An end effector includes first and second jaws movable between open and closed positions, a guide track defined in the second jaw, and a cutting element extendable into the guide track and longitudinally movable within the guide track. A retention feature is positioned within the guide track and operatively couples the cutting element to a drive rod. The drive rod is actuatable to move the cutting element within the guide track, and the retention feature is larger than a width of an opening to the guide track such that the retention feature is retained within the guide track as the cutting element moves.

A surgical treatment instrument includes an elongated member an end effector that is bendable with respect to the elongated member, a bending operator operable to bend the end effector, a rotor rotatable about a rotation axis in response to operation of the bending operator, and a transmitter that transmits a driving force to bend the end effector. The bending operator, the rotor, and the transmitter are rotatable about the longitudinal axis together with the elongated member and the end effector.

A surgical instrument includes a housing, a shaft extending from the housing, an end effector assembly extending from the shaft and configured to rotate and/or articulate relative to the housing, a motor disposed within the housing and operably coupled to the end effector assembly to rotate and/or articulate of the end effector assembly relative to the housing, and a sensing assembly configured to sense movement of the housing relative to a reference position and to drive the motor to rotate and/or articulate of the end effector assembly relative to the housing based upon the sensed movement. The sensing assembly is configured to operate in each of a standard mode, wherein movement of the housing effects rotation and/or articulation of the end effector assembly in a similar direction, and a reversed mode, wherein movement of the housing effects rotation and/or articulation of the end effector assembly in an opposite direction.

An automated and/or motorized spatial frame including a control unit and a plurality of motorized struts is disclosed. The control unit being configured as a controller for exchanging data with an external computing system, exchanging data with the plurality of motorized struts, and delivering power to the motorized struts. Thus arranged, the control unit may be configured as a fully integrated power supply and controller for powering and controlling the motorized struts. In some embodiments, the control unit includes a plurality of PCB modules, each positioned within the spaces or pockets formed between adjacent tabs on a ring of the frame. The PCB modules being detachably coupled to the ring. In some embodiments, the PCB modules may be detachably coupled to the ring via interconnecting male and female connectors. Alternatively, the PCB modules may be detachably coupled to the ring via a plurality of brackets.

Various systems and methods for controlling the activation of energy surgical instruments are disclosed. An advance energy surgical instrument, such an electrosurgical instrument or an ultrasonic surgical instrument, can include one or more sensor assemblies for detecting the state or position of the end effector, arm, or other components of the surgical instrument. A control circuit can be configured to control the activation of the surgical instrument according to the state or position of the components of the surgical instrument.

An ultrasonic device may include an electromechanical ultrasonic system defined by a predetermined resonant frequency, in which the system may include an ultrasonic transducer coupled to an ultrasonic blade. A method of estimating a state of an end effector of the ultrasonic device may include applying a drive signal defined by a magnitude and a frequency to the ultrasonic transducer, sweeping the frequency of the drive signal from below a first resonance to above the first resonance of the electromagnetic ultrasonic system, measuring and recording, impedance/admittance circle variables R.sub.e, G.sub.e, X.sub.e, and B.sub.e, comparing, the measured impedance/admittance circle variables R.sub.e, G.sub.e, X.sub.e, and B.sub.e to reference impedance/admittance circle variables R.sub.ref, G.sub.ref, X.sub.ref, and B.sub.ref, and determining, a state or condition of the end effector based on the result of the comparison. An electromechanical ultrasonic system may include a control circuit to effect the method.

Various embodiments are directed to a powered surgical instrument for cutting and fastening tissue. The instrument may comprise an end effector comprising a first jaw member and a second jaw member. The second jaw member may be coupled to move relative to the first jaw member from an open position, where the jaw members are apart from one another, to a closed position. The end effector may also comprise a firing bar positioned to fire by translating within the end effector when the first and second jaw members are in the closed position. Additionally, the surgical instrument may comprise a drive device, a clamping trigger and a control circuit. The drive device may be mechanically coupled to the firing bar. The clamping trigger may be mechanically coupled to the end effector such that actuation of the clamping trigger causes the second jaw member to pivot towards the first jaw member. The control circuit may comprise a firing switch, a clamp switch, a latching device and an end-of-stroke sensor. The firing switch may be configured to be in electrical communication with a power supply for powering the drive device and in electrical communication with the drive device. The clamp switch may be in mechanical communication with the clamping trigger. The latching device may be in electrical communication with the clamp switch, the power supply and the drive device. The end-of-stroke switch may be in electrical communication with the latching device. Additionally, the firing switch may be electrically connected to, upon actuation, connect the power supply to the drive device via a first connection comprising the latching device and the firing switch. Further, the end-of-stroke switch may be electrically connected to, upon sensing an end of a stroke of the firing bar, cause a change in a state of the latching device to break the first connection between the power supply and the drive device.

A surgical instrument for use with a robotic system that has a control unit and a shaft portion that includes an electrically conductive elongated member that is attached to a portion of the robotic system. The elongated member is configured to transmit control motions from the robotic system to an end effector.

The present disclosure relates to adapter assemblies for use with and to electrically and mechanically interconnect electromechanical surgical devices and surgical loading units, and to surgical systems including hand held electromechanical surgical devices and adapter assemblies for connecting surgical loading units to the hand held electromechanical surgical devices.

A surgical assembly includes a surgical instrument and a holder. The surgical instrument includes an elongate body and an end effector. The elongate body has a proximal portion and a distal portion that defines a longitudinal axis therealong. The proximal portion is movable relative to the distal portion between a first condition and a second condition. In the first condition, the proximal portion is parallel to the longitudinal axis. In the second condition, the proximal portion is non-parallel to the longitudinal axis. The holder is configured to be coupled to the elongate body to selectively retain the proximal portion of the elongate body in the first condition.