A robotic surgery system includes a robotic manipulator and a cutting guide to be coupled to the robotic manipulator. The cutting guide is configured to guide a cutting tool so that the cutting tool cuts tissue of the patient. A control system is coupled to the robotic manipulator to control a location of the cutting guide and/or the cutting tool relative to the tissue.

A shape-formable apparatus comprising locking sheets. The apparatus can have a first state in which the apparatus is formable, and a second state in which the apparatus has the desired shape and is substantially less formable than in the first state. The apparatus can further include an envelope defining a chamber, a port positioned to fluidly couple the chamber with ambience, and at least two locking sheets positioned in the chamber in an at least partially overlapping configuration. Each locking sheet comprises a major surface, and at least a portion of each locking sheet can be patterned to include solid regions and open regions, the solid regions being movable with respect to one another within the major surface.

Method of using a shape-formable apparatus. A shape-formable apparatus can include an envelope defining a chamber, a port positioned to fluidly couple the chamber with ambience, and at least two locking sheets positioned in the chamber in an at least partially overlapping configuration. Each locking sheet can include a major surface, and at least a portion of each locking sheet can be patterned to include solid regions and open regions, the solid regions being movable with respect to one another within the major surface. The method can include providing the shape-formable apparatus in a first state; forming the apparatus into a desired shape; and reducing the pressure in the chamber to change the apparatus from the first state to a second state in which the apparatus is substantially less formable than in the first state.

A stapling head assembly includes a cartridge support having a proximal end, a connecting tube, a cutter pushing rod, and a lockout mechanism. The tube includes a distal end connected to the proximal end. The rod is movably set inside the tube. The mechanism is connected to the tube, and includes a pressing block and a pushing block. The pressing block is used to lock the proximal end to prevent the rod from moving before the assembly is used. The pressing block is rotatable between a first position and a second position relative to the tube. The pushing block is used to push the pressing block to rotate from the first position towards the second position. The pushing block is located at one side of the pressing block, and is movable between a third position and a fourth position relative to the tube along a longitudinal direction.

A method for deforming a staple comprising a base, a first staple leg, and a second staple leg, wherein the base, the first staple leg, and the second staple leg are positioned within a common plane prior to being deformed, the method comprising positioning the first staple leg within a first cup of a staple pocket, the first cup comprising a first inner surface, applying a first compressive force to the first staple leg to bend the first staple leg toward the base and the second staple leg, contacting the first inner surface with the end of the first staple leg to bend the end of the first staple leg toward a first side of the base, and deforming the first staple leg such that the end of the first staple leg crosses a mid-line of the staple defined between the first staple leg and the second staple leg.

A surgical instrument insertable through a trocar comprising a shaft including a frame, an end effector, and an articulation joint, wherein the end effector is rotatable about the articulation joint. The shaft further comprises an outer housing slidable relative to the shaft frame including a distal non-round housing portion adjacent the articulation joint and a longitudinal round housing portion extending proximally from the distal housing portion, wherein the longitudinal round housing portion comprises a first diameter, and wherein the distal housing portion comprises a second diameter which is less than the first diameter. The surgical instrument further comprises an articulation lock configured to prevent the rotation of the end effector, wherein the articulation lock is positioned within the distal non-round housing portion.

A tissue retractor comprising an outer ring, an inner ring, and a flexible, metal sheath extending therebetween is described. Embodiments of the inner ring comprise a flat or wedge-shaped conformation useful for insertion between muscle layers. Other embodiments of the inner ring include variable diameter inner rings, where the diameter can be adjusted as required and optionally locked into place, and reshapeable inner rings that permit a user to conform the inner ring to the anatomy of the patient when placing the inner ring.

A catheter having a tubular body and a rotatable shaft disposed within a lumen of the tubular body. A cutting element is coupled to the rotatable shaft, the cutting element having a cutting edge, the cutting element and rotatable shaft being longitudinally moveable within the tubular body between a stored position in which the cutting element is parallel a longitudinal axis of the tubular body and a cutting position in which the cutting element is deflected between the proximal and distal ends of the tubular body to extend beyond an outer diameter of the tubular body. The cutting element is configured to cut material from the wall of a vessel at a treatment site as the catheter is pushed distally through the treatment site. The catheter includes a collection chamber positioned proximally of the cutting window.

A fastener cartridge for use with a surgical instrument. The cartridge may include a cartridge body that has a series of staple pockets therein. A driver is movably supported in each staple pocket and is configured to operably support at least one surgical staple thereon. In one arrangement, at least some of the drivers may be formed with one or more laterally extending features that are configured to be received in correspondingly-shaped grooves in the cartridge body to provide lateral support to the driver as it is operably moved within the staple pocket. In other arrangements, at least one inwardly-extending features is formed in the inner wall surface of the pocket and is configured to be movably supported within correspondingly-shaped groove in the driver.

A surgical cutting device for performing a minimally-invasive surgical procedure and which includes an external hub including a housing and a cutter actuator housed within the housing, wherein the cutter actuator, a catheter including a first end coupled to the external hub, a second end opposite the first end, and an internal passage, a cutting tool coupled to the second end of the catheter and including a cutting element moveable relative to the second end of the catheter by the cutter actuator, and a motion transfer assembly extending through the internal passage of the catheter from the cutter actuator to the cutting tool, wherein the motion transfer assembly is configured to transfer motion from the cutter actuator to the cutting element of the cutting tool in response to the activation of the cutter actuator.