The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. In one embodiment, a minimally invasive surgical instrument includes an elongate shaft having a working end, a proximal end, and a shaft axis between the working end and the proximal end; and an end effector. A wrist member has a flexible tube including an axis extending through an interior surrounded by a wall. The wall of the flexible tube includes a plurality of lumens oriented generally parallel to the axis of the flexible tube. The wrist member has a proximal portion connected to the working end of the elongate shaft and a distal portion connected to the end effector. A plurality of actuation cables have distal portions connected to the end effector and extend from the distal portion through the lumens of the wall of the wrist member toward the elongate shaft to proximal portions which are actuatable to bend the wrist member in pitch rotation and yaw rotation.

An end effector for a surgical clip applier includes a housing, and jaws that include opposed first and second jaw members each comprising an independent structure movable relative to the other, the first jaw member defining a first inner surface and the second jaw member defining a second inner surface opposite the first inner surface. An actuation mechanism is arranged within the housing and is operable to move the jaws between an open position and a closed position, the actuation mechanism including a linear drive that provides transition pins engageable with angled slots defined in the first and second jaw members. Linear movement of the linear drive moves the jaws between the open and closed positions, and the first and second inner surfaces remain substantially parallel to each other as the jaws move between the open and closed positions.

A surgical system is disclosed including an end effector, a control circuit, a closure member, and a firing member. The end effector includes a first jaw, a second jaw, and an electrode. The first jaw is rotatable relative to the second jaw between an open position and a close position to capture tissue therebetween. The electrode is configured to conduct a sub-therapeutic RF current to the tissue. The control circuit is operably coupled to the electrode. The control circuit is configured to measure impedance of the tissue over time based on the sub-therapeutic RF current. The closure member is configured to move the first jaw towards the second jaw at a closure rate based on the impedance of the tissue. The firing member is configured to move within the end effectors towards a fired position at a firing rate based on the impedance of the tissue.

A device includes a capsule extending longitudinally from a proximal end to a distal end and including a channel extending therethrough. The capsule is releasably coupled to a proximal portion of the device. Device also includes a first arm rigidly fixed to the distal end of the capsule to extend distally therefrom. In addition, Device includes a second arm, a proximal end of which is slidably received within the capsule so that the second arm is movable between an open configuration, in which the second arm is moved laterally away from the first arm and a distal end of the second arm is moved distally past the distal end of the first arm, and a closed configuration, in which the second arm is moved toward the first arm and the distal end of the second arm is moved proximally toward the distal end of the first arm.

A clip and a clip deployment and delivery system. The clip may be engaged with a clip spreader such that simple relative movement, such as sliding movement, between the clip and clip spreader causes the clip and clip spreader to disengage from each other. A clip spreader actuator may be coupled to one arm of the clip spreader, extend distally around a distal end of the clip spreader, proximally along the other clip spreader arm, and to a proximal end at which the actuator may be controlled to open or close the clip spreader. The clips may be leaflet clips having teeth on one arm thereof and bumps on another arm thereof. The arms of the leaflet clip may be biased into a closed configuration by a flex zone which has an expanded portion extending laterally away from only one of the clip arms.

The present invention relates to an anti-reflux valve for preventing gastro-esophageal reflux disease and includes a body formed in a ring shape and fixed to an upper end of a gastro-esophagus; a reflux blocking plate coupled to an inner circumferential surface of the body to be rotatable in one direction; and a fixing clip coupled to an outer circumferential surface of the body to fix the body to the upper end of the gastro-esophagus.

A clip applier may include: a first jaw member for engaging a first leg member of a surgical clip; and a second jaw member for engaging a second leg member of the surgical clip. At least one of the first jaw member and the second jaw member is asymmetric about a medial plane of the clip applier. A clip cartridge may include: a base having a first axis and a second axis, the second axis being perpendicular to the first axis; and a plurality of walls defining at least one cavity for receiving the surgical clip. At least one of the plurality of walls has a first wall portion on a first side of the first axis and a second wall portion on a second side of the first axis. The first wall portion and the second wall portion are offset to each other with respect to the second axis.

A tissue anchor and an anchor delivery and deployment system. The tissue anchor is shiftable between a delivery configuration when housed in anchor garage of the anchor delivery and deployment system, and a deployment configuration when deployed outside the anchor garage. The anchor has a plurality of talons which may be formed from a laser cut tube. The talons may taper, such as widthwise.

A method for adjusting the operation of a surgical instrument using machine learning in a surgical suite is disclosed.

An example medical device is disclosed. The example medical device includes a shaft having a proximal end region, a distal end region and an outer surface. The medical device also includes a hemostasis clip coupled to the outer surface of the distal end region of the shaft, wherein the hemostasis clip is configured to shift between an open position and a closed position. Further, the medical device includes a tension member coupled to the hemostasis clip, wherein actuation of the tension member shifts the hemostasis clip between the open position and the closed position.