Abstract: A method for generating and updating a three-dimensional representation of a surgical site based on imaging data from an imaging system is disclosed. The method comprises the steps of generating a first image of the surgical site based on structured electromagnetic radiation emitted from the imaging system, receiving a second image of the surgical site, aligning the first image and the second image, generating a three-dimensional representation of the surgical site based on the first image and the second image as aligned, displaying the three-dimensional representation on a display screen, receiving a user selection to manipulate the three-dimensional representation, and updating the three-dimensional representation as displayed on the display screen from a first state to a second state according to the received user selection.

Abstract: An electrosurgical instrument comprising a housing, a shaft extending from the housing, an end effector extending from the shaft, an articulation joint rotatably connecting the end effector to the shaft, and a wiring circuit is disclosed. The housing comprises a printed control board. The wiring circuit extends from the printed control board through the shaft and into the end effector. The wiring circuit is configured to monitor a function of the end effector and communicate the monitored function to the printed control board. The wiring circuit comprises a proximal rigid portion fixed to the shaft, a distal rigid portion fixed to the end effector, and an intermediate portion extending from the proximal rigid portion to the distal rigid portion. The intermediate portion comprises a resilient portion and a stretchable portion.

Abstract: A method for performing an electrosurgical procedure using an electrosurgical instrument including an end effector is disclosed. The method comprises applying a bipolar energy to a target tissue grasped by the end effector in a tissue-feathering segment, applying an energy blend of the bipolar energy and a monopolar energy to the target tissue in a tissue-warming segment and a tissue-sealing segment following the tissue-warming segment, and discontinuing the bipolar energy but continuing to apply the monopolar energy to the target tissue in a tissue-cutting segment following the tissue-sealing segment.

Abstract: A surgical instrument comprising a flexible circuit is disclosed.

Abstract: A surgical system for use in a surgical procedure is disclosed. The surgical system includes a surgical instrument including an end effector configured to treat tissue at a surgical field during the surgical procedure, a surgical visualization system configured to track the surgical instrument in the surgical field, and a control circuit configured to derive a first data set from the surgical visualization system indicative of a visual aspect of the surgical instrument relative to the surgical field, derive a second data set from the surgical instrument indicative of a functional aspect of the surgical instrument, and correlate the first data set with the second data set.

Abstract: An electrosurgical instrument comprising an end effector including a first jaw, a second jaw, and an electrical circuit is disclosed. The first jaw comprises a first conductive skeleton, a first insulative coating selectively covering portions of the first conductive skeleton, and first-jaw electrodes comprising exposed portions of the first conductive skeleton. The second jaw comprises a second conductive skeleton, a second insulative coating selectively covering portions of the second conductive skeleton, and second-jaw electrodes comprising exposed portions of the second conductive skeleton. The circuit is configured to transmit a bipolar RF energy and a monopolar RF energy to the tissue through the first-jaw electrodes and the second-jaw electrodes. The monopolar RF energy shares a first electrical pathway and a second electrical pathway defined by the electrical circuit for transmission of the bipolar RF energy.

Abstract: An electrosurgical instrument comprising an end effector is disclosed. The end effector comprises a first jaw and a second jaw. At least one of the first jaw and the second jaw is movable to transition the end effector from an open configuration to a closed configuration to grasp tissue therebetween. The second jaw comprises linear portions cooperating to form an angular profile and a treatment surface comprising segments extending along the angular profile. The segments comprise different geometries and different conductivities. The segments are configured to produce variable energy densities along the treatment surface.

Abstract: Various systems and methods of controlling a surgical instrument are disclosed. The surgical instrument can include a motor and a control circuit coupled to the motor. The motor can be coupled to a clamping member, which is configured to transition an end effector between an open position and a closed position, cut tissue, and/or eject staples from a staple cartridge in the end effector. The control circuit can be programmed to cause the motor to drive a clamping member at a first rate in a first zone between the first position and the second position and cause the motor to drive the clamping member at a second rate in a second zone between the first position and the second position; wherein the first rate is less than the second rate.

