Various embodiments of tool assemblies are provided having at least one rotary input coupling and at least one linear input coupling for allowing either a rotary output or a linear output (e.g., from a tool driver on a surgical robot) to activate at least one mechanism of the tool assembly. For example, mechanisms of the tool assembly can include a clamping assembly, a firing assembly, an articulation assembly, and a roll assembly. The clamping assembly can open and close jaws of an end effector, the firing assembly can translate a knife assembly through the end effector to fire staples and cut tissue, the articulation assembly can articulate the end effector, and the roll assembly can rotate the elongate shaft and/or the end effector.

A method for controlling a powered surgical stapler that includes an end effector with jaws that are movable between an open and a closed position and a firing member that is movable between a starting position and an ending position within the end effector. The jaws and firing member are controlled by separate rotary systems and the end effector includes a firing member lockout system that prevents axial movement of the firing member unless the surgical staple cartridge is in ready to fire condition.

Drive assemblies for surgical clamping and cutting instruments, as well as surgical clamping and cutting instruments using these drive assemblies, are disclosed. The drive assemblies may include a drive member, a locking member mounted to the drive member, and a spring. The drive member may be configured to releasably engage at least one of a knife or a shuttle of a surgical clamping and cutting instrument for translating the knife and/or shuttle in a distal direction through a firing stroke. The locking member may be movable from a first position permitting distal translation of the drive member through the firing stroke, and a second position inhibiting distal translation of the drive member through the firing stroke. The spring may be configured to bias the locking member toward the second position.

Apparatus for performing a minimally-invasive procedure, the apparatus comprising: a shaft having a distal end and a proximal end; a handle attached to the proximal end of the shaft; and an end effector attached to the distal end of the shaft; wherein the shaft comprises a flexible portion, a first articulating portion and a second articulating portion, wherein the flexible portion extends distally from the handle, the first articulating portion extends distally from the flexible portion, and the second articulating portion extends distally from the first articulating portion; wherein at least one articulation cable extends from the handle to the first articulating portion, such that when tension is applied to the at least one articulation cable, the first articulating portion deflects; wherein a plurality of articulation cables extend from the handle to the second articulating portion, such that when tension is applied to at least one of the plurality of articulation cables, the second articulating portion deflects.

A lever latching system comprising: a housing; a lever having a latch pin fixedly mounted to the lever, the lever being movably mounted to the housing so that the latch pin moves in an arc; and a latch plate movably mounted to the housing for linear movement with respect to the housing, the latch plate comprising a labyrinth for receiving the latch pin.

Provided is a locking apparatus, and more particularly, to a locking apparatus with improved locking performance as a locking unit is stuck between different members capable of moving relative to each other and in which locking is released as an unlocking unit pushes the locking unit.

In one general aspect, various embodiments of the present invention can include a motorized surgical cutting and fastening instrument having a drive shaft, a motor selectively engageable with the drive shaft, and a manual return mechanism configured to operably disengage the motor from the drive shaft and retract the drive shaft. In at least one embodiment, a surgeon, or other operator of the surgical instrument, can utilize the manual return mechanism to retract the drive shaft after it has been advanced, especially when the motor, or a power source supplying the motor, has failed or is otherwise unable to provide a force sufficient to retract the drive shaft.

Disclosed is a surgical instrument having an interlock mechanism, and the surgical instrument includes a handle portion having a handle housing; an elongated body, defining a longitudinal axis of the instrument; an end effector, arranged on distal portion of the elongated body for operating tissues; a rotatable sleeve, circumferentially fixed with proximal portion of the elongated body and provided with a plurality of teeth; a rotatable knob, operatively to be reciprocated along the longitudinal axis; and an articulation gear assembly including an annular gear and a planet gear assembly.

Surgical clamping and cutting instruments are disclosed. In one aspect, a surgical instrument comprises an elongate shaft with an end effector having first and second jaws, a release member movably coupled to the end effector and a drive member configured to translate relative to the end effector. The instrument further includes a locking member movable from a first position permitting distal translation of the drive member, to a second position preventing distal translation of the drive member. The locking member moves into the second position after the drive member has been driven distally. This inhibits or prevents hazardous actuation of a knife or drive beam when, for example, there is a spent or previously fired cartridge in place.

A surgical device comprising a shaft comprised of a first end and a second end; a clamp configured to be locked or unlocked attached to the first end of the shaft; an actuator shaft that is removably coupled to the shaft and configured to open and close the clamp; and optionally an anchor.