Devices, systems, and methods for a robot-assisted surgery. Navigable instrumentation, which are capable of being navigated by a surgeon using the surgical robot system, and navigation software allow for the navigated placement of interbody fusion devices or other surgical devices. The interbody implant navigation may involve navigation of access instruments (e.g., dilators, retractors, ports), disc preparation instruments, trials, and inserters.

A computer-assisted teleoperated surgical system includes one or more manipulator devices and other components. A manipulator device includes a first link, a second link coupled to a distal end of the first link, a third link coupled to the second link, and an instrument actuator coupled to the third link. A joint that couples the second link to the first link defines a yaw axis. A joint that couples the third link to the second link defines a pitch axis. The instrument actuator defines an insertion axis. The yaw, pitch, and insertion axes are fixed in relation to each other and intersect at a remote center of motion. The instrument actuator may insert a surgical instrument along the insertion axis roll and may roll the surgical instrument around the insertion axis. The proximal end of the first link may be coupled to a repositionable setup structure, which may optionally be mechanically grounded to an operating room table. A user control unit includes a processor that acts as a controller, and user inputs at the user control unit teleoperated the manipulator device via the controller.

Various surgical systems are disclosed. A surgical system comprises a robotic tool, a robot control system, a surgical instrument, and a surgical hub. The robot control system comprises a control console and a control unit in signal communication with the control console and the robotic tool. The surgical hub comprises a display. The surgical hub is in signal communication with the robot control system. The surgical hub is configured to detect the surgical instrument and represent the surgical instrument on the display.

A surgical stapling system for treating tissue of a patient is disclosed. The surgical stapling system comprises an end effector, a firing member, a motor, a RF transceiver configured to transmit RF signals, and a sensing array. The end effector comprises an elongate channel, an anvil rotatable relative to the elongate channel from an open position toward a closed position, and a staple cartridge removably positioned in the elongate channel. The staple cartridge comprises a plurality of staples removably stored therein. The firing member is movable between an unfired position and a fired position. The staples are deployed from the staple cartridge based on the firing member being moved toward the fired position. The motor is configured to drive the firing member toward the fired position. The sensing array is configured to sense compression of the tissue, properties of the tissue, and a presence of metallic elements within the tissue.

A hand-held electromechanical surgical device configured to selectively connect with a surgical accessory, is provided and includes a handle assembly having a power pack with a core assembly. The core assembly includes a plurality of motors, with each motor having a rotatable drive shaft extending therefrom, wherein each drive shaft is parallel to one another; a processor connected to and configured to control each motor; and a battery electrically connected to the processor and each motor. The power pack includes an inner housing encasing at least the plurality of motors, the processor, and the battery. The handle assembly includes an outer shell housing configured to selectively encase substantially the entire power pack therein, wherein a rotation from each rotatable drive shaft of each motor is transmitted through the inner housing and the outer shell housing.

A surgical tool-piece and a coupling mechanism for a surgical tool-piece are provided. The surgical tool-piece is configured to be driving by a driving mechanism. The surgical tool-piece comprises a shaft having a longitudinal axis running from a distal end of the shaft to a coupling portion at a proximal end of the shaft. The coupling portion comprises a driving section comprising at least three indentations located around the circumference of the coupling portion, each indentation being configured to receive a corresponding driving element of the driving mechanism to secure the tool-piece both longitudinally and rotationally.

Various aspects of a generator, ultrasonic device, and method for estimating a state of an end effector of an ultrasonic device are disclosed. 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 $Z_g\left(t\right)=\frac{V_g\left(t\right)}{I_g\left(t\right)}.$
The control circuit receives 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.

Methods and devices are provided for promoting wound healing. In general, surgical staplers and stapler components are provided having a coating thereon that is configured to selectively control an interaction between at least one matrix metalloproteinase (MMP) inhibitor and an outer surface of the stapler or stapler component.

A powered handheld electromechanical surgical device includes a motor configured to drive extension and retraction of a drive component, a sensor configured to sense force exerted on the drive component during extension of the drive component, and a controller including a processor and a non-transitory computer-readable storage medium storing instructions that, when executed by the processor, cause the processor to receive the sensed force from the sensor, control a speed of the motor during extension of the drive component in accordance with the sensed force, determine a speed profile or a force profile during extension of the drive component, and control a speed of the motor during retraction of the drive component in accordance with the speed profile or the force profile.

A surgical instrument can comprise a handle, a motor, and a shaft extending from the handle. The handle and/or the shaft can define a longitudinal axis. The surgical instrument can further comprise a fastener cartridge comprising a plurality of fasteners removably stored therein, an anvil configured to deform the fasteners, a closure drive configured to move the anvil toward and away from the fastener cartridge which is rotatable about the longitudinal axis, and a firing drive configured to deploy the fasteners from the fastener cartridge which is rotatable about the longitudinal axis. The surgical instrument can further comprise a transmission comprising a first operating configuration which connects the motor to the closure drive and a second operating configuration which connects the motor to the firing drive.