A method of constructing a system comprising one or more surgical arms, comprising: providing: a plurality of modular units, each modular unit comprising at least one surgical arm attached to at least one motor unit configured for actuating movement of the surgical arm; coupling one or more modular units to each other in an attachment configuration; displaying on a user interface one or both of an indication of the attachment configuration and a selection of an attachment configuration.

A surgical instrument. The surgical instrument has a force delivery system which communicates a changing force to a user of the surgical instrument when a limit of a surgical function is reached. A sensor senses position of a moving element to communicate a signal to the force delivery system. In various embodiments, the system generates a vibratory force to signal the user.

A loading unit configured for engagement with a surgical instrument, and including a proximal body portion, an end effector, and an imaging device. The end effector is disposed in mechanical cooperation with the proximal body portion, and includes a first jaw member and a second jaw member. At least one of the first jaw member and the second jaw member is movable with respect to the other of the first jaw member and the second jaw member between an open position and an approximated position. The first jaw member includes a first tissue contacting surface, and the second jaw member includes a second tissue contacting surface. A distal portion of the first jaw member is disposed at a first angle with respect to the first tissue contacting surface. The imaging device is disposed on the distal portion of the first jaw member, and is configured to capture visual data.

A surgical stapler for stapling the tissue of a patient is disclosed. The surgical stapler comprises a handle, a shaft extending from the handle, a plurality of staple clusters, and an end effector. The end effector comprises a tissue compression surface and an anvil movable toward the tissue compression surface during a closing stroke, an anvil closing system configured to move the anvil through the closing stroke, and a staple firing system configured to deploy a staple cluster positioned in the end effector during a staple firing stroke. The surgical stapler further comprises a tissue cutting system configured to cut the patient tissue during a tissue cutting stroke and a propulsion system configured to move the end effector relative to the patient tissue during a propulsion stroke.

Minimally invasive, multi-functional robotic surgical tool devices for use as lavaging, material aspiration or delivery surgical forceps, scissors or clamp or other device, consisting of a monolithic work element and open central lumen with various functional tips. Such devices may in use follow a central lumen of another device or over a wire in a longitudinal direction upon introduction to a body. Flush and vacuum transport mechanisms, imaging mechanisms or energy source mechanisms may be incorporated. Inner and outer sheaths which may be co-axially disposed relative to a work element may be configured to actuate a beak or beaks and provisions for simultaneous beak closing under rotation may be incorporated.

A surgical device. The surgical device may comprise a transducer, an end effector, a generator and a control circuit. The transducer may be configured to provide vibrations. The end effector may be coupled to the transducer and may extend from the transducer along the longitudinal axis. The generator may provide an electrical signal to the transducer. Also, the control circuit may modify a current amplitude of the electrical signal in response to a change in a vibration frequency of the end effector. Accordingly to various embodiments, the control circuit may detect a first contribution to a vibration frequency of the end effector, the first contribution originating from tissue in contact with the end effector. Also, according to various embodiments, the control circuit may indicate a change in a vibration frequency of the end effector.

A myringotomy device includes a housing; an elongated tube extending from the housing; and a retractable cutting tool extendable through the elongated tube, the cutting tool comprising a blade. The cutting tool is configured such that when advanced, the blade of the cutting tool extends beyond a distal end of the elongated tube. The cutting tool is also configured such that when retracted, the blade is retracted into the elongated tube and a fluid conduit is created from the distal end of the elongated tube to the housing.

assembly configured for removably interconnecting between the hand-held probe device and the rotating motor device. The hand-held probe device is disposable and comprises a housing having proximal and distal ends, a rotatable cutting tool extending distally from the distal end of the housing and being configured for cutting and removing tissue during rotation, and a transmission assembly passing inside the housing between the proximal and distal ends and being configured for transmitting rotational power to the rotatable cutting tool. The connection assembly is configured for engaging between the rotating motor device and the transmission assembly to thereby controllably rotate the cutting tool and remove tissue. In some embodiments, the apparatus includes a control unit for controlling operation of the apparatus, the control unit comprises an activation mechanism for activating the rotatable cutting tool, and a controller configured for operating the activation mechanism to generate a single fixed activation signal of a known intensity and duration during a predetermined time interval, thereby restricting operation of the cutting tool during the time interval to the single activation signal only.

A surgical stapler for stapling the tissue of a patient is disclosed. The surgical stapler comprises a handle, a shaft extending from the handle, and an end effector extending from the shaft, wherein the end effector comprises a plurality of staples and an anvil configured to deform the staples. The surgical stapler further comprises a firing mechanism configured to deploy the staples, a sensor configured to detect a target, a controller configured to calculate the firing path based on the target, and a motorized drive system configured to move the end effector toward the target along the firing path.

A surgical instrument includes a battery; a motor powered by the battery; an end effector configured to grasp tissue; and an actuator coupled to the end effector, wherein the motor is configured to cause the actuator to move to yield a surgical treatment of the tissue by the end effector. The surgical instrument further includes a control circuit, configured to: measure an activated battery voltage during an activation of the motor to move the actuator; identify a pulse width modulation (PWM) value associated with the motor activation; calculate an actuator velocity based on a sensed position change of the actuator; and calculate a resistive load force based on the activated battery voltage, the PWM value, and the actuator velocity.