An instrument includes a tubular shaft, an end effector coupled to a distal end portion of the tubular shaft, and a relief feature extending circumferentially along a wall of the shaft and along at least a portion of a length of the shaft. The relief feature defines flexural members on opposing sides of the relief feature. The flexural members can move relative to one another in response to bending the shaft. The flexural members can engage one another on one or both of tension and compression sides of the shaft on the condition the shaft is bent to an angle within a predetermined range of bend angles. Systems and methods relate to instruments including such shafts.

An instrument includes a tubular shaft, an end effector coupled to a distal end portion of the tubular shaft, and a relief feature extending circumferentially along a wall of the shaft and along at least a portion of a length of the shaft. The relief feature defines flexural members on opposing sides of the relief feature. The flexural members can move relative to one another in response to bending the shaft. The flexural members can engage one another on one or both of tension and compression sides of the shaft on the condition the shaft is bent to an angle within a predetermined range of bend angles. Systems and methods relate to instruments including such shafts.

A neostomy apparatus, including a grasping device, a cutting device and a control handle. The control handle includes a housing and a manipulation portion disposed in the housing, the manipulation portion can move axially relative to the housing; the grasping device or the cutting device includes an elongated member, and the manipulation portion drives the elongated member to move axially; the elongated member is partially located in the housing, and a first limiting structure is further disposed in the housing, the first limiting structure has a groove or a through hole, and a portion of the elongated member located in the housing is at least partially disposed in the groove or the through hole of the first limiting structure.

Surgical tools and assemblies are employed for use in minimally invasive surgical (MIS) procedures. A handheld surgical tool assembly includes a handle assembly and a frame assembly, among other possible components. Intermediate bodies and joints are provided in certain handheld surgical tool assemblies and architectures. A yaw rotational degree of freedom is furnished between certain intermediate bodies, and a pitch rotational degree of freedom is furnished between certain intermediate bodies. Amid use, a mechanical advantage generated about the yaw rotational degree of freedom is unequal to a mechanical advantage generated about the pitch rotational degree of freedom.

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.

In some embodiments an apparatus for providing access for a medical procedure in a patient's body cavity includes a stem configured for insertion through an opening in a body cavity wall. The stem has a bore and a cap is disposed at a proximal end thereof and includes an entry port in communication with the bore which receives an instrument to be inserted into the body cavity. An inflatable annular seal is disposed on the stem proximate the cap and a conduit extends through the cap providing pressurized gas at a first outlet in fluid communication with the body cavity providing insufflation pressure. A second outlet of the conduit is in fluid communication the seal, which when disposed inside the body cavity proximate the wall and inflated by pressurized gas, bears on an inner surface of the wall urging the cap into contact with an outer surface of the wall while sealing the opening.

In some embodiments an apparatus for providing access for a medical procedure in a patient's body cavity includes a stem configured for insertion through an opening in a body cavity wall. The stem has a bore and a cap is disposed at a proximal end thereof and includes an entry port in communication with the bore which receives an instrument to be inserted into the body cavity. An inflatable annular seal is disposed on the stem proximate the cap and a conduit extends through the cap providing pressurized gas at a first outlet in fluid communication with the body cavity providing insufflation pressure. A second outlet of the conduit is in fluid communication the seal, which when disposed inside the body cavity proximate the wall and inflated by pressurized gas, bears on an inner surface of the wall urging the cap into contact with an outer surface of the wall while sealing the opening.

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 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.