Abstract: A surgical instrument includes an end effector having a clamp arm pivotable relative to an ultrasonic blade, an articulation section configured to deflect the end effector, an acoustic waveguide having a distal portion extending along an axis, a clamp arm closure assembly comprising a body configured to actuate in order to drive the pivoting of the clamp arm, and a clamp arm clocking assembly. The clamp arm clocking assembly is capable of driving rotation of the clamp arm about the axis relative to the ultrasonic blade between a first clocked position and a second clocked position. The clamp arm clocking assembly includes a rotating body pivotally coupled with the clamp arm, a translating drive extending through the articulation section, and a rotation driver assembly. The rotation driver is in communication with the translating driver in order to convert translational motion of the translating driver into rotational motion of the rotating body.

Abstract: An end effector includes a wrist having a distal clevis rotatably coupled to a proximal clevis, a shaft coupled to the proximal clevis and defining a radial shoulder, one or more jaw members rotatably mounted to the distal clevis, and a protective sleeve extendable over the wrist and a portion of the shaft and providing a cylindrical body having opposing distal and proximal ends, the protective sleeve being made entirely of a same flexible, and the cylindrical body defining an aperture at the distal end through which the jaw members protrude. An inner surface of the protective sleeve is smooth and forms an interference fit with an outer surface of the portion of the shaft. A positive indicator is discernible when the protective sleeve has moved from an assembled position, where the proximal end of the protective sleeve engages the radial shoulder, to a migrated position.

Abstract: A surgical instrument includes an end effector, a shaft assembly proximally extending from the end effector, and at least one translatable rack gear assembly coupled with the shaft assembly. The shaft assembly includes at least one elongate member connected to a select one or both of the end effector and the shaft assembly. The at least one translatable rack gear assembly includes a rack gear, an anchor longitudinally adjustable relative to the rack gear, and an insert received within the anchor. The anchor is coupled with the at least one elongate member such that adjustment of the anchor relative to the rack gear longitudinally moves the insert and the at least one elongate member for adjusting tension of the at least one elongate member.

Abstract: A surgical instrument includes an end effector, a shaft assembly proximally extending from the end effector, and at least one translatable rack gear assembly coupled with the shaft assembly. The shaft assembly includes at least one elongate member connected to a select one or both of the end effector and the shaft assembly. The at least one translatable rack gear assembly includes a rack gear, an anchor longitudinally adjustable relative to the rack gear, and an insert received within the anchor. The anchor is coupled with the at least one elongate member such that adjustment of the anchor relative to the rack gear longitudinally moves the insert and the at least one elongate member for adjusting tension of the at least one elongate member.

Abstract: An ultrasonic surgical instrument and method of deflecting an end effector include an acoustic waveguide with a proximal waveguide body portion defining a longitudinal axis, a distal waveguide body portion having an ultrasonic blade distally projecting therefrom, and an articulation body portion extending between the proximal and distal waveguide body portions. The articulation body portion of the acoustic waveguide is configured to flex a first direction to thereby deflect the ultrasonic blade relative to the longitudinal axis and through a first plane. In addition, the articulation body portion of the acoustic waveguide is further configured to flex a second direction to thereby deflect the ultrasonic blade relative to the longitudinal axis and through a second plane. The second direction is different than the first direction such that the second plane is different than the first plane for multiplanar deflection of the ultrasonic blade relative to the longitudinal axis.

Abstract: A surgical instrument includes an end effector, a shaft assembly, and an axial location feature. The end effector includes an ultrasonic blade and a clamp arm that can move between an open and closed position. The shaft assembly includes a proximal shaft portion, an acoustic waveguide extending proximally from the ultrasonic blade, a distal shaft portion extending along a distal axis, and an articulation section interposed between the proximal shaft portion and the distal shaft portion. The articulation section can deflect the distal shaft portion and the end effector relative to the longitudinal axis between a non-deflected position and a deflected position. The axial location feature can inhibit the ultrasonic blade from shifting relative to the clamp arm along the distal axis as the end effector is driven between the non-deflected position and the deflected position.

