Disclosed herein are various systems and methods for facilitating control of a tool or tools. The systems can allow a user to control multiple degrees of freedom. One such system allows a user to control multiple degrees of freedom of two tools simultaneously. Another such system allows a user to control multiple degrees of freedom with a single hand. Frames and rails for supporting and/or constraining movement of a tool or tools are also described herein.

A surgical stapling device includes reload assembly that is supported on a distal portion of an elongate shaft of the surgical stapling device. The reload includes a housing, a pusher assembly movably supported within the housing, a knife carrier movably supported within the pusher assembly, and an annular knife supported on the knife carrier. The elongate body includes a pusher drive member and a knife carrier pusher. The knife carrier includes first engagement structure that is configured to releasably engage second engagement structure formed on the knife carrier pusher to releasably couple the knife carrier pusher to the knife carrier. The knife carrier supports at least one detent that is movable into contact with a distal portion of the pusher drive member as the knife carrier is retracted to urge the first engagement structure out of engagement with the second engagement structure to uncouple the knife carrier from the knife carrier pusher.

A surgical instrument that includes a shaft assembly that defines a shaft axis and includes a proximal articulation joint that defines a first articulation axis that is transverse to the shaft axis and a distal articulation joint that defines a second articulation axis that is transverse to the shaft axis and the first articulation axis. The instrument further includes an anvil that is non-removably attached to the shaft assembly and a channel that is removably attachable to the shaft assembly and configured to operably support a surgical staple cartridge.

A surgical clip applier comprising an electric motor system is disclosed. The electric motor system is configured to drive a clip firing system of the surgical clip applier. The surgical clip applier further comprises a control system configured to control the electric motor system. The control system is configured to monitor a strain gauge circuit to assess the crimping force experienced by the clip firing system. In at least one instance, one or more strain gauges are mounted to a drive shaft and/or jaw of the clip firing system. The control system modifies the operation of the surgical clip applier when the voltage of the strain gauge circuit exceeds and/or falls below a threshold. In at least one instance, the control system modulates the width, or duration, of voltage pulses applied to the electric motor system to control the speed of the electric motor system.

A surgical instrument system that includes a housing and a rotatable drive shaft, a motor operably coupled to the drive shaft, and a plurality of replaceable end effectors that can be connected to the housing. Each replaceable end effector includes a drive screw that is turned a fixed number of revolutions by the motor-driven rotatable drive shaft when the end effector is connected to the housing. Each end effector further comprises a firing member operably coupled with the drive screw of the end effector. The drive screw is configured to displace the firing member over a firing length as a result of the fixed number of revolutions. In certain embodiments, each replaceable end effector can include a drive screw with a thread pitch set to the firing length divided by the fixed number of revolutions.

A surgical instrument with insulating grips is described. The grips can include internal metal frames that are arranged to limit electrical conductivity within the grips and to other components that attach to a grip, such as a ratchet. The internal metal frames can be constructed of multiple internal portions, spatially separated from one another to interrupt electrical conductivity between the internal portions, but coated with an insulating overmold to provide mechanical coupling between the portions. An internal metal frame can also include a notch, cut-out, or other region partially surrounded by the structure of the internal metal frame, which can be coated with an insulating overmold to define a region of the grip that does not have an internal metal frame therein but which can include an attachment point for mechanically coupling other components while limiting electrical coupling between the metal frame and the other components.

A surgical instrument includes a body, an ultrasonic blade, a clamp arm, and a resilient member. The body includes an electrical conductor and defines a longitudinal axis. The clamp arm is pivotably coupled with the body at a pivot assembly. The clamp arm is operable to compress tissue against the ultrasonic blade. The clamp arm includes an electrode operable to apply RF energy to tissue, wherein the clamp arm is configured to be loaded onto and removed from the body at the pivot assembly along a path that is transverse to the longitudinal axis defined by the body. The resilient member is located within the pivot assembly. The resilient member is configured to provide electrical continuity between the electrode of the clamp arm and the electrical conductor of the body.

A surgical instrument assembly configured to be operably attached to and detached from a surgical robot interface is disclosed. The surgical instrument assembly comprises a shaft assembly comprising an end effector and a closure drive member configured to move a second jaw relative to a first jaw of the end effector. The surgical instrument assembly further comprises a control assembly, wherein the shaft assembly is operably coupled with the control assembly, and wherein the control assembly comprises a housing, a closure drive system configured to actuate the closure drive member, and an exterior closure drive actuator exterior to the housing and configured to be actuated by a clinician to manually rotate a rotary input drive of the closure drive system to move the second jaw relative to the first jaw when the surgical instrument assembly is not operably attached to the surgical robot interface.

A surgical instrument includes a rotatable electrical coupling assembly having a first part and a second part that electrically couple and rotate relative to each other. The second part is carried by and rotates with a tube collar coupled to a transducer. A portion of the transducer is inserted through an aperture of the second part, but does not contact the second part. The first part of the assembly may electrically couple to the second part via pogo pins, brush contacts, or ball bearings. Alternatively, the first part may comprise conductive channels formed in the casing. The second part may comprise a rotatable drum with a conductive trace. In some versions, one or more components may comprise MID components. In another version, the rotatable electrical coupling assembly comprises a rotatable PC board and brush contact. Further still, a circuit board may be provided with the transducer inside a transducer casing.

A surgical instrument system is disclosed comprising a handle and a shaft assembly attachable to the handle. The handle comprises a drive module and selectively attachable battery modules. The handle comprises a first port configured to attach a first battery module and a second port configured to attach a second battery module. The first battery module is also attachable to the second port. In various embodiments, the second battery module cannot be attached to the first port. The first and second battery modules are configured to deliver power to the electric motor at the same voltage. In various instances, the first and second battery modules are configured to deliver different currents to the electric motor.