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.

A deployable and flexible tooltip camera is provided for integration within a shaft of an endoscopic tool. The tooltip camera includes a camera mounted to a distal tip of a curved tube which is capable of rotational and translational movement to provide a wide field of view of a tooltip of the endoscopic tool during an endoscopic procedure. The tube retains its curved shape when in use to provide a unique perspective view of the tooltip, but can then be withdrawn into a shaft of the endoscopic tool such that the entire tooltip camera and tube are retained within the shaft of the endoscopic tool and can pass through a cannula. The curved tube may be formed of a super-elastic memory alloy like Nitinol and pre-shaped into an s-curve using a two-step heat treatment process to attain the necessary curvature, and further laser-patterned with holes to attain the necessary flexibility.

In one embodiment of the invention, an apparatus for performing surgical procedures is disclosed including a flexible entry guide tube, and a first steering device. The flexible entry guide tube has one or more lumens extending along its length from a proximal end to substantially at or near a distal end. At least one of the one or more lumens is an instrument lumen with open ends to receive a flexible shaft of a surgical tool to perform surgery near the distal end of the flexible entry guide tube. The first steering device is insertable into the instrument lumen to shape the flexible entry guide tube as it is inserted through an opening in a body and along a path towards a surgical site. The apparatus may further include a flexible locking device to couple to the flexible entry guide tube and selectively rigidize the flexible entry guide tube to hold its shape. The flexible entry guide tube may be steered by remote control with one or more actuators.

An atraumatic microsurgical forceps may include an actuation structure, an actuation sleeve having an actuation sleeve distal end and an actuation sleeve proximal end, a surgical blank, and atraumatic forceps jaws of the surgical blank having atraumatic forceps jaws distal ends and atraumatic forceps jaws proximal ends. The surgical blank may be disposed within the actuation sleeve wherein at least a portion of the atraumatic forceps jaws extends from the actuation sleeve distal end. A compression of the actuation structure may be configured to gradually extend the actuation sleeve over the atraumatic forceps jaws proximal ends. An extension of the actuation sleeve over the atraumatic forceps jaws proximal ends may be configured to gradually close the atraumatic forceps jaws wherein the atraumatic forceps jaws initially contact at the atraumatic forceps jaws distal ends.

Disclosed is a reusable surgical instrument (1) with an articulated end-effector (3), such as a dissector, scissor or grasper, to enhance a surgeon's performance during various surgical procedures. The longitudinal axis of the instrument is defined by a shaft (2), comprising an internal structural element (2″) covered by an external tube (2′), which may be inserted through a surgical incision into the body of a patient, optionally through a trocar. The articulated end-effector (3) is mounted on the distal extremity of the shaft's internal structural element and comprises a plurality of links interconnected by a plurality of joints, whose movements are remotely actuated by the surgeon's hands. This remote actuation is accomplished via mechanical transmission (5, 6, 7), mainly composed of flexible elements, which are able to deliver motion from a set of actuation elements, placed at a proximal extremity of the shaft (2), to the instrument's articulated end-effector (3). The external tube (2′) can be easily and individually detached from the shaft (2) after each procedure, so that the instrument (1) can be more effectively cleaned and sterilized.

Disclosed is a reusable surgical instrument (1) with an articulated end-effector (3), such as a dissector, scissor or grasper, to enhance a surgeon's performance during various surgical procedures. The longitudinal axis of the instrument is defined by a shaft (2), comprising an internal structural element (2″) covered by an external tube (2′), which may be inserted through a surgical incision into the body of a patient, optionally through a trocar. The articulated end-effector (3) is mounted on the distal extremity of the shaft's internal structural element and comprises a plurality of links interconnected by a plurality of joints, whose movements are remotely actuated by the surgeon's hands. This remote actuation is accomplished via mechanical transmission (5, 6, 7), mainly composed of flexible elements, which are able to deliver motion from a set of actuation elements, placed at a proximal extremity of the shaft (2), to the instrument's articulated end-effector (3). The external tube (2′) can be easily and individually detached from the shaft (2) after each procedure, so that the instrument (1) can be more effectively cleaned and sterilized.

Various exemplary methods, systems, and devices for initializing a surgical tool are provided. In general, a surgical tool can include an end effector, an elongate shaft, and a wrist that couples the end effector to a distal end of the shaft. The wrist can be configured to facilitate movement of the end effector relative to the shaft. The surgical tool can include multiple flexible members configured to move, either individually or as a group including any plural number of the flexible members, to cause the movement of the end effector relative to the shaft by pivoting at the wrist. The movement of the end effector can include movement between an unarticulated position and an articulated position. The surgical tool can also include one or more homing members configured to be selectively actuated to force the end effector into the unarticulated position.

A surgical instrument includes a female branch defining in a coupling area a hollow volume including inwardly facing inner coupling surfaces and including a male branch which can be pivoted relative to the female branch at least partly inside the hollow volume about a pivot axis, the male branch defining in the coupling area a guide portion having outwardly facing outer coupling surfaces in which outer coupling recesses are arranged, wherein on the inner coupling surfaces, inner coupling recesses are arranged which extend relative to a longitudinal axis of the surgical instrument in a direction other than that of the outer coupling recesses.

A surgical instrument includes a female branch defining in a coupling area a hollow volume including inwardly facing inner coupling surfaces and including a male branch which can be pivoted relative to the female branch at least partly inside the hollow volume about a pivot axis, the male branch defining in the coupling area a guide portion having outwardly facing outer coupling surfaces in which outer coupling recesses are arranged, wherein on the inner coupling surfaces, inner coupling recesses are arranged which extend relative to a longitudinal axis of the surgical instrument in a direction other than that of the outer coupling recesses.

A surgical fastening instrument including a handle portion, an elongated portion, an end effector and a clamp is disclosed. The elongated portion extends distally from the handle portion. The end effector includes a pair of jaws having a tissue contacting surface disposed substantially transverse to the longitudinal axis of the elongated portion. The end effector is disposed adjacent a distal end of the elongated portion, and at least one of the jaw members is movable with respect to the other between an open position and an approximated position for engaging body tissue therebetween. The clamp has a clamping surface extending substantially transversely from an elongated member and has a height exceeding a height of the elongated member to extend adjacent a side surface of the jaw containing the plurality of fasteners. The clamp is movable from a proximal position to a distal position for engaging body tissue.