Disclosed herein are methods, devices and systems for performing robotic procedures. The devices may include one or more robotic arms. The one or more robotic arms may comprise one or more joints. A joint may include a magnetic sensing system. The one or more robotic arms may be configured to move an elbow joint independently from an end effector or origin of the robotic arm. A working end of the robotic arm may be configured for insertion through a trocar into a body cavity of a subject and may be operatively coupled to a motor unit by one or more electrical or mechanical components housed in a support tube.

A tissue-resecting end effector assembly includes an outer shaft having a hub housing disposed about a proximal end portion thereof, an inner shaft rotatably disposed within the outer shaft and having a distal driver disposed about a proximal end portion thereof, a proximal driver, a retainer cap, and an RFID chip. The proximal driver is slidably coupled to the distal driver in fixed rotational orientation. The retainer cap is fixedly engaged with the hub housing, thereby fixing the retainer cap relative to the hub housing and the outer shaft. The retainer cap is configured to selectively lock the proximal driver in fixed rotational orientation, thereby selectively locking the inner shaft relative to the outer shaft. The RFID chip is disposed within a pocket of the retainer cap that is closed upon engagement of the retainer cap with the hub housing, thereby retaining the RFID chip therein.

A medical device support system including a shaft, an extension arm, and a free rotating ring. The shaft includes an elongated peripheral cavity that defines first and second contact faces at opposite peripheral ends. A hub of the extension arm is pivotably mounted for a range of at least 360 degrees rotation about a rotation axis of the shaft. The at least 360 degrees rotation range is based on a compound of a first rotation range and a second rotation range. The first rotation range is defined by a fixed stop of the hub configured to move between first and second contact faces of a radially outward protruding member of the free rotating ring. The second rotation range is defined by a radially inward protruding member of the free rotating ring configured to move between the first and second contact faces of the elongated peripheral cavity of the shaft.

A medical device support system including a shaft, an extension arm, and a hub mounted to the shaft for pivotable movement of the extension arm about a rotation axis of the shaft. The hub includes a cavity including first and second contact faces, and at least one floating stop movably disposed in the cavity. The hub is pivotably mounted for a range of at least 360-degrees rotation about the rotation axis. The at least 360-degrees rotation range is based on a compound of a first rotation range and a second rotation range. The first rotation range is defined by a first movable amount of the at least one floating stop between first and second stop surfaces fixed relative to the shaft. The second rotation range is defined by a second movable amount of the at least one floating stop between the first and second contact faces of the hub.

A medical device support system including a shaft, extension arm, and floating stop. A guide channel member is fixed to the shaft and includes an elongated cavity that defines first and second contact faces at its opposite ends. A hub of the extension arm is pivotably mounted for a range of at least 360 degrees rotation about a rotation axis of the shaft. The at least 360 degrees rotation range is based on a compound of a first rotation range and a second rotation range. The first rotation range is defined by a fixed stop of the hub configured to move between first and second contact faces of a radially outer portion of the floating stop. The second rotation range is defined by a radially inner portion of the floating stop configured to move between the first and second contact faces of the elongated cavity of the guide channel member.

A surgical device for clipping tissue is disclosed. The surgical device comprises a housing, a shaft extending from the housing, and a first reload releasably attachable to the shaft. The first reload comprises a first end effector and a first clip magazine including a plurality of first clips. The surgical device further comprises a second reload releasably attachable to the shaft when the first reload is not attached to the shaft. The first reload and the second reload are different sizes. The second reload comprises a second end effector and a second clip magazine including a plurality of second clips.

A surgical device for clipping tissue is disclosed. The surgical device comprises a housing comprising a motor configured to output rotary motions, a shaft, and a clip applier head. The clip applier head comprises a clip magazine, an end effector, a jaw closure cam, and a clip advancing member. The clip magazine comprises a plurality of clips. The end effector comprises a first jaw and a second jaw movable relative to each other between an unclamped position and a clamped position. The jaw closure cam is configured to move the first jaw and the second jaw toward the clamped position. The clip advancing member is operably attachable to the jaw closure cam. The clip advancing member is configured to move a clip from the clip magazine into a firing position. The jaw closure cam and the clip advancing member are configured to move in opposite directions at the same time.

A stop member for use with a surgical stapling device includes a plurality of sections that are releasably coupled to each other. Each of the sections includes a coupling member that can be selectively coupled to a tool assembly of the surgical stapling device to limit an actuation stroke of a drive assembly of the stapling device. Sections of the stop member can be removed from the stop member to change the position of a stop surface of the stop member on the tool assembly to change the effective stroke length of the clamp member.

A medical device for debridement can include an elongate housing, a shaft extending through the housing and distally therefrom, a drive to manipulate the cutter, and an adjustable handle that can couple with the housing. A lever of the handle can turn about a pivot relative to a handle base to lock and unlock the handle in several orientations useful for debridement.

A method for adjusting the operation of a surgical instrument using machine learning in a surgical suite is disclosed.