Embodiments are directed to a medical robot system including a robot coupled to an end-effectuator element with the robot configured to control movement and positioning of the end-effectuator in relation to the patient. One embodiment is a method for removing bone with a robot system comprising: taking a two-dimensional slice through a computed tomography scan volume of target anatomy; placing a perimeter on a pathway to the target anatomy; and controlling a drill assembly with the robot system to remove bone along the pathway in the intersection of the perimeter and the two-dimensional slice.

A circular stapler apparatus for stapling tissue has a circular stapling head operable to drive staples toward an anvil to form the staples in a circular array. The anvil includes an anvil head, a proximal shaft extending proximally from the anvil head and having a proximal end disposed in a first plane, and a first pivot connecting the anvil head to the proximal shaft. The first pivot is operable to be disposed in a second plane that is laterally offset from the first plane. The anvil is configured to rotate via movement through multiple pivot points. The anvil may be configured to rotate to a position in which a portion of the anvil head is disposed below the first pivot and between the first pivot and the proximal shaft such that the anvil head is acutely angled with respect to a longitudinal axis of the proximal shaft.

Methods and devices for transvascular prosthetic chordae tendinea implantation are disclosed. A catheter is advanced into the left atrium. From an atrium side, a leaflet connector carried by a distal end of the catheter can be anchored to a superior surface of a mitral valve leaflet. A needle is axially advanceable through the leaflet connector and through the leaflet. A leaflet anchor having a leaflet suture can be advanced out of the needle to secure the mitral valve leaflet to the leaflet suture. A ventricular anchor is anchored to the wall of the ventricle to secure the ventricular wall to a ventricle suture. The leaflet suture and the ventricle suture may be tensioned and connected by a suture lock to form an artificial chordae.

A handheld electromechanical surgical device includes a handle assembly, an adapter assembly, a reload, and an electrical assembly. The handle assembly includes a connecting portion having an electrical connector supported therein. The adapter assembly includes an adapter housing selectively connectable to the connecting portion of the handle assembly and an outer tube extending distally from the adapter housing. The reload includes a housing selectively connectable to the outer tube of the adapter assembly and a circuit board assembly disposed within the reload housing. The electrical assembly includes a flex cable having an elongate body positionable against an outer surface of the adapter assembly. A proximal end of the flex cable is positionable within a cavity defined in the adapter housing and configured to electrically connect with the electrical connector of the handle assembly. A distal end of the flex cable is coupled to the circuit board assembly of the reload.

Devices for removing implanted objects from body vessels are provided. A device includes a sheath assembly having a cutting tip. The cutting tip includes a cutting surface that is adapted to cut tissue coupled to an implanted object as the cutting tip rotates. The sheath assembly further includes an outer shield carried outside of the cutting tip. The outer shield includes a distal opening, and the outer shield is translatable relative to the cutting tip from a first position to a second position and vice versa. In the first position the cutting surface of the cutting tip is disposed within the outer shield, and in the second position the cutting tip extends through the distal opening and the cutting surface is at least partially disposed outside of the outer shield.

A surgical system comprising an electric motor and a surgical instrument is disclosed. The surgical instrument comprises a housing, a shaft extending from the housing, a fastener cartridge, an anvil, a translatable drive member, and a rotatable actuator knob. The housing comprises an input shaft operably coupled to the electric motor. The input shaft is rotatable in a first mode by the electric motor. The fastener cartridge comprises a plurality of fasteners removably stored therein. The anvil is configured to deform the fasteners. The translatable drive member is configured to move the anvil toward and away from the fastener cartridge. The translatable drive member is movable by the electric motor in the first mode. The rotatable actuator knob is configured to be rotated multiple full rotations in a second mode to manually cause the input shaft to move the anvil.

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 as defined as

[00001]$Z_g\left(t\right)=\frac{V_g\left(t\right)}{I_g\left(t\right)};$

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 tool for installing and/or removing a protective cover of an instrument includes a body portion having an open end and a closed end. The open end defines an interior passage that extends into the body portion along a longitudinal axis of the body portion toward the closed end of the body portion. The interior passage is configured to receive at least a portion of the protective cover in the interior passage. One or more members are connected to the body portion, and each of the one or more members includes a free end movable relative to the body portion. Systems and methods relate to tools for installing and/or removing protective covers of instruments.

An assembly comprising a drive gear coupled to a shaft and a dial. The drive gear is configured to rotate along a first axis based on movement of the dial. The assembly includes a first linking member located along a second axis and configured to rotate about the second axis based on contact with the drive gear as the drive gear is rotated. The assembly includes a second linking member located along the second axis and configured to rotate about the second axis based on rotation of the drive gear and a coupling between the first linking member and the second linking member. The assembly includes a linking member selector configured to rotate about the first axis and for selecting at least a position corresponding to the first linking member that causes the coupling between the first linking member and the second linking member.

The present disclosure generally relates to surgical instruments having adjustable stiffness, and more particularly, surgical instruments having adjustable stiffness for ophthalmic surgical procedures. In one embodiment, a surgical instrument includes a probe, a slidable support sleeve, and a rotatable knob. A stiffness level of the probe may be adjusted by rotating the knob, thereby causing linear displacement of the support sleeve along a length of the probe. The knob may further include a dial depicting a series of settings representing different eye sizes and corresponding to preset positions of the support sleeve relative to the probe. Thus, a user may select an optimal stiffness of the probe for a particular eye size by rotating the knob to the corresponding setting.