Electrical instrument for applying radiofrequency and/or microwave frequency energy to tissue, comprising: a distal part comprising an instrument tip for applying radiofrequency and/or microwave frequency energy to tissue, the instrument tip comprising first and second conductive elements; a coaxial feed cable comprising an inner conductor, a tubular outer conductor coaxial with the inner conductor, and dielectric material separating the inner and outer conductors, the coaxial feed cable being for conveying radiofrequency and/or microwave frequency energy to the distal part; wherein: the inner conductor is electrically connected to the first conductive element and the outer conductor is electrically connected to the second conductive element through a rotatable connection between the distal part and the coaxial feed cable that allows rotation of the distal part relative to the coaxial feed cable; and the instrument comprises an actuator for rotating the distal part in a first rotational direction relative to the feed cable.

A medical device assembly may include a stylet having a distal stylet body and a proximal stylet hub, a cannula having a distal cannula body and a proximal cannula hub, and a lock for securing the stylet to the cannula, wherein the lock includes at least one abutment on at least one of the stylet hub and the cannula hub for restricting relative movement between the stylet hub and the cannula hub.

A system and method of breakaway clutching in a device includes an arm having a first joint and a control unit coupled to the arm. The control unit includes one or more processors. The control unit switches the first joint from a first state of the first joint to a second state of the first joint in response to an external stimulus applied to the arm exceeding a first threshold. Movement of the first joint is more restricted in the first state than in the second state. The control unit further switches the first joint from the second state to the first state in response to a speed associated with the first joint falling below a speed threshold. The first threshold is based on at least one first property of the arm. The speed threshold is based on at least one second property of the arm.

A surgical instrument comprising a waveguide, an end effector, and an electrical switch is disclosed. The waveguide comprises a proximal end and a distal end, wherein the proximal end is configured to couple to an ultrasonic transducer and one output of a radio frequency (RF) generator. The end effector may comprise an ultrasonic blade and a clamp arm. The ultrasonic blade is mechanically coupled to the distal end of the waveguide and electrically coupled to the waveguide. The clamp arm comprises a movable jaw member electrically coupled to another output of the RF generator. The electrical switch is operable to cause the surgical instrument to deliver electrical current from the RF generator to the movable jaw member for a first period, and to cause the surgical instrument to deliver ultrasonic energy to the ultrasonic blade for a second period.

A surgical burr includes prevention part, a shaft and a working part including at least one cutting or grinding surface for processing of a material selected from a bone, a cartilage, a calcified tissue, a tooth and a foreign object within a patient body. The prevention part is configured to have a first position and a second position. In the first position, it at least partially prevents the cutting or grinding surface from processing the material, when a force applied to the prevention part is less than a predetermined amount of force. In the second position, it allows the cutting or grinding surface to process the material, when the force applied to the prevention part is equal or higher than the predetermined amount of force.

A tool assembly includes a cartridge assembly, a shell, and an anvil assembly. The shell houses the cartridge assembly and defines a passage. The shell includes alignment splines that are disposed within the passage and define channels between adjacent alignment splines. The anvil assembly includes an anvil and a center rod that extends from the anvil. The center rod defines a longitudinal axis and includes a first spline and second splines. The first spline includes a first leading facet that is configured to engage the alignment splines to clock the anvil assembly relative to the cartridge assembly. The second splines are radially spaced apart about the longitudinal axis. Each of the second splines includes a leading end that defines a plane that is substantially orthogonal to the longitudinal axis. The leading end is configured to crash with the alignments spines when the anvil assembly is misaligned with the cartridge assembly.

Some embodiments of the invention relate to a mechanism for actuating a shaft having two degrees of freedom, comprising: a first actuator configured to rotate the shaft around the shaft axis, and a second actuator configured to bend the shaft using one or more elongated elements attached to the shaft, wherein actuation of the first actuator indirectly manipulates the elongated elements controlled by the second actuator, thereby affecting operation of the second actuator. Some embodiments relate to motorized actuation of a system comprising at least one surgical arm.

A surgical instrument comprising a handle, a shaft, an end effector, and an articulation drive system configured to articulate the end effector is disclosed. The shaft and the end effector are rotatable relative to the handle about a rotation joint and, also, the end effector is rotatable relative to the shaft about an articulation joint. The articulation drive system comprises an indicator which is illuminated in a first illumination state when the shaft and end effector are rotated within a first range of shaft orientations and in a second illumination state when the shaft and end effector are rotated within a second range of shaft orientations. The controls of the articulation drive system produce a first set of responses when the shaft and end effector are in the first range of orientations and a second set of responses when the shaft and end effector are in the second range.

A surgical instrument comprising a handle, a shaft extending from the handle, and an end effector is disclosed. The surgical instrument comprises at least one drive system including an actuator. The actuator and/or the handle comprise features which limit the travel of the actuator.

A surgical instrument comprising an end effector including a first jaw and a second jaw rotatable relative to the first jaw is disclosed. One or both of the first jaw and the second jaw comprise alignment features