An apparatus comprises an end effector, an elongate shaft, and a handle assembly. The shaft includes an articulation section that is operable to deflect the end effector away from the longitudinal axis of the shaft. The handle assembly includes a rotary member positioned within an intermediate section of the handle assembly. The rotary member is rotatable about an axis that is parallel to the longitudinal axis of the shaft. The rotary member is operable to control the articulation section of the shaft. The rotary member may include opposing thread sections that simultaneously drive lead screws in opposite longitudinal directions, to thereby control the articulation section. The shaft may be rotatable relative to the handle assembly, and the apparatus may selectively lock or resist such rotation based on the articulation state of the articulation section.

An apparatus comprises an end effector, an elongate shaft, and a handle assembly. The shaft includes an articulation section that is operable to deflect the end effector away from the longitudinal axis of the shaft. The handle assembly includes a rotary member positioned within an intermediate section of the handle assembly. The rotary member is rotatable about an axis that is parallel to the longitudinal axis of the shaft. The rotary member is operable to control the articulation section of the shaft. The rotary member may include opposing thread sections that simultaneously drive lead screws in opposite longitudinal directions, to thereby control the articulation section. The shaft may be rotatable relative to the handle assembly, and the apparatus may selectively lock or resist such rotation based on the articulation state of the articulation section.

Devices to control a movement or instrument function of a robotic arm of a surgical robotic system include a first foot pedal with a button, a second foot pedal with a button, and a connector. The connector includes a first and second end and a top and bottom side. The top side of the first end is attached to a bottom side of the button of the first foot pedal, and the second end is configured to be positioned under a bottom side of the button of a second foot pedal to interlock the first foot pedal with the second foot pedal. When a force moves the button of the second foot pedal to a position, the button of the second foot pedal moves the connector which subsequently moves the button of the first foot pedal to an activation position to send an input signal to a surgical console.

A surgical stapling assembly comprising a staple driver assembly is disclosed. The staple driver assembly comprises a first staple support driver supporting a first staple, a second staple support driver supporting a second staple, a first driver portion supporting the first staple support driver, and a second driver portion supporting the second staple support driver. The first staple support driver is movable within a first staple cavity. The second staple support driver is movable within a second staple cavity. The staple driver assembly further comprises a main driver to concurrently drive the first driver portion and the second driver portion during a firing stroke, wherein the first driver portion is configured to drive the first staple a first distance, wherein the second driver portion is configured to drive the second staple a second distance, and wherein the first distance is different from the second distance.

A surgical stapling attachment configured to clamp, staple, and cut tissue is disclosed. The surgical stapling attachment comprises an attachment portion, a shaft assembly, an articulation joint, and an end effector assembly. The end effector assembly comprises a firing system configured to cut tissue only after the tissue has been stapled.