A surgical instrument comprising an end effector is disclosed. The end effector comprises a surgical dissector. The surgical dissector can apply mechanical and/or electrosurgical energy to treated tissue.

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 method of manufacturing a surgical instrument mountable to a remotely controllable manipulator configured to operate the surgical instrument includes applying a first tension to a first tensioning element, applying a second tension to a second tensioning element, and maintaining the first and second tensions in the first and second tensioning elements while a first rotatable cylinder is locked to a second rotatable cylinder. The first tensioning element and the second tensioning element are each coupled to a distal end component of the surgical instrument and are coupled to one another such that a tension in one of the first tensioning element and the second tensioning element is transmitted at least in part to the other of the first tensioning element and the second tensioning element.

An apparatus for deployment of a hemostatic clip includes a handle assembly, a shaft connected to a distal portion thereof and a clip assembly releasably coupled to a distal portion of the shaft. The clip assembly includes clip arms and a capsule cooperating with the clip arms to provide a first user feedback indicating a decision configuration of the clip assembly. In addition, the apparatus includes a control wire including a ball connector, the control wire extending from the handle assembly and coupled to the clip assembly by the ball connector to maintain the clip assembly coupled to the shaft, wherein the ball connector is detachable from the clip assembly to provide a second user feedback indicating separation of the clip assembly.

An interface structure for detachably interfacing a surgical robot arm to a surgical instrument, the interface structure comprising: a base portion comprising a first surface for facing the surgical instrument and a second surface for facing the surgical robot arm; and a plurality of first fasteners supported by the base portion and protruding from the first surface, the plurality of first fasteners configured to engage the surgical instrument so as to retain the interface structure to the surgical instrument. The interface structure engages the surgical robot arm so as to retain the interface structure to the surgical robot arm, wherein the plurality of first fasteners and the remainder of the interface structure are shaped such that when the surgical instrument is detached from the surgical robot arm the interface structure is retained to the surgical robot arm.

A surgical robotic system includes a robotic arm having a plurality of joints and a surgical instrument and a surgical console. The surgical console includes one or more handle controllers configured to receive a user input and to provide haptic feedback based on movement of the robotic arm. The surgical console may also include a controller configured to: output a commanded pose based on the user input, wherein the robotic arm is configured to move in response the commanded pose; and process the commanded pose through a motion integrator algorithm to generate the haptic feedback.

A system includes a robotic arm, an autosteroscopic display, a user image capture device, an image processor, and a controller. The robotic arm is coupled to a patient image capture device. The autostereoscopic display is configured to display an image of a surgical site obtained from the patient image capture device. The image processor is configured to identify a location of at least part of a user in an image obtained from the user image capture device. The controller is configured to, in a first mode, adjust a three dimensional aspect of the image displayed on autostereoscopic display based on the identified location, and, in a second mode, move the robotic arm or instrument based on a relationship between the identified location and the surgical site image.

A torque transducer for mounting a motor includes a mounting flange, a motor flange, a body, and a strain gauge. The mounting flange is configured to secure the torque transducer to a fixed structure. The motor flange is configured to secure to a motor. The body interconnects the mounting and motor flanges. The body defines a channel about a longitudinal axis of the body and is configured to flex in response to the mounting flange and the motor flange rotating relative to one another in response to torque of the motor. The strain gauge is positioned on the body to measure flexation of the body.

A multicatheter subsystem is provided for a steerable catheter robotic system. The subsystem includes a flexible output sheath, a plurality of flexible multi-lumen assemblies and a plurality of robotic instruments for performing a surgical procedure. The plurality of flexible multi-lumen assemblies extends through the outer sheath. Each of the multi-lumen assemblies has a proximal end and a distal end. Each of the robotic instruments is operatively and removably attachable to the distal end of one of the multi-lumen assemblies such that each instrument is teleoperable independently of every other robotic instrument. At least a first of the robotic instruments includes a plurality of interconnected articulating segments. Each of the articulating segments is operatively and removably attachable to a different one of the multi-lumen assemblies.

Systems, methods, software and techniques are disclosed for morphing a generic virtual boundary into a patient-specific virtual boundary for an anatomical model. The generic virtual boundary comprises one or more morphable faces. An intersection of the generic virtual boundary and the anatomical model is computed to define a cross-sectional contour of the anatomical model. One or more faces of the generic virtual boundary are morphed to conform to the cross-sectional contour of the anatomical model to produce the patient-specific virtual boundary. In some cases, the morphed faces are spaced apart from the cross-sectional contour by an offset distance that accounts for a geometric feature of a surgical tool.