A robotic system includes an electrosurgical instrument having an instrument housing having a shaft with an end effector assembly and first and second jaw members attached thereto movable to grasp tissue. An input is configured to move the jaw members and is configured to operably couple to a torque sensor that measures the torque of the input during rotation thereof. A handle is remotely disposed relative to the instrument housing and is configured to communicate with the input for controlling the movement of the jaw members. A housing having a lever operably coupled thereto, houses components therein configured to operably connect to the input such that movement of the lever correlates to movement of the jaw members. The components are configured to regulate the resistance of the lever in response to the feedback from the torque sensor.

A surgical robot arm comprises a base connected to a terminal link via a series of intermediate joints. The terminal link comprises a drive assembly interface comprising drive assembly interface elements. Each drive assembly interface element is configured to: engage an instrument interface element of an instrument interface of a robotic surgical instrument when the surgical robot arm engages the robotic surgical instrument; and move relative to the drive assembly interface across a range of motion so as to, when engaged with the instrument interface element, transfer drive to that instrument interface element. The drive assembly interface elements are arranged across a plane perpendicular to the longitudinal axis of the terminal link such that the robotic surgical instrument is detachable from the surgical robot arm in a detachment direction parallel to the plane when each drive assembly interface element is anywhere within its range of motion.

A surgical robot arm comprises a base connected to a terminal link via a series of intermediate joints. The terminal link comprises a drive assembly interface comprising drive assembly interface elements. Each drive assembly interface element is configured to: engage an instrument interface element of an instrument interface of a robotic surgical instrument when the surgical robot arm engages the robotic surgical instrument; and move relative to the drive assembly interface across a range of motion so as to, when engaged with the instrument interface element, transfer drive to that instrument interface element. The drive assembly interface elements are arranged across a plane perpendicular to the longitudinal axis of the terminal link such that the robotic surgical instrument is detachable from the surgical robot arm in a detachment direction parallel to the plane when each drive assembly interface element is anywhere within its range of motion.

A surgical instrument includes a body, a shaft assembly, an end effector, a stapling assembly, and a drive system. The shaft assembly extends distally from the body. The end effector is disposed on a distal end of the shaft assembly and includes a first jaw and a second jaw. The stapling assembly is supported by one of the first jaw or the second jaw of the end effector. The drive system includes a shift mechanism configured to selectively modify a mechanical advantage of a drive input driven by a motor and used to power one or more functions associated with operation of the end effector.

An apparatus includes an end effector and a drive system. The drive system is configured to drive a jaw closure assembly to provide the end effector in a first closed position. The drive system is further configured to operatively disengage the jaw closure assembly and operatively engage a firing assembly, then distally advance a firing member to actuate the end effector. The drive system is further configured to detect an initiation condition; and in response to detecting the initiation condition, operatively disengage the firing assembly and operatively re-engage the jaw closure assembly. The drive system is further configured to drive the jaw closure assembly to provide the end effector in a second closed position, then operatively disengage the jaw closure assembly and operatively re-engage the firing assembly. The drive system is further configured to distally advance the firing member further within the end effector to further actuate the end effector.

A robotically driven interventional device includes an elongate, flexible body, having a proximal end and a distal end; a hub on the proximal end; at least one rotatable roller on a first surface of the hub; and at least one magnet on the first surface of the hub.

The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. An example computer-implemented method for evaluating calibrations of a surgical tool includes fixating a joint of the surgical tool at a first angle, the joint being driven by an actuator, measuring an actuator position corresponding to the first angle, accessing a calibrated offset corresponding to the first angle, determining an expected joint angle based on the measured actuator position and the calibrated offset, and reporting a first difference between the expected joint angle and the first angle.

Methods, systems, and computer-readable media for detecting image degradation during a surgical procedure are provided. A method includes receiving images of a surgical instrument; obtaining baseline images of an edge of the surgical instrument; comparing a characteristic of the images of the surgical instrument to a characteristic of the baseline images of the edge of the surgical instrument, the images of the surgical instrument being received subsequent to obtaining the baseline images of the edge of the surgical instrument and being received while the surgical instrument is disposed at a surgical site in a patient; determining whether the images of the surgical instrument are degraded, based on the comparing of the characteristic of the images of the surgical instrument and the characteristic of the baseline images of the surgical instrument; and generating an image degradation notification, in response to a determination that the images of the surgical instrument are degraded.

Methods, systems, and computer-readable media for detecting image degradation during a surgical procedure are provided. A method includes receiving images of a surgical instrument; obtaining baseline images of an edge of the surgical instrument; comparing a characteristic of the images of the surgical instrument to a characteristic of the baseline images of the edge of the surgical instrument, the images of the surgical instrument being received subsequent to obtaining the baseline images of the edge of the surgical instrument and being received while the surgical instrument is disposed at a surgical site in a patient; determining whether the images of the surgical instrument are degraded, based on the comparing of the characteristic of the images of the surgical instrument and the characteristic of the baseline images of the surgical instrument; and generating an image degradation notification, in response to a determination that the images of the surgical instrument are degraded.

An electrosurgical instrument for use in a robotic surgical system includes an electrosurgical end effector, a housing configured to be operably coupled to an instrument drive unit, a shaft extending distally from the housing, and a wrist assembly coupled to a distal end portion of the shaft. The wrist assembly includes a first pivot member and a second pivot member having a proximal end portion movably coupled to the first pivot member, and a distal end portion configured to be coupled to the end effector. The first pivot member has a pair of first and second distally-extending arms each defining a first groove configured to receive and guide a cable.