Abstract: A colpotomy system includes a surgical instrument and a uterine manipulator. The surgical instrument has a shaft assembly. The shaft assembly includes an end effector supported on a distal end portion of the shaft assembly. The end effector includes a first jaw member and a second jaw member. The uterine manipulator extends distally to a head supporting a knife that is positioned to cooperate with the first and second jaw members of the end effector.

Abstract: A robotic surgical instrument includes a housing, a shaft assembly extending distally from the housing, and an end effector assembly. The shaft assembly has a proximal segment coupled to the housing, a clevis supporting the end effector assembly, and at least one articulating link pivotably coupled to and interconnecting the proximal segment and the clevis such that the end effector assembly is configured to articulate relative to the proximal segment via the at least one articulating link in at least two directions.

Abstract: A robotic surgical instrument includes a housing having a shaft extending therefrom. A spring compression assembly is supported within the housing and includes: a proximal hub configured to secure a drive rod disposed therethrough, the proximal hub including teeth; a distal hub spaced from the proximal hub and including teeth; and a compression spring mounted between the proximal and distal hubs. A drive gear includes a proximal portion extending therefrom having threads disposed thereabout configured to engage the teeth of the proximal and distal hubs such that rotation thereof translates the hubs relative to one another and actuates the end effector assembly. A thumb wheel is included that has a portion exposed outside the housing for external manipulation thereof. The thumb wheel is selectively positionable between a disengaged position spaced relative to the drive gear and an engaged position to matingly engage the drive gear.

Abstract: A surgical end effector assembly includes first and second jaw members configured to grasp tissue. Each of the first and second jaw members includes a proximal flange portion and a distal body portion. The proximal flange portions are pivotably coupled to one another to move the distal body portions between a spaced-apart position and an approximated position.

Abstract: Disclosed is a system to engage one or more tools. In the system a drive shaft and collet may be assembled to engage and disengage, selectively, a plurality of tools. Further, a tracking device may be used to track a location of at least a portion of the tool.

Abstract: A robotic surgical instrument includes a housing, a shaft assembly extending distally from the housing, and an end effector assembly. The shaft assembly has a proximal segment coupled to the housing, a clevis supporting the end effector assembly, and an articulating link pivotably coupled to and interconnecting the proximal segment and the clevis such that the end effector assembly is configured to articulate relative to the proximal segment via the articulating link in at least two directions.

Abstract: An electrically-insulative shaft for an energy-based surgical instrument includes an outer tube formed from an electrically-insulative material, an inner tube formed from an electrically-insulative material, and an intermediate tube disposed between the outer and inner tubes. The intermediate tube is formed from an electrically-conductive material. Distal ends of the outer and inner tubes extend beyond a distal end of the intermediate tube and are joined to one another to enclose the distal end of the intermediate tube therebetween.

Abstract: A surgical instrument for use in a robotic surgical system includes an end effector, a housing configured to be operably coupled to an instrument drive unit, a shaft extending distally from the housing, a tensegrity wrist assembly movably coupling the end effector to a distal end portion of the shaft, and articulation cables that adjust the pitch and yaw of the end effector relative to the shaft.

Abstract: Disclosed is a system to engage one or more tools. In the system a drive shaft and collet may be assembled to engage and disengage, selectively, a plurality of tools. Further, a tracking device may be used to track a location of at least a portion of the tool.

Abstract: A surgical instrument for use with a robotic surgical system includes a knife blade configured to cut tissue and a knife tube coupled to the knife blade and configured to translate to move the knife blade for cutting tissue. The surgical instrument also includes a gearbox assembly coupleable to a robotic surgical system and configured to translate the knife tube to move the knife blade for cutting tissue and a knife blade lock operably coupled to the gearbox assembly. The knife blade lock is movable from a locked position wherein the knife blade lock prevents translation of the knife tube to an unlocked position in response to coupling of the gearbox assembly to the robotic surgical system wherein the knife tube is permitted to translate to move the knife blade for cutting tissue.

Abstract: An articulating electrosurgical instrument includes a housing having an elongated shaft extending therefrom and a wrist assembly operably supported to a distal end of the elongated shaft and configured to support an end effector assembly at distal end thereof. The wrist assembly includes a proximal link operably coupled to the distal end of the elongated shaft, a distal link operably coupled to the end effector assembly, and a central link operably coupled between the proximal link and the distal link. A transition lumen is configured to be received within the distal link, central link and proximal link. The transition lumen includes a helical passageway defined therein configured to guide a blade rod therethrough for operable engagement with a blade disposed within the end effector assembly.

Abstract: An end effector assembly of a robotic surgical instrument includes a clevis, first and second jaw members supported by the clevis, and a cam bar configured to move the first and second jaw members between an open state and a closed state.

