A surgical instrument includes a distal portion. A force sensor is operatively mounted on the distal portion. The force sensor includes a wireless package, which wirelessly provides (1) identification information of the surgical instrument and (2) strain data related to the distal portion. A surgical end effector includes a jaw and the distal portion is on a non-contact portion of the jaw. The wireless package includes a surface acoustic wave strain sensor with identification information. The wireless package also includes a small folded antenna electrically coupled to the surface acoustic wave strain sensor with identification information. The identification information includes an identification of a type of surgical instrument and unique identification of the specific surgical instrument in the type of surgical instrument.

A surgical system includes an attaching device having an end effector disposed at the distal end thereof. The end effector includes a support member, a wrist pivot pivotably coupling the end effector to the attaching device, and first and second jaw members pivotably coupled to one another and the support member. A first cable is operably coupled to the wrist pivot and configured to articulate the end effector relative to the attaching device. Second and third cables are operably coupled to the jaw members and configured to pivot the jaw members relative to the support member. A first actuation of the second and third cables collectively pivots the first and second jaw members relative to the support member. A second actuation of the second and third cables pivots the first and second jaw members relative to one another and the support member between a spaced-apart position and an approximated position.

A surgical instrument that includes first and second jaws that are movably coupled together to move between an open and a closed position. The first jaw includes a first proximal end, a first distal tip, and a first jaw midpoint between the first proximal end and the first distal tip. The second jaw includes a second proximal end and a second distal tip. The first jaw includes a first alignment feature that is distal to the first jaw midpoint and is configured to engage a corresponding portion of the second jaw when the first and second jaws are moved to the closed position to align the first distal tip with the second distal tip.

An end effector for a surgical clip applier includes a housing, jaws that include opposed first and second jaw members, each comprising an independent structure movable relative to the other, the first jaw member defining a first inner surface and the second jaw member defining a second inner surface opposite the first inner surface, and an actuation mechanism arranged within the housing and operable to move the jaws between open and closed positions. The actuation mechanism includes an actuation plate longitudinally movable within the housing, and a transition pin extending from the actuation plate and received within corresponding slots defined in each jaw member. Linear movement of the actuation plate drives the transition pin through the corresponding slots and thereby moves the jaws between the open and closed positions.

A surgical robotic system is provided comprising a wrist comprising a surgical instrument and an elongated shaft configured to transmit actuation forces from a drive assembly to the spherical wrist to actuate rotation of the spherical wrist. The surgical instrument is a hinged surgical instrument comprising jaws, wherein the jaws are biased in a normally open position by a resilient biasing element, wherein the surgical instrument is actuatable by the drive assembly towards a closed position by a preloaded string which runs from the drive assembly through the elongated shaft to the surgical instrument and which preloads the surgical instrument.

A system comprises a medical instrument including a rotatable capstan. The rotatable capstan includes a first coupling feature and a drive system including a rotatable drive element. The rotatable drive element includes a second coupling feature. The first and second coupling features have an aligned engagement configuration in which rotation of the rotatable drive element induces rotation of the rotatable capstan and a non-aligned engagement configuration in which rotation of the rotatable drive element does not induce rotation of the rotatable capstan.

Techniques for automated rotation of a needle in a computer-assisted system include an end effector having a drive mechanism configured to be coupled to a curved needle and configured to rotationally actuate the curved needle along an arcuate path and a control unit coupled to the drive mechanism. The control unit is configured to, in response to receiving a first input, cause the drive mechanism to rotationally actuate the curved needle by a first preset rotation amount along the arcuate path, and, in response to receiving a second input, cause the drive mechanism to rotationally actuate the curved needle by a second preset rotation amount along the arcuate path.

Provided is a bending structure and a joint function part, capable of ensuring sufficient flexibility and rigidity in an axial direction. The bending structure is provided with an outer coiled part formed of a wire wound in a coiled shape and an inner coiled part formed of a wire wound in a coiled shape and arranged in the outer coiled part, wherein the outer coiled part has a plurality of gaps to distance adjacent coils, and coils of the inner coiled part are provided so as to correspond to the gaps of the outer coiled part and fit between the adjacent coils while being in contact with the adjacent coils of the outer coiled part.

A pulley and a structure having the pulley connected with a driven unit are provided. The pulley includes a wheel portion and a lug portion. The wheel portion includes two circular end surfaces opposing each other and a side surface connecting the two end surfaces. The side surface includes a main arc face and a branch arc face. The branch arc face has a head end connected to the main arc face and a tail end configured to connect a strap. The branch arc face has a width in an axial direction of the wheel portion smaller than a width of the main arc face. The lug portion is fixed to the wheel portion, disposed at a position adjacent to the branch arc face along the width of the main arc face and extends to protrude beyond the branch arc face in a radial direction of the wheel portion.

A strap connector, a robotic arm and a robot are provided. The strap connector includes a core, a strap and a pulley. The core includes a belly portion and a neck portion fixed to the belly portion. The neck portion has a width tapering in a direction away from the belly portion. The pulley defines a core chamber in which the core is received, the core chamber is accessible through an opening. The strap is connected to the core and extending out of the core chamber through the opening. The core chamber has two inner side walls opposing each other and extending from the opening. The neck portion is disposed closer to the opening than the belly portion. The two inner walls of the core chamber clamp the neck portion and the strap when the strap is tensioned.