Minimally invasive surgical methods employ an offset drive shaft to actuate an end effector. A minimally invasive surgical method includes introducing an end effector to an internal surgical site. The end effector includes an end effector base that is coupled to the instrument shaft via a wrist. An end effector articulation mechanism is operated to reorient the end effector base relative to the instrument shaft. A surgical task is performed by operating a motor to rotate an offset drive shaft relative to the instrument shaft to actuate the end effector.

A surgical fastening instrument includes an elongate shaft extending from a handle. An end effector is coupled to one end of the elongate shaft. The end effector has a first jaw with retainer strips disposed thereon. Each retainer strip includes rows of receptacles and each receptacle has a passageway leading to a chamber formed in the first jaw. The end effector also includes a second jaw with fastener strips disposed thereon. The first jaw is pivotally coupled to the second jaw. Each fastener strip includes rows of fasteners and each fastener is slidably positioned on a lance extending from a surface of the second jaw. The lances are aligned with the receptacles and each fastener has barbs configured to be retained in one of the chambers.

A surgical fastening instrument includes an elongate shaft extending from a handle. An end effector is coupled to one end of the elongate shaft. The end effector has a first jaw with retainer strips disposed thereon. Each retainer strip includes rows of receptacles and each receptacle has a passageway leading to a chamber formed in the first jaw. The end effector also includes a second jaw with fastener strips disposed thereon. The first jaw is pivotally coupled to the second jaw. Each fastener strip includes rows of fasteners and each fastener is slidably positioned on a lance extending from a surface of the second jaw. The lances are aligned with the receptacles and each fastener has barbs configured to be retained in one of the chambers.

Systems and methods for controlling staple firing include a manipulator, a drive system, and a processor. The manipulator is configured to be releasably coupled to an instrument. The instrument has an end effector comprising a first jaw and a second jaw. The drive system is configured to apply a force or torque to the instrument to cause staple firing to occur using the end effector. The processor is configured to monitor a force or torque applied by the drive system to cause staple firing to occur and in response to determining that the applied force or torque is outside of an acceptable range of force or torque, maintain application of clamping by the first jaw and the second jaw while suspending application of the force or torque that causes the staple firing to occur.

A circular stapling apparatus including a stationary handle, a trigger pivotably coupled to the stationary handle, a trigger lock selectively engageable with the trigger, and a firing link coupled to the trigger. The firing link has a catch thereon. The trigger lock has a latch assembly that is selectively engageable with the catch.

A surgical instrument includes a stapling assembly and an anvil configured to cooperate to compress, staple, and cut tissue. The stapling assembly includes a deck member having a deck surface that faces distally and includes a plurality of staple openings configured to receive a plurality of staples, and a knife member having a distal end that defines a cutting edge. The anvil includes an anvil surface having a plurality of staple forming pockets configured to form the staples, and a washer positioned adjacent to the anvil surface and having a proximal face. The cutting edge of the knife member is configured to cut through the tissue and the proximal face when the surgical instrument is fired. The proximal face includes a tissue gripping feature configured to stabilize and inhibit the tissue from translating across the washer and the anvil surface during firing.

A surgical instrument and its method of use are disclosed. In one embodiment, the surgical instrument may include a handle and an elongated shaft assembly extending distally from the handle. The elongated shaft assembly may include an articulable portion with an articulation direction. The elongated shaft assembly may also include a tubular member with a flexible portion with a preferential bending direction and a direction of bending resistance. The tubular member may permit articulation of the elongated shaft assembly when the preferential bending direction is aligned with the articulation direction.

Embodiments include an end effector including an anvil, the anvil having an anvil face, an anvil blade channel defined by the anvil face, a first pocket row of first row staple pockets, a second pocket row of second row staple pockets, a third pocket row of third row staple pockets, a fourth pocket row of fourth row staple pockets, a fifth pocket row of fifth row staple pockets, a sixth pocket row of sixth row staple pockets, a cartridge having a cartridge face defining a cartridge blade channel, the cartridge being configured to retain a plurality of staples, and a blade, the blade having a cutting edge, where the blade is movable from a first position at a distal end of the cartridge to a second position at a proximal end of the cartridge.

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 method is provided for operating a powered surgical stapler having a motor unit, a controller, and a stapling assembly having a plurality of movable members that are actuatable longitudinally by the motor unit to clamp, staple, and cut tissue. The controller determines that a movable member of the stapling assembly is in a first predetermined position, and then executes an actuation algorithm to activate the motor unit to actuate the movable member longitudinally from the first predetermined position toward a second predetermined position. The controller observes an actual longitudinal displacement of the movable member between the first and second predetermined positions. The controller compares the actual longitudinal displacement to an expected longitudinal displacement and determines that the actual longitudinal displacement differs from the expected longitudinal displacement by a difference value. The controller then adjusts the actuation algorithm based on the difference value.