A treatment tool includes: a tubular insertion tube; an end effector that is provided at a distal end of the insertion tube and is bendable with respect to the insertion tube, the end effector being configured to apply treatment energy to a living tissue according to supplied power to treat the living tissue; a shaft body that is provided in the end effector and has an outer peripheral surface located on a circumference of a specific circle centered on a rotation axis when viewed from a direction along the rotation axis, the rotation axis allowing the end effector to be bent with respect to the insertion tube; and a wiring that is inserted through the insertion tube and serves as a supply path of the power, the shaft body including a passage through which the wiring is inserted.

A surgical instrument includes an end effector having a first jaw member and a second jaw member movably coupled to one another; a wrist assembly having a distal end portion supporting the end effector; and a shaft defining a longitudinal axis and have a distal end supporting the wrist assembly. The wrist assembly includes a plurality of joint members rotatably connected to one another in tip-to-tail fashion, wherein each joint member defines a central rotational axis, and wherein adjacent joint members are rotatably connected to one another in a plane which is oriented at a non-orthogonal angle relative to the central rotational axes of the adjacent joint members. The wrist assembly includes also includes a plurality of concentric drive tubes extending through the plurality of joint members, wherein each drive tube includes a distal end keyed to a respective joint member.

A method is disclosed. The method includes delivering staples from a surgical staple cartridge of a surgical instrument to a first tissue during a first procedure; removing the surgical staple cartridge from the surgical instrument; and delivering radio-frequency energy from a radio-frequency cartridge of the surgical instrument to a second tissue during a second procedure.

A forceps having a first jaw and a second jaw, where at least one of the first and second jaws is capable of moving between an open position and a closed positions. The forceps including an inner shaft located within an outer shaft and extending along the longitudinal axis, and a drive bar coupled to and extending distally from the inner shaft. The drive bar including a pair of drive bar struts extending from a distal portion of the inner shaft and positioned laterally inward of at least one of first and second set of flanges of the first and second jaws. A drive pin is securable to the pair of drive bar struts and the drive bar is translatable within the outer shaft to translate the drive pin to move the first jaw and/or the second jaw between open and closed positions.

A surgical tool includes a drive housing, a shaft extending from the drive housing, an end effector at an end of the shaft and having opposing jaws and a cutting element, and an articulable wrist configured to rotate the end effector within a plane. The wrist is articulated via antagonistic translation of a pair of drive members. Various systems are provided for homing one or more drive inputs that cause movement in the wrist and/or the end effector, or for controlling articulation of the drive inputs.

A robotic surgical assembly includes a drive assembly and a shaft assembly. The drive assembly is detachably mountable to a surgical robot and includes roll, pitch, and clamp/fire inputs configured to drivingly couple with respective outputs of the surgical robot. The shaft assembly is mounted to the drive assembly and configured to detachably couple with a stapler reload assembly that includes a reload roll shaft, a reload pitch shaft, and a reload clamp/fire shaft. The shaft assembly includes a roll shaft, a pitch shaft, and a clamp/fire shaft. The roll shaft is drivingly coupled with the roll input and configured to detachably couple to the reload roll shaft. The pitch shaft is drivingly coupled with the pitch input and configured to detachably couple to the reload pitch shaft. The clamp/fire shaft is drivingly coupled with the clamp/fire input and configured to detachably couple to the reload clamp/fire shaft.

Various devices related to a therapeutic ultrasound device for use during a medical procedure to cauterize tissue are disclosed. The therapeutic ultrasound device can include an inner tube assembly and an outer tube assembly. The device can further include a tissue engagement assembly that is secured to the distal end of the inner tube and the distal end of the outer tube. The tissue engagement assembly includes a plurality of transducers configured to provide therapeutic ultrasound. The device can include a housing assembly that is secured to the proximal end of the inner tube and the proximal end of the outer tube. The housing assembly can include a handle configured to actuate the inner tube relative to the outer tube to engage and disengage the tissue engagement assembly.

A surgical instrument is disclosed comprising a shaft, an end effector rotatably coupled to the shaft about an articulation joint, and a firing system configured to be moved through the articulation joint and the end effector. The surgical instrument further comprises means configured to facilitate the movement of the firing system through the articulation joint and the end effector.

A surgical clip applier is disclosed which is configured to automatically feed a clip from a clip cartridge once the surgical clip applier is positioned in the patient.

A surgical instrument for cutting and grasping tissue comprising a handle assembly, an elongated member and first and second jaws. A first movable member moves the second jaw in a first direction about a first pivot axis in a grasping action and a second movable member moves the second jaw in a second direction different than the first direction and about a second pivot axis in a cutting action. A switch is positioned at the proximal portion of the instrument and a selecting member is actuated by movement of the switch, the selecting member movable between a first position to enable movement of the second jaw in the first direction and prohibit movement in the second direction and a second position to enable movement of the second jaw in the second direction and prohibit movement in the first direction.