism comprises a lead screw with discretely formed threads and a rotatable pawl. The cutter is translated proximally when the pawl is in a first rotational orientation; and distally when the pawl is in a second rotational orientation. Resilient members cause the pawl to be rotated between the first and second rotational orientations when the cutter reaches a distal position and a proximal position. A vacuum draws severed tissue samples through the interior of the cutter to deposit the samples in a holder. The translation mechanism engages a valve mechanism to provide simultaneous venting to part of the needle and reversal of the pawl orientation when the cutter reaches a distal position.

Abstract: A localization mechanism, or fixture, is used in conjunction with a breast coil for breast compression and for guiding a core biopsy instrument during prone biopsy procedures in both open and closed Magnetic Resonance Imaging (MRI) machines. The localization fixture includes a three-dimensional Cartesian positionable guide for supporting and orienting an MRI-compatible biopsy instrument, and, in particular, a sleeve to a biopsy site of suspicious tissues or lesions. A z-stop enhances accurate insertion, prevents over-insertion or inadvertent retraction of the sleeve. The sleeve receives a probe of the MRI-compatible biopsy instrument and may contain various features to enhance its imagability, to enhance vacuum and pressure assist therethrough, etc.

Abstract: A biopsy device includes a cannula, a cutter disposed within the cannula, a needle hub having a gear for rotating the cannula, a mechanism for rotating and translating the cutter within the cannula, and a body portion. The cutter rotation and translation mechanism includes a first component that is secured to the cutter and a second component that is secured to the body portion. The body portion includes a tab that is configured to retain the axial position of the cannula and needle hub relative to the body until the tab is depressed or removed. The body is configured to permit the cannula and the needle hub to be pulled axially from the body only after the tab has been depressed or removed. The cutter can then be pulled axially from the body by unscrewing the first component of the cutter rotation and translation mechanism from the second component.