A surgical device is provided that includes a jaw portion with a first jaw and a second jaw moveable relative to the first jaw. The surgical device also includes a shaft portion coupled to a proximal end of the jaw portion. A driver is configured to cause relative movement of the jaw portion and the shaft portion. The driver may be configured to cause the jaw portion to pivot relative to the shaft portion about a pivot axis that is perpendicular to first and second longitudinal axes defined by the jaw portion and the shaft portion, respectively. The driver may also be configured to cause at least a portion of the jaw portion to rotate relative to the shaft portion about the first longitudinal axis. Advantageously, the surgical device includes a surgical member, e.g., a cutting element and/or a stapling element, disposed within the first jaw.

A detachable motor-powered surgical instrument. The instrument may include a housing that includes at least one engagement member for removably attaching the housing to an actuator arrangement. A motor is supported within the housing for supplying actuation motions to various portions of a surgical end effector coupled to the housing. The housing may include a contact arrangement that is configured to permit power to be supplied to the motor only when the housing is operably attached to the actuator arrangement.

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.

A cleaning head for a personal care appliance includes an elastic bladder having a bladder wall enclosing a fluid. The bladder wall has an inner base portion with a base thickness, which may be non-uniform, and a plurality of spaced projections extending outwardly from the inner base portion. The bladder is fixedly attached to a receiver portion of a bladder support, and a retainer is provided for attaching the bladder support to the personal care appliance such that the bladder support is drivably engaged by the personal care appliance. At least some of the plurality of spaced projections are configured to dynamically engage and disengage with neighboring ones of the plurality of spaced projections during use.

An actuation mechanism for actuating an electrosurgical end effector includes a housing and a shaft assembly extending distally from the housing. The shaft assembly includes an elongate collar, a shaft extending through the elongate collar, and a longitudinal bar axially movable relative to the shaft. The elongate collar has an internal threadform extending along a length thereof. The longitudinal bar includes a proximal end having an extension engaged to the internal threadform of the elongate collar and a distal end configured to be coupled to a knife blade of an electrosurgical end effector. Rotation of the elongate collar axially moves the longitudinal bar relative to the elongate collar to move the knife blade.

A method comprises the steps of: imaging a patient anatomy; selecting an implant strategy for at least one bone fastener having a first member; registering the imaging of the patient anatomy with imaging of at least a portion of a robot; engaging the first member with tissue of the patient anatomy via robotic guidance according to the implant strategy; and subsequently, manipulating the patient anatomy. Systems, spinal constructs, implants and surgical instruments are disclosed.

A method of ultrasonic sealing includes activating an ultrasonic blade temperature sensing, measuring a first resonant frequency of an ultrasonic electromechanical system that includes a transducer coupled to the blade via a waveguide, making a first comparison between the measured first resonant frequency and a first predetermined resonant frequency, and adjusting a power level applied to the transducer based on the first comparison. The first predetermined frequency may correspond to an optimal tissue coagulation temperature. The method may further include measuring a second resonant frequency of the system, making a second comparison between the measured second frequency and a second predetermined frequency, and adjusting the power level based on the second comparison. The second predetermined frequency may correspond a melting point temperature of a clamp arm pad. An ultrasonic instrument and a generator may implement the method.

A surgical instrument can comprise a handle, a shaft extending from the handle, and an end effector rotatably coupled to the shaft by an articulation joint. The surgical instrument can further include a staple cartridge positioned within the end effector and a firing drive operably coupled with a trigger wherein the operation of the trigger can advance and/or retract a firing member of the firing drive relative to the end effector. The surgical instrument can further comprise an articulation drive which is selectively engageable with the firing drive. When the articulation drive is engaged with the firing drive, the operation of the firing drive can operate the articulation drive and articulate the end effector. When the articulation drive is not engaged with the firing drive, the firing drive can be operated independently of the articulation drive.

A surgical instrument that includes first and second jaws that are movably coupled together to move between an open and a closed position. The first jaw includes a first proximal end, a first distal tip, and a first jaw midpoint between the first proximal end and the first distal tip. The second jaw includes a second proximal end and a second distal tip. The first jaw includes a first alignment feature that is distal to the first jaw midpoint and is configured to engage a corresponding portion of the second jaw when the first and second jaws are moved to the closed position to align the first distal tip with the second distal tip.

Various aspects of a generator, ultrasonic device, and method for estimating a state of an end effector of an ultrasonic device are disclsoed. The ultrasonic device includes an electromechanical ultrasonic system defined by a predetermined resonant frequency, including an ultrasonic transducer coupled to an ultrasonic blade. A control circuit measures a complex impedance of an ultrasonic transducer, wherein the complex impedance is defined as

[00001]$Z_g(t)=\frac{V_g\left(t\right)}{I_g\left(t\right)}.$

The control circuit receivs a complex impedance measurement data point and compares the complex impedance measurement data point to a data point in a reference complex impedance characteristic pattern. The control circuit then classifies the complex impedance measurement data point based on a result of the comparison analysis and assigns a state or condition of the end effector based on the result of the comparison analysis.