Abstract: An apparatus includes a body, a shaft assembly, and an end effector. The shaft assembly includes an outer tube, an inner tube, and an acoustic waveguide. The end effector includes an ultrasonic blade and a clamp arm. The ultrasonic blade is acoustically coupled with the acoustic waveguide. A first portion of the clamp arm is pivotably coupled with a distal end of the outer tube. A second portion of the clamp arm is pivotably coupled with a distal end of the inner tube. The outer tube and the inner tube are configured to removably couple with the body such that the outer tube, the inner tube, and the clamp arm are configured to removably couple with the body and the remainder of the shaft assembly and end effector as a unit.

Abstract: A surgical instrument includes an end effector, a shaft assembly, and an axial location feature. The end effector includes an ultrasonic blade and a clamp arm that can move between an open and closed position. The shaft assembly includes a proximal shaft portion, an acoustic waveguide extending proximally from the ultrasonic blade, a distal shaft portion extending along a distal axis, and an articulation section interposed between the proximal shaft portion and the distal shaft portion. The articulation section can deflect the distal shaft portion and the end effector relative to the longitudinal axis between a non-deflected position and a deflected position. The axial location feature can inhibit the ultrasonic blade from shifting relative to the clamp arm along the distal axis as the end effector is driven between the non-deflected position and the deflected position.

Abstract: A surgical instrument includes a shaft assembly, an ultrasonic blade, and a cleaning device. The shaft assembly includes a first tube and an acoustic waveguide. The first tube has a first inner diameter and a distal end. The waveguide has a first outer diameter. The waveguide extends within the first tube. The first outer diameter of the acoustic waveguide and the first inner diameter of the first tube together define a gap. The ultrasonic blade extends distally from the distal end of the first tube. The acoustic waveguide is configured to communicate ultrasonic energy to the ultrasonic blade. The cleaning device is configured to actuate within the gap to thereby clean at least a portion of the shaft assembly and/or at least a portion of the ultrasonic blade.

Abstract: An apparatus comprises a body and a shaft assembly. The shaft assembly is configured to couple with the body such that the shaft assembly extends distally relative to the body. The shaft assembly comprises a tubular member, an acoustic waveguide, and a guiding member. The acoustic waveguide is operable to selectively couple with an ultrasonic transducer assembly. The tubular member is configured to insertingly receive the acoustic waveguide. The acoustic waveguide comprises a guide feature. The guiding member is configured to engage the guide feature of the acoustic waveguide and thereby orient the acoustic waveguide in relation to the tubular member.

Abstract: An apparatus comprises a body and a shaft assembly. The shaft assembly is configured to couple with the body such that the shaft assembly extends distally relative to the body. The shaft assembly comprises a tubular member, an acoustic waveguide, and a guiding member. The acoustic waveguide is operable to selectively couple with an ultrasonic transducer assembly. The tubular member is configured to insertingly receive the acoustic waveguide. The acoustic waveguide comprises a guide feature. The guiding member is configured to engage the guide feature of the acoustic waveguide and thereby orient the acoustic waveguide in relation to the tubular member.

Abstract: A surgical instrument includes an end effector having a clamp arm pivotable relative to an ultrasonic blade, an articulation section configured to deflect the end effector, an acoustic waveguide having a distal portion extending along an axis, a clamp arm closure assembly comprising a body configured to actuate in order to drive the pivoting of the clamp arm, and a clamp arm clocking assembly. The clamp arm clocking assembly is capable of driving rotation of the clamp arm about the axis relative to the ultrasonic blade between a first clocked position and a second clocked position. The clamp arm clocking assembly includes a rotating body pivotally coupled with the clamp arm, a translating drive extending through the articulation section, and a rotation driver assembly. The rotation driver is in communication with the translating driver in order to convert translational motion of the translating driver into rotational motion of the rotating body.

Abstract: An electrosurgical device may include a front portion releasably attached to a reusable handle. The reusable handle may include a single motor configured to actuate a tissue knife mechanism and an articulation mechanism in the front portion. The reusable handle may include a controller configured to sense a position of a knife advancement control in the front portion and actuate the tissue knife via the motor when the knife advancement control is at a predetermined position. The controller may receive data from the front portion indicating that the front portion includes an articulation joint. If the front portion includes an articulation joint, the controller may actuate, via the motor, an articulation mechanism to adjust an angle of the articulation joint when an articulation control in the front portion is at a predetermined position. The reusable handle may be used with a front portion having or lacking an articulation joint.

