Methods for selectively attaching a shaft assembly to a handle of a surgical instrument and an arm of a surgical robot are disclosed.

A surgical instrument comprising an end effector, an articulation system, a firing system, a closure system, a lock system, and a control unit is disclosed. The end effector comprises a pair of movable jaws. The articulation system articulates the end effector when the articulation system is in an active state. The closure system is actuatable to move the pair of jaws. The lock system prevents the closure system from actuating when the lock system is in a locked state. The control unit controls the supply of power from a power source to the articulation system, the firing system, and the lock system. The control unit transitions the lock system to the locked state and prevents the supply of power from the power source to the firing system when the articulation system is in the active state.

A surgical instrument includes a housing, a shaft extending from the housing, an end effector assembly extending from the shaft and configured to rotate and/or articulate relative to the housing, a motor disposed within the housing and operably coupled to the end effector assembly to rotate and/or articulate of the end effector assembly relative to the housing, and a sensing assembly configured to sense movement of the housing relative to a reference position and to drive the motor to rotate and/or articulate of the end effector assembly relative to the housing based upon the sensed movement. The sensing assembly is configured to operate in each of a standard mode, wherein movement of the housing effects rotation and/or articulation of the end effector assembly in a similar direction, and a reversed mode, wherein movement of the housing effects rotation and/or articulation of the end effector assembly in an opposite direction.

A forceps includes an end effector assembly including first and second jaw members, a blade, a lever member operably coupled to the end effector, a trigger member operably coupled to the blade and defining an actuation path therealong. A trigger safety member is pivotably coupled to the lever member such that, when the lever member is disposed in an initial position, the trigger safety member is disposed in a position blocking the trigger member. When the lever member is disposed in a compressed position, the trigger safety member is disposed in a position, wherein the trigger safety member is displaced from the actuation path to permit movement of the trigger member, wherein the safety member rotates relative to the lever member as a function of movement of the lever member to block/unblock the trigger member.

A surgical instrument for use with a robotic surgical system includes a shaft extending distally from a housing and first and second jaw members disposed at a distal end of the shaft. The surgical instrument also includes a knife blade configured to cut tissue and a drive input configured to receive a rotational input from a robotic surgical system to drive rotation of an input shaft and translate the knife blade. The surgical instrument also includes a knife blade lock configured to move between a locked position to prevent rotation of the drive input, and an unlocked position such that the drive input is permitted to rotate in response to receiving the rotational input to drive rotation of the input shaft. The surgical instrument also includes a spring configured to bias the knife blade lock into the locked position.

A robotic surgical system according to an embodiment may include: a surgical instrument including a pair of jaw members; an operation handle; and a surgical robot that includes a robot arm to which the surgical instrument is attached and which includes a drive part to drive a driven member, and a controller configured to drive the drive part based on a command jaw opening angle associated with an input to the input device for controlling an opening angle between the pair of jaw members. The controller is configured, when it is determined that a current value of the drive part excesses a predetermined threshold value during a closing operation of the pair of jaw members, to drive the drive part in a restriction mode in which a magnitude of the command jaw opening angle is restricted.

A device is disclosed that can pierce and hold tissue and then pass suture through tissue. The device can have a shuttle that can removably attach to a suture and jaws that can be opened and closed. A method for using the device to repeatedly pass the suture through the tissue with or without removing the suture or device from the target site is disclosed.

A surgical stapling instrument comprising a housing, a shaft, an end effector, a first articulation joint configured to permit the end effector to be articulated in a first plane, a second articulation joint configured to permit the end effector to be articulated in a second plane, and a staple firing drive is disclosed. The end effector comprises a distal end, a proximal end, a first jaw, a second jaw rotatable relative to the first iaw, and a staple cartridge. The staple firing drive comprises a firing member and a flexible drive tube extending through the first articulation joint and the second articulation joint. The firing member comprises a first cam, a second cam, and a round attachment aperture. The flexible drive tube comprises a longitudinal length, an outer circumference, a distal end seated in the round attachment aperture, and interlocking cuts in the outer circumference extending longitudinally and circumferentially.

Surgical tools that can be used in single port laparoscopic procedures can include a low-profile handle assembly to minimize tool interference adjacent the incision site. For example, a handle assembly for a surgical instrument can have a generally in-line configuration extending linearly along a central longitudinal axis of an elongate shaft of the instrument. A linkage mechanism including a trigger, an actuation link, and an actuation shaft can be positioned within the in-line handle. The linkage mechanism can be pivoted between an open position in which end effectors of the instrument are open and a toggle position in which the end effectors are locked closed. A locking mechanism such as a ratchet mechanism can also be used to lock the end effectors. A surgical dissector can include gripping jaws having a curved profile or an angled elongate shaft to minimize tool interference and maximize visibility within a procedure site.

A surgical stapling apparatus includes a loading unit having first and second jaw members, a drive beam, and a firing lockout assembly. The drive beam is axially movable within the loading unit during a firing sequence. The firing sequence includes an advancement stroke which moves the first and second jaw members to an approximated position and a retraction stroke which moves the first and second jaw members to an unapproximated position. The firing lockout assembly includes an iterating plate, a capture gear, and a lockout pin. The iterating plate is disposed adjacent to the drive beam and is incrementally movable proximally within the loading unit during the firing sequence. The capture gear is rotatable between first and second positions during the firing sequence and is configured to move the iterating plate. The lockout pin is configured to lock the drive beam after a pre-determined number of firing sequences.