Certain aspects relate to systems and techniques for articulating medical instruments. In one aspect, the instrument includes a wrist having at least one degree of freedom of movement, and an end effector coupled to the wrist. The end effector can include a cartridge for delivering a plurality of clips to tissue. The wrist may include one or more cables capable of moving an actuator with one degree of freedom of movement within the end effector to advance one or more clips through the end effector.

The present disclosure relates to an end effector instrument. The end effector instrument may include an end effector device. The end effector device may include a clip and a resilient portion including a connecting hole and a limiting convex. The end effector instrument may further include a delivery device including a sheath and a shaft. The sheath may include a passage that accommodates the shaft. A distal end of the shaft may include a connecting end. The sheath may include a limiting concave. The connecting end may extend into or exit from the connecting hole when the sheath is set outside the resilient portion: when the connecting end extends into the connecting hole, the resilient portion may expand outward, and the limiting convex may extend into the limiting concave; when the connecting end exits from the connecting hole, the resilient portion may rebound, and the limiting convex may exit from the limiting concave. The end effector device may be operated repeatedly, and the delivery device may be reused.

Surgical clip appliers are provided and includes a channel assembly extending distally from a housing; a clip carrier disposed within said channel assembly and defining a channel and a plurality of windows therein; a plurality of clips slidably disposed within said channel of said clip carrier; a wedge plate reciprocally disposed within said channel assembly, said wedge plate being operatively connected to said handles and including a plurality of apertures formed along a length thereof; and a clip follower slidably disposed within said channel of said clip carrier and disposed proximally of said plurality of clips, said clip follower being configured and adapted for selective engagement with said windows of said clip carrier and said apertures of said wedge plate. The clip follower is configured and adapted to urge said plurality of clips, in a distal direction relative to said clip carrier, upon reciprocal movement of said wedge plate.

A surgical instrument for use with a robotic system that has a control unit and a shaft portion that includes an electrically conductive elongated member that is attached to a portion of the robotic system. The elongated member is configured to transmit control motions from the robotic system to an end effector.

A cartridge may include a pair of side walls separated by a compartment, the compartment being configured to receive a surgical clip, and a base member supporting the pair of side walls. The pair of side walls may extend at an acute angle relative to a vertical axis of the base member to hold the surgical clip at the acute angle. The acute angle may be greater than 10 and/or about 20-30. The cartridge may also include a pedestal extending between the pair of side walls and configured to support the surgical clip, where the pedestal is disposed at the acute angle. The cartridge may further include a retainer configured to retain the surgical clip in the compartment, the retainer including a pair of fingers configured to contact the surgical clip, where the pair of fingers are oriented at the acute angle.

A surgical instrument is disclosed including a housing and a tool assembly. The housing includes a power source configured to generate electrical power, a control unit in electrical communication with the power source, and a first element coupled with the control unit. The tool assembly includes a staple cartridge including a plurality of staples and a second element separate from the first element. The control unit is configured to effect wireless transmission of the electrical power from the first element to the second element. The wireless transmission of electrical power energizes the second element from a passive state to an energized state. When in an energized state, the second element is configured to selectively communicate data received from a sensor to the control unit. The tool assembly is remote from the housing. The second element includes a microchip that includes a dynamic memory device and a non-dynamic memory device.

A circumcision apparatus is provided. The circumcision apparatus includes a first surgical scissors and a second surgical scissors. The first surgical scissors include two first clips and one pair of blades, and the second surgical scissors include one second clip and one pair of blades. In the circumcision operation, after the foreskin is cut by the first surgical scissors along the direction of the shaft of the penis, the two first clips clamp a part of the foreskin near a first incision. After the foreskin is cut further by the second surgical scissors along the circumference of the penis, the second clip clamps another part of the foreskin near a second incision. Therefore, bleeding from the first and second incisions can be effectively reduced.

A surgical instrument for use with a robotic system that has a control unit and a shaft portion that includes an electrically conductive elongated member that is attached to a portion of the robotic system. The elongated member is configured to transmit control motions from the robotic system to an end effector.

A surgical instrument for use with a robotic system that has a control unit and a shaft portion that includes an electrically conductive elongated member that is attached to a portion of the robotic system. The elongated member is configured to transmit control motions from the robotic system to an end effector.

A medical device forming method, an applier for manipulating clips, and a cartridge for holding clips are disclosed herein.