Abstract: The present disclosure provides a robotic surgical system that includes a control circuit configured to detect a condition at an end effector during a closure phase. The control circuit detects a condition at an end effector during a closure phase. The control sets command velocity of a motor coupled to a displacement member coupled to the end effector based on the detected condition at the end effector during the closure phase. The control circuit fires the displacement member at the set command velocity and detects a condition at the end effector during a firing phase. The control circuit sets command velocity of the motor based on the condition detected at the end effector during the firing phase.

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 motorized surgical instrument is disclosed. The surgical instrument includes a displacement member configured to translate over a plurality of predefined zones. A motor comprising a shaft is coupled to the displacement member. A control circuit is coupled to the motor. A position sensor is coupled to the control circuit to monitor the rotation of the shaft. A timer circuit is coupled to the control circuit. The control circuit is configured to receive rotations of the shaft in a current zone defined by a set rotation interval, measure time at a set position of the rotation interval, wherein the measured time is defined as the time taken by the displacement member to traverse the rotation interval based on a predetermined number of shaft rotations, and set a command velocity of the displacement member for a subsequent zone based on the measured time in the current predefined zone.

Abstract: Methods of controlling velocity of a firing member in a robotic surgical system are disclosed. One method detects an end effector condition during closure, sets a command velocity of a displacement member based on the closure condition, fires the displacement member at the set command velocity, detects an end effector condition during a firing phase, and sets a command velocity based on the firing condition. Another method receives closure force of a closure member, compares the actual closure force to a threshold, determines a set point velocity based on the comparison, and controls the actual velocity of the closure member based on the set point velocity. Another method receives actual closure force of a closure member, receives actual position of a firing member, and sets a new closure force based on the actual closure force applied to the closure member and the actual position of the firing member.

Abstract: A method includes positioning a surgical tool with an end effector adjacent a surgical site, the end effector including a housing having a tapered section that defines an inner surface, first and second arcuate jaw members protruding distally from the housing and defining a channel therebetween, each arcuate jaw member exhibiting a curved profile shaped to receive an arcuate surgical clip, and a feedbar movable within the housing. The method further including urging the arcuate surgical clip against the inner surface, advancing the feedbar within the housing to engage and follow the inner surface and thereby flexing the feedbar downward and into engagement with the arcuate surgical clip, advancing the arcuate surgical clip with the feedbar into interposition between the first and second arcuate jaw members, and collapsing the first and second arcuate jaw members to crimp the arcuate surgical clip.

Abstract: A surgical instrument that comprises an elongate shaft assembly that defines a shaft axis. A surgical end effector is pivotally coupled to the elongate shaft assembly for selective pivotal travel relative thereto about an articulation axis that is laterally offset from the shaft axis and extends transversely relative thereto. An end effector driver link is operably coupled to the surgical end effector and an articulation driver that is supported for longitudinal travel in distal and proximal directions upon application of articulation motions thereto. A flexible de-articulation member is coupled to the elongate shaft assembly and the surgical end effector to apply de-articulation motions to the surgical end effector.

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 surgical instrument includes a body assembly, a shaft assembly that releasably attaches to the body assembly, and an end effector at a distal end of the shaft assembly. The body assembly includes a first electrical contact and a first sealing portion. The shaft assembly includes a second electrical contact and a second sealing portion. The first and second electrical contacts are configured to electrically couple together to establish an electrical connection therebetween when the shaft assembly is attached to the body assembly. The first and second sealing portions are configured to sealingly engage one another when the shaft assembly is attached to the body assembly to establish a liquid-tight seal that surrounds the electrical connection.

Abstract: An adapter for use with an electromechanical surgical instrument. The adapter includes a shaft assembly and a surgical end effector that is selectively articulatable and rotatable relative to the shaft assembly through a range of articulated and rotated positions. The adapter includes sensing and control arrangements for monitoring and maintaining the end effector in articulated and/or rotated positions.

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 surgical instrument comprising a shaft and a distal head extending from the shaft is disclosed. The distal head comprises a tissue drive configured to engage the tissue of a patient and move the distal head relative to the patient tissue. The tissue drive comprises, among other things, a tiltable or pivotable portion which adapts to changes in tissue thickness.