Abstract: A gearbox assembly and surgical instrument including the same. The gearbox assembly includes a drive gear including a round gear and a lead screw such that a rotational input to the round gear rotates the lead screw. A first hub is threadingly engaged about the lead screw such that rotation of the lead screw translates the first hub. A second hub is spaced-apart from the first hub and engaged with a drive rod. A compression spring is disposed between the hubs. When a force acting against the drive rod is below a threshold, the rotational input translates the first hub, compression spring, second hub, and drive rod. When the force is equal to or above the threshold, the rotational input translates the first hub and compresses the compression spring against the second hub to maintain the second hub and drive rod in position.

Abstract: An end effector assembly includes first and second jaw members movable between an open and closed position to grasp tissue therebetween. First and second proximal flanges extending proximally from the second jaw member and defining a space therebetween, a proximal flange extend proximally from a proximal portion of the first jaw member and define a cam slot. A cam driver operably is coupled to the proximal flange of the first jaw member to define a space between the cam driver and the proximal flange of the first jaw member. A cam bar is disposed within the space defined between the cam driver and the proximal flange of the first jaw member. The cam bar includes a cam pin configured to move within a cam slot of the cam driver to move the first jaw member relative to the second jaw member between the open position and the closed position.

Abstract: A surgical instrument for use in a robotic surgical system includes an end effector, a housing configured to be operably coupled to an instrument drive unit, a shaft extending distally from the housing, a wrist assembly coupled to a distal end portion of the shaft, articulation cables that adjust the pitch and yaw of the end effector relative to the shaft, and a differential gear mechanism that transfers an input rotation to the articulation cables.

Abstract: An end effector assembly of a surgical instrument includes a clevis defining a longitudinal axis and including first and second arms spaced-apart relative to one another and first and second jaw members supported by the clevis. At least one of the jaw members is movable relative to the other and the clevis between a spaced-apart position and an approximated position for grasping tissue between the jaw members. The clevis includes first and second locating features on outwardly-facings sides of the first and second spaced-apart arms, respectively. The first and second locating features are configured to facilitate engagement and alignment of the end effector assembly within a test fixture.

Abstract: A surgical end effector assembly includes a clevis, first and second jaw members, and first and second lead wires. The clevis defines first and second arms spaced-apart relative to one another and extending from a proximal body and a finger extending from the proximal body at least partially between the arms. The finger defines a mouth at a free distal end thereof and a channel in communication with the mouth. The jaw members include proximal flange portions at least partially disposed between the arms, distal body portions extending distally from the clevis, and electrically conductive tissue contacting surfaces. At least one jaw member is movable to grasp tissue. The lead wires are connected to the tissue contacting surfaces and extend proximally from the distal body portions of the first and second jaw members through the mouth and into the channel of the finger of the clevis.

Abstract: A jaw member of a surgical instrument includes a structural frame, an insulative spacer supported on the structural frame, an electrically conductive tissue contacting plate supported on the insulative spacer, and a lead wire. The spacer defines a pocket at an upper portion thereof and includes a channel extending from the pocket, through the spacer, to a bottom portion of the spacer. The channel defines a substantially U-shaped configuration having first and second radiused corners at the bottom portion of the spacer. The lead wire is attached to an underside of the plate at an attachment point within the pocket and extends distally from the attachment point into the channel, through the channel, over the first and second radiused corners, and proximally from the jaw member. The lead wire is adapted to connect to a source of energy to energize the plate for treating tissue.

Abstract: A surgical end effector assembly includes first and second jaw members configured to grasp tissue. At least one of the jaw members defines a channel. A cutting element reciprocates through the channel to cut grasped tissue. The cutting element may include a first bevel defined along a first portion of a distal edge on a first side surface of the cutting element and a second bevel defined along a second portion of the distal edge on a second side surface of the cutting element. The first and second portions of the distal edge are sharpened to facilitate cutting tissue upon distal advancement of the cutting element. Alternatively or additionally, the cutting element may include a proximal body and a distal fin defining a height greater than a height of the proximal body and including a thinned portion defining a depression within a first side surface thereof.

Abstract: A surgical instrument for use with a robotic surgical system includes a shaft extending distally from a housing and first and second jaw members disposed at a distal end of the shaft. The surgical instrument also includes a knife blade configured to cut tissue and a drive input configured to receive a rotational input from a robotic surgical system to drive rotation of an input shaft and translate the knife blade. The surgical instrument also includes a knife blade lock configured to move between a locked position to prevent rotation of the drive input, and an unlocked position such that the drive input is permitted to rotate in response to receiving the rotational input to drive rotation of the input shaft. The surgical instrument also includes a spring configured to bias the knife blade lock into the locked position.