A surgical instrument system comprising a handle assembly is disclosed. The handle assembly comprises an actuation trigger comprising a curved proximal portion and a curved cylinder surrounding the curved proximal portion of the actuation trigger. The curved cylinder comprises an electroactive polymer. The surgical instrument system comprises an actuation rod which is configured to transmit an actuation force and a sensor system which is configured to detect the magnitude of the actuation force. The electroactive polymer is responsive to the actuation force and provides feedback to a user of the surgical instrument system.

Surgical end effectors are disclosed. The surgical end effectors can include a first jaw, a second jaw, and a firing member configured to translate relative to the first jaw and the second jaw during a firing stroke. The firing member can include at least one floating flange. The floating flange can be configured to shift or slide relative to a fixed portion of the firing member such as a fixed flange.

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 fastener cartridge can comprise a support portion, a tissue thickness compensator positioned relative to the support portion, and a plurality of fasteners positioned within the support portion and/or the tissue thickness compensator which can be utilized to fasten tissue. In use, the fastener cartridge can be positioned in a first jaw of a surgical fastening device, wherein a second jaw, or anvil, can be positioned opposite the first jaw. To deploy the fasteners, a staple-deploying member is advanced through the fastener cartridge to move the fasteners toward the anvil. As the fasteners are deployed, the fasteners can capture at least a portion of the tissue thickness compensator therein along with at least a portion of the tissue being fastened.

Devices for approximating multiple tissue edges internal to a body are disclosed.

A laparoscopic instrument is placed into the abdomen without the creation of a skin incision. The laparoscopic instrument includes a shaft that does not exceed 1.6 mm in diameter. The shaft has a beveled end and is inserted into an abdomen similar to the placement of a needle, without use of a scalpel. Operating instruments are introduced into the abdomen through the umbilical port using a docking device, and are then docked to the beveled end of the shaft after the shaft is introduced through the abdomen. Multiple types of operating instruments can be placed on the beveled end of the shaft during the surgical procedure. Each operating instrument is docked with a holster during introduction into and withdrawal from the umbilical port and is removed from the holster only when in use. When removed from the holster it is locked to the shaft and cannot be dropped.

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 first subassembly includes a body and an ultrasonic blade. A second subassembly is configured to removably couple with the first subassembly and includes a first clamp arm and a first clamp arm actuator. The first clamp arm is configured to be located on a first side of the longitudinal axis of the body, and the first clamp arm actuator is configured to be located on a second side of the longitudinal axis, when the second subassembly is coupled with the first subassembly. The third subassembly is similar to the second subassembly except that the second clamp arm of the third subassembly is configured to be located on the second side of the longitudinal axis of the body when the third subassembly is coupled with the first subassembly.

Devices and methods for delivering end effectors through surgical trocars are described herein. In one embodiment, a surgical end effector loading device is provided that includes a housing having a distal-facing first portion configured to couple with a proximal end of a surgical trocar, and an elongate second portion protruding distally from the first portion. The second portion can include a lumen formed therein and can be configured to extend into a working channel of the surgical trocar when the housing is coupled thereto. The device can also include at least one mating element coupled to the housing and configured to interface with a complementary mating element of the surgical trocar to restrict movement of the housing relative to the trocar, as well as an end effector retainer coupled to the housing and configured to selectively couple a surgical end effector to the housing.

A method and system for use in surgery, which includes a grasper having a jaw, and a grasper housing having a proximal end and distal end and defining a docking opening, and a tool having a tool housing having a proximal end, a distal end and defining an inner surface, and a robotic device operably coupled to the proximal end of the grasper housing, and configured to actuate the jaw of the grasper. The tool housing having an operative assembly at the distal end of the tool housing, and the tool housing defining a docking assembly at the proximal end of the tool housing. The operative assembly having a fulcrum operably coupled to the tool housing, a first lever operably connected to the fulcrum, an instrument operably coupled to the first lever, and an actuator operably coupled to the tool housing and the first lever.