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: 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 motorized surgical instrument is disclosed. The surgical instrument includes a displacement member, a motor coupled to the displacement member, a control circuit coupled to the motor, and a position sensor coupled to the control circuit. The control circuit is configured to determine a velocity of the displacement member via the position sensor, and cause the display to present an indicia that is indicative of the velocity of the displacement member, wherein a portion of the display occupied by the indicia corresponds to the velocity of the displacement member.

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: A motorized surgical instrument is disclosed. The surgical instrument includes a displacement member, a motor coupled to the displacement member, a control circuit coupled to the motor, a position sensor coupled to the control circuit, and a timer circuit coupled to the control circuit. The timer circuit is configured to measure elapsed time and to to receive, from the position sensor, a position of the displacement member in a current zone during a set time interval, measure displacement of the displacement member at a set time at the end of the set time interval, wherein the measured displacement is defined as the distance traveled by the displacement member during the set time interval at a set command velocity for the current zone, and set a command velocity of the displacement member for a subsequent zone based on the measured displacement of the displacement member within the current zone.

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 fastener cartridge for creating a flexible fastener line is disclosed. The fastener cartridge includes a plurality of fasteners removably stored therein wherein at least some of the fasteners are oriented in directions which are transverse or oblique to an incision created by a cutting member passing through the fastener cartridge. Once these fasteners are deployed into tissue, the fasteners can translate and/or rotate within the tissue when the tissue is stretched.

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 about an articulation axis that extends transversely relative to the shaft axis. First and second articulation drivers are supported for selective longitudinal travel relative to the elongate shaft assembly. A first end effector link is movably coupled to the surgical end effector and is coupled to the first articulation driver for axial and pivotal travel relative thereto. A second end effector link is movably coupled to the surgical end effector and is coupled to the second articulation driver for axial and pivotal travel relative thereto.

Abstract: A surgical instrument comprising an elongate shaft assembly that defines a shaft axis. The surgical instrument includes a surgical end effector that has a distal end and a proximal end. The proximal end is pivotally coupled to the elongate shaft assembly for selective pivotal travel about an articulation axis that extends transversely relative to the shaft axis. The surgical end effector is selectively pivotable about the articulation axis from an unarticulated position wherein the distal end of the surgical end effector is located an unarticulated distance from the articulation axis to articulated positions wherein the distal end of the surgical end effector is located a corresponding articulated distance from the articulation axis that is less than the unarticulated distance.

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 about an articulation axis that extends transversely relative to the shaft axis. An articulation driver is supported for selective longitudinal travel relative to the elongate shaft assembly in a distal direction and a proximal direction. A central articulation link is movably coupled to a distal end of the elongate shaft assembly. The central articulation link is operably coupled to the articulation driver and an end effector driver link. The end effector driver link is operably coupled to the surgical end effector for selective pivotal and axial travel relative thereto.

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 about an articulation axis that extends transversely relative to the shaft axis. The surgical instrument further includes an articulation system that comprises a single articulation driver that is supported for longitudinal travel along a path that is laterally offset from the shaft axis. A cross link is coupled to the articulation driver and extends transversely across the shaft axis to be coupled to the surgical end effector.

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: A surgical instrument comprising 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 about an articulation axis that extends transversely relative to the shaft axis. An articulation driver is supported for selective longitudinal travel relative to the elongate shaft assembly. A central articulation link is pivotally coupled to the elongate shaft assembly for pivotal travel relative thereto. An intermediate link is movably coupled to the articulation driver and the central articulation link. An end effector driver is movably coupled to the central articulation link and the surgical end effector.

Abstract: A fastener cartridge for creating a flexible fastener line is disclosed. The fastener cartridge includes a plurality of fasteners removably stored therein wherein at least some of the fasteners are oriented in directions which are transverse or oblique to an incision created by a cutting member passing through the fastener cartridge. Once these fasteners are deployed into tissue, the fasteners can translate and/or rotate within the tissue when the tissue is stretched.