A surgical tool comprising a drive housing having a first end and a second end, a spline extending between the first and second ends and being rotatably coupled to the first end at a drive input, a drive gear coupled to and rotatable with the spline, a carriage movably mounted to the spline and housing an activating mechanism operatively coupled to the drive gear such that rotation of the spline actuates the activating mechanism, and a bailout mechanism arranged at the second end. The bailout mechanism may include a lever that is movable relative to the spline, from a first position, where the spline is disengaged from the lever, to a second position, where the spline engages the lever such that rotation of the lever correspondingly rotates the spline.

A guard for a tool. The tool is actuatable by a surgical device and has an elongated member and an energy applicator disposed at a distal end of the elongated member. The guard may have a monolithic body including a proximal end and a distal end opposite the proximal end. The proximal end connects to the surgical device. The body further has an interior surface defining a bore extending between the proximal and distal end and the bore adapted to receive the elongated member therethrough and an exterior surface extending between the proximal and distal end and encompassing the interior surface between the proximal and distal end. The body has at least one thermal mitigation channel located between the interior and exterior surfaces and opening through at least one port in the exterior surface.

A surgery supporting apparatus is capable of controlling a posture of a surgical instrument that is inserted into a body cavity and mechanically drivable. The apparatus includes a robot arm that can control the posture of the surgical instrument, which is attached to the robot arm via a gimbal mechanism.

Robotic arms and surgical robotic systems incorporating such arms are described. A robotic arm includes a roll joint connected to a prismatic link by a pitch joint and a tool drive connected to the prismatic link by another pitch joint. The prismatic link includes several prismatic sublinks that are connected by a prismatic joint. A surgical tool supported by the tool drive can insert into a patient along an insertion axis through a remote center of motion of the robotic arm. Movement of the robotic arm can be controlled to telescopically move the prismatic sublinks relative to each other by the prismatic joint while maintaining the remote center of motion fixed. Other embodiments are also described and claimed.

Proposed is a mechanism capable of securing both convenience and safety in regard to surgery performed by inserting an endoscope into a human body. A medical arm system including a multi-joint arm which has a plurality of links connected by joints and a distal end to which an endoscope is connectable and a control unit which sets a virtual plane in a body cavity of a patient and controls the multi-joint arm so as to constrain a predetermined point of the endoscope in the body cavity on the virtual plane.

An end effector for a surgical clip applier includes a body having a proximal end and a distal end, a head arranged at the distal end, and first and second jaw members mounted to the head. A linear actuator is arranged within the head and is operable to collapse and open the first and second jaw members.

A surgical instrument connectable to a surgical energy module that is configured to provide a first drive signal at a first frequency range for driving a first energy modality and a second drive signal at a second frequency range for driving a second energy modality is provided. The surgical instrument can comprise a surgical instrument component configured to receive power from a direct current (DC) power source, an end effector, and a circuit. The circuit can be configured to convert the first electrical signal to a DC voltage, apply the DC voltage to the surgical instrument component, and deliver the second energy modality to the end effector according to the second drive signal. Alternatively, the circuit can be disposed within a cable assembly configured to connect the surgical instrument to the surgical energy module.

A modular energy system including a header module configured to removably connect to an energy module. The energy module can comprise a port configured to deliver one or more energy modalities to a surgical instrument connected thereto. The header module can comprise a display screen configured to display a user interface. The header module can further include a control circuit configured to detect attachment of energy modules to the modular energy system and control the display of the user interface to display UI portions for each connected module and reconfigure the displayed UI portions to accommodate the new UI portions as additional energy modules are connected to the modular energy system.

The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. A tool driver is coupled to a distal end of a robotic arm and includes a roll drive disk driven by a rotary motor. One or more processors are configured to detect an attachment of a surgical tool to the tool driver. The surgical tool includes a roll tool disk to be engaged with the roll drive disk of the tool driver, actuate of the roll drive disk through the rotary motor, determine that a measured torque of the rotary motor exceeds a preset torque threshold for a preset period of time since the actuation, and report a successful engagement between the roll drive disk and the roll tool disk.

( robotic surgical system with user engagement monitoring includes a surgeon console having a hand detection system and a tracking device including an image capture device configured to capture an image of a user position reference point, wherein information from the hand detection system and the tracking device are combined to control operation of the robotic surgical system.