A surgical stapling instrument includes an end effector that has a first jaw; a second jaw movable relative to the first jaw between an open configuration and a closed configuration to grasp tissue between the first jaw and the second jaw; an anvil; and a staple cartridge with staples deployable into the tissue and deformable by the anvil. The surgical stapling instrument further includes a control circuit configured to: determine tissue impedances at predetermined zones; detect an irregularity in tissue distribution within the end effector based on the tissue impedances; and adjust a closure parameter of the end effector in accordance with the irregularity.

A method for adjusting the operation of a surgical instrument using machine learning in a surgical suite is disclosed. The method comprises the steps of gathering data during surgical procedures, wherein the surgical procedures include the use of a surgical instrument, analyzing the gathered data to determine an appropriate operational adjustment of the surgical instrument, and adjusting the operation of the surgical instrument to improve the operation of the surgical instrument.

A surgical visualization system is disclosed. The surgical visualization system is configured to identify one or more structure(s) and/or determine one or more distances with respect to obscuring tissue and/or the identified structure(s). The surgical visualization system can facilitate avoidance of the identified structure(s) by a surgical device. The surgical visualization system can comprise a first emitter configured to emit a plurality of tissue-penetrating light waves and a second emitter configured to emit structured light onto the surface of tissue. The surgical visualization system can also include an image sensor configured to detect reflected visible light, tissue-penetrating light, and/or structured light. The surgical visualization system can convey information to one or more clinicians regarding the position of one or more hidden identified structures and/or provide one or more proximity indicators. In various instances, a robotic camera of the surgical visualization system can monitor and track one or more tagged structures.

Various aspects of a generator, ultrasonic device, and method for estimating and controlling a state of an end effector of an ultrasonic device are disclosed. The ultrasonic device includes an electromechanical ultrasonic system defined by a predetermined resonant frequency, including an ultrasonic transducer coupled to an ultrasonic blade. A control circuit measures a complex impedance of an ultrasonic transducer, wherein the complex impedance is defined as $Z_g\left(t\right)=\frac{V_g\left(t\right)}{I_g\left(t\right)}.$
The control circuit receives a complex impedance measurement data point and compares the complex impedance measurement data point to a data point in a reference complex impedance characteristic pattern. The control circuit then classifies the complex impedance measurement data point based on a result of the comparison analysis and assigns a state or condition of the end effector based on the result of the comparison analysis. The control circuit estimates the state of the end effector of the ultrasonic device and controls the state of the end effector of the ultrasonic device based on the estimated state.

A surgical suturing tracking system is disclosed. The surgical suturing tracking system is configured to detect and guide a suturing needle during a surgical suturing procedure. The surgical suturing track system comprises a control circuit configured to predict a path of a needle suturing stroke after receiving an input from a clinician, detect an embedded tissue structure, and assess proximity of the predicted path and the detected embedded tissue structure.

A method for controlling a user interface of a modular energy system. The modular energy system comprises a header module and a display screen on which the user interface is displayed. The modular energy system can detect attachment of a first module thereto, control the user interface to display one or more first user interface elements corresponding to the first module, detect attachment of a second module to the modular energy system, control the user interface to resize the one or more first user interface elements to accommodate display of one or more second user interface elements corresponding to the second module, and control the user interface to display the one or more second user interface elements. The various UI elements can correspond to the particular module type that is being connected to the modular energy system.

A generator, ultrasonic device, and method for controlling a temperature of an ultrasonic blade are disclosed. A control circuit coupled to a memory determines an actual resonant frequency of an ultrasonic electromechanical system comprising an ultrasonic transducer coupled to an ultrasonic blade by an ultrasonic waveguide. The actual resonant frequency is correlated to an actual temperature of the ultrasonic blade. The control circuit retrieves from the memory a reference resonant frequency of the ultrasonic electromechanical system. The reference resonant frequency is correlated to a reference temperature of the ultrasonic blade. The control circuit then infers the temperature of the ultrasonic blade based on the difference between the actual resonant frequency and the reference resonant frequency. The control circuit controls the temperature of the ultrasonic blade based on the inferred temperature

Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.

Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.

A robotic surgical instrument includes a housing having a shaft extending therefrom configured to receive a first end effector including jaw members moveable between a fully open position wherein the jaw members are spaced a maximum distance relative to one another and a closed position wherein a closure pressure between the jaw members is within a predetermined range. A drive rod actuates the first end effector upon translation thereof. The housing includes a spring compression assembly having proximal and distal hubs with the compression spring disposed therebetween. A jaw drive input rotates a drive gear to translate the distal hub relative to the proximal hub to compress the compression spring and actuate the end effector. Once the jaw members are fully open, the jaw drive input rotates a preset number of degrees to compress the compression spring and approximate the jaw members to a closure pressure within the predetermined range.