A system for controlling a robotic end-effector is disclosed. The system includes a robotic arm, a surgical tool including an end-effector with articulatable arm and a clamp jaw. A tool driver is coupled to the surgical tool and a motor is coupled to the tool driver and is configured to drive the surgical tool. A sensor is configured to sense external forces applied to the end-effector. A central control circuit is configured to control the tool driver. The central control circuit is configured to receive a sensed parameter from the sensor, receive a sensed motor current (I) from the motor, and control the tool driver based on the sensed parameter and the motor current (I).

A device for loading a trocar assembly with an adapter assembly of a surgical stapling instrument and a method of confirming that the trocar assembly is properly secured to the adapter assembly are provided. The device includes a base member and an engagement arm secured to the base member. The base member defines a longitudinal passage for receiving a trocar assembly and includes a proximal end surface. The engagement arm is configured to releasably secure a trocar assembly within the base member. The engagement arm includes a proximal end surface. The proximal end surface of the base member is configured to engage a distal end surface of a trocar housing of the trocar assembly when the trocar assembly is not properly secured within the adapter assembly.

A surgical stapling device includes a handle assembly, an adapter assembly, and a reload assembly that is releasably secured to the adapter assembly to facilitate replacement of the reload assembly after each use of the stapling device. The reload assembly includes an authentication chip and printed circuit board assembly that is constructed to provide electrical contacts that are self-supporting to allow for automated assembly of the electrical contacts and provide a more reliable, robust electrical connection between the electrical contacts and the chip.

A circular stapler apparatus for stapling tissue has a circular stapling head operable to drive staples toward an anvil to form the staples in a circular array. The anvil includes an anvil head, a proximal shaft extending proximally from the anvil head and having a proximal end disposed in a first plane, and a first pivot connecting the anvil head to the proximal shaft. The first pivot is operable to be disposed in a second plane that is laterally offset from the first plane. The anvil is configured to rotate via movement through multiple pivot points. The anvil may be configured to rotate to a position in which a portion of the anvil head is disposed below the first pivot and between the first pivot and the proximal shaft such that the anvil head is acutely angled with respect to a longitudinal axis of the proximal shaft.

A handheld electromechanical surgical device includes a handle assembly, an adapter assembly, a reload, and an electrical assembly. The handle assembly includes a connecting portion having an electrical connector supported therein. The adapter assembly includes an adapter housing selectively connectable to the connecting portion of the handle assembly and an outer tube extending distally from the adapter housing. The reload includes a housing selectively connectable to the outer tube of the adapter assembly and a circuit board assembly disposed within the reload housing. The electrical assembly includes a flex cable having an elongate body positionable against an outer surface of the adapter assembly. A proximal end of the flex cable is positionable within a cavity defined in the adapter housing and configured to electrically connect with the electrical connector of the handle assembly. A distal end of the flex cable is coupled to the circuit board assembly of the reload.

A surgical stapling device includes a reload assembly that includes a shell housing, a staple cartridge, a plurality of staples received within the staple cartridge, a staple pushing member for ejecting the plurality of staples from the staple cartridge, and a knife for cutting tissue. The shell housing supports a strain gauge which can be molded into the shell housing.

A surgical system comprising an electric motor and a surgical instrument is disclosed. The surgical instrument comprises a housing, a shaft extending from the housing, a fastener cartridge, an anvil, a translatable drive member, and a rotatable actuator knob. The housing comprises an input shaft operably coupled to the electric motor. The input shaft is rotatable in a first mode by the electric motor. The fastener cartridge comprises a plurality of fasteners removably stored therein. The anvil is configured to deform the fasteners. The translatable drive member is configured to move the anvil toward and away from the fastener cartridge. The translatable drive member is movable by the electric motor in the first mode. The rotatable actuator knob is configured to be rotated multiple full rotations in a second mode to manually cause the input shaft to move the anvil.

A surgical device includes a tool assembly and a handle assembly. The tool assembly includes a distal portion including a plurality of staples and an anvil assembly movable relative to the distal portion from an open position to a clamped position. The handle assembly includes an approximation mechanism coupled to the anvil assembly and configured to move the anvil assembly from the open position to the clamped position, a force sensor disposed at a distal end of the surgical device, and a controller. The force sensor is configured to sense a change in resistance indicating a force imparted on compressed tissue and on the approximation mechanism. The controller is configured to receive a signal indicative of a force measured by the force sensor and provide an indication of the sensed force.

A circular stapling device includes a reload assembly having a housing, an annular staple cartridge, and grasping members. The housing and the staple cartridge define channels that receive the grasping members. The grasping members are movable through the channels between retracted and extended positions to grasp tissue and pull the tissue into the housing during an anastomosis procedure.

An anvil assembly is provided. The anvil assembly includes center rod assembly, a head assembly pivotal relative to the center rod assembly between an operative position and a tilted position, and a mechanism for selectively maintaining the head assembly in the operative position.