Abstract: An ultrasonic surgical instrument and method of deflecting an end effector include an acoustic waveguide with a proximal waveguide body portion defining a longitudinal axis, a distal waveguide body portion having an ultrasonic blade distally projecting therefrom, and an articulation body portion extending between the proximal and distal waveguide body portions. The articulation body portion of the acoustic waveguide is configured to flex a first direction to thereby deflect the ultrasonic blade relative to the longitudinal axis and through a first plane. In addition, the articulation body portion of the acoustic waveguide is further configured to flex a second direction to thereby deflect the ultrasonic blade relative to the longitudinal axis and through a second plane. The second direction is different than the first direction such that the second plane is different than the first plane for multiplanar deflection of the ultrasonic blade relative to the longitudinal axis.

Abstract: A surgical instrument includes an end effector, a shaft assembly, and an axial location feature. The end effector includes an ultrasonic blade and a clamp arm that can move between an open and closed position. The shaft assembly includes a proximal shaft portion, an acoustic waveguide extending proximally from the ultrasonic blade, a distal shaft portion extending along a distal axis, and an articulation section interposed between the proximal shaft portion and the distal shaft portion. The articulation section can deflect the distal shaft portion and the end effector relative to the longitudinal axis between a non-deflected position and a deflected position. The axial location feature can inhibit the ultrasonic blade from shifting relative to the clamp arm along the distal axis as the end effector is driven between the non-deflected position and the deflected position.

Abstract: A surgical instrument includes an end effector, a shaft assembly proximally extending from the end effector, and at least one translatable rack gear assembly coupled with the shaft assembly. The shaft assembly includes at least one elongate member connected to a select one or both of the end effector and the shaft assembly. The at least one translatable rack gear assembly includes a rack gear, an anchor longitudinally adjustable relative to the rack gear, and an insert received within the anchor. The anchor is coupled with the at least one elongate member such that adjustment of the anchor relative to the rack gear longitudinally moves the insert and the at least one elongate member for adjusting tension of the at least one elongate member.

Abstract: Various exemplary surgical tool wrists are provided. In general, a surgical tool can include an elongate shaft and a wrist that couples an end effector to a distal end of the shaft. The surgical tool can include multiple elongate members configured to move, either individually or as a group of two or more of the elongate members, to cause movement of the end effector relative to the shaft. Each of the surgical tool's elongate members can be configured to extend along a helical path. Each of the elongate members can extend proximally from its associated helical path to a pulley at the wrist. The helical paths can be configured to guide the elongate members to approach and engage their respective pulleys at a substantially zero angle.

Abstract: An apparatus includes a body, a shaft assembly, and an end effector. The shaft assembly includes an outer tube, an inner tube, and an acoustic waveguide. The end effector includes an ultrasonic blade and a clamp arm. The ultrasonic blade is acoustically coupled with the acoustic waveguide. A first portion of the clamp arm is pivotably coupled with a distal end of the outer tube. A second portion of the clamp arm is pivotably coupled with a distal end of the inner tube. The outer tube and the inner tube are configured to removably couple with the body such that the outer tube, the inner tube, and the clamp arm are configured to removably couple with the body and the remainder of the shaft assembly and end effector as a unit.

Abstract: An apparatus includes a body, a shaft assembly, and an end effector. The shaft assembly includes an outer tube, an inner tube, and an acoustic waveguide. The end effector includes an ultrasonic blade and a clamp arm. The ultrasonic blade is acoustically coupled with the acoustic waveguide. A first portion of the clamp arm is pivotably coupled with a distal end of the outer tube. A second portion of the clamp arm is pivotably coupled with a distal end of the inner tube. The outer tube and the inner tube are configured to removably couple with the body such that the outer tube, the inner tube, and the clamp arm are configured to removably couple with the body and the remainder of the shaft assembly and end effector as a unit.

Abstract: A method of operating a surgical tool includes positioning the surgical tool adjacent a patient for operation, the surgical tool including a wrist having a distal clevis rotatably coupled to a proximal clevis, a shaft or the shaft adapter coupled to the proximal clevis, and an end effector having one or more jaw members rotatably mounted to the distal clevis. Portions of the wrist and the end effector are insulated with a protective sleeve having a distal end and a proximal end and defining an aperture at the distal end through which the one or more jaw members protrude. When the protective sleeve moves axially from an assembled position to a migrated position, a positive indicator is provided.