A surgical cutting and fastening instrument comprises an end effector that has a shaft coupled thereto that is coupled to a robotic system. A tool mounting portion includes an electric, DC motor connected to a drive train in the shaft for powering the drive train. A power pack that comprises at least one charge-accumulating device connected to the DC motor for powering the DC motor is provided.

A surgical apparatus comprises a body assembly, an ultrasonic transducer, a shaft assembly, a motor, and a locking feature. The ultrasonic transducer is operable to convert electrical power into ultrasonic vibrations. The shaft assembly comprises a waveguide operable to transmit ultrasonic vibrations. The motor is operable to rotate the ultrasonic transducer to thereby selectively couple the ultrasonic transducer with the waveguide. The locking feature is configured to selectively prevent rotation of at least a portion of the shaft assembly relative to the body assembly. The locking feature and the motor may be activated automatically in response to an operator positioning a proximal portion of the shaft assembly in a distal portion of the body assembly. The surgical apparatus may include a feature configured to alert a user when the waveguide has been adequately secured to the ultrasonic transducer.

An integrated disposable rotational speed reduction assembly having a shaft assembly, a housing, an output assembly, and a plurality of planetary gears each having a plurality of gear teeth. The shaft assembly is configured to cause rotation of the planetary gears with a sun gear. The rotation of the planetary gears is configured to cause rotation of an output shaft, with a reduction of rotational speed relative to the rotation of the shaft assembly.

The present invention relates to a screw drive having integrated torque protection, wherein two screw drives are incorporated in a screw head, one drive being an internal polygonal drive and the second drive being an internal multilobular drive. In addition, the invention relates to a screw having a screw drive.

A torque limiter can include a housing and a shaft. The housing can include a housing magnet enclosed within the housing. The shaft can be at least partially surrounded by the housing and can be rotatable within the housing. The shaft can include a shaft magnet integrated with the shaft to magnetically couple with the housing magnet to transmit a torque between the housing and the shaft and configured to uncouple from the housing magnet allowing the shaft to rotate within the housing when a threshold torque is reached.

Systems and method for controlling the bending of a robotic catheter. A control backbone of the robotic catheter is coupled to a linear movement stage by a spring and linear movement of the control backbone causes a controllable bending of the robotic catheter. A sensor monitors a deflection of the spring and the bending of the catheter is controlled based on the spring deflection signal from the sensor. The spring allows passive bending of the robotic catheter without movement of the active linear movement stage and, conversely, allows external forces applied to the robotic catheter to limit a bending movement of the robotic catheter caused by—movement of the active linear movement stage. In some implementations, the robotic catheter includes a selectively deployable tip mechanism for deploying a steerable tip or for selectively exposing side windows on the catheter for increasing traction for clot removal.

A robotic surgical system configured for the articulation of a catheter comprises an input device, a control computer, and an instrument driver having at least one motor for displacing the pull-wire of a steerable catheter wherein the control computer is configured to determine the desired motor torque or tension of the pull-wire of a catheter based on user manipulation of the input device. The control computer is configured to output the desired motor torque or tension of the pull-wire to the instrument driver, whereby at least one motor of the instrument driver implements the desired motor torque to cause the desired pull-wire tension to articulate the distal tip of the catheter.

Systems, devices, and methods for controlling cooperative surgical instruments with variable surgical site access trajectories are provided. Various aspects of the present disclosure provide for coordinated operation of surgical instruments accessing a common surgical site from different approach and/or separate body cavities to achieve a common surgical purpose. For example, various methods, devices, and systems disclosed herein can enable the coordinated treatment of tissue by disparate minimally invasive surgical systems that approach the tissue from varying anatomical spaces and must operate differently, but in concert with one another, to effect a desired surgical treatment.

A robotic imaging system includes a camera configured to one or more images of a target site. The camera may be a stereoscopic camera configured to record a left image and a right image for producing at least one stereoscopic image of the target site. A robotic arm is operatively connected to the camera, the robotic arm being adapted to selectively move the camera relative to the target site. A sensor is configured to detect forces and/or torque imparted by a user for moving the stereoscopic camera and transmit sensor data. A controller is configured to receive the sensor data, the controller having a processor and tangible, non-transitory memory on which instructions are recorded. The controller is adapted to selectively execute an assisted drive mode, which includes determining a movement sequence for the robotic arm based in part on the sensor data and a damping function.

A surgical system comprises a patient side cart, a motor, and a telesurgically operated instrument. The telesurgically operated instrument is coupled to the patient side cart and comprises a transmission and a surgical end effector having a plurality of end effector components. The transmission is driven by the motor and comprises a first effector drivetrain comprising a first gear, a first input gear, and a first locker arm, and a camshaft defining a longitudinal axis, the camshaft comprising a first power cam and a first locker cam. The motor is configured to drive the camshaft to a plurality of rotational states, the camshaft being configured to rotate about the longitudinal axis of the camshaft. In a first rotational state of the plurality of rotational states, the first power cam is configured to engage the first input gear with the first gear, and the first locker cam is configured to disengage the first locker arm from the first gear.