A surgical stapling device includes cartridge assembly having a replaceable staple cartridge. The replaceable staple cartridge includes a knife having a cutting blade that is movable between a shielded position and an exposed position in response to advancement of a drive assembly of the stapling device. In aspects of the disclosure, the knife is pivotably coupled to an actuation sled of the cartridge assembly and is biased by a resilient finger on the actuation sled to move the cutting blade to the shielded position.

A bone screw insertion device, comprises an outer sleeve extending from a proximal end to a distal end and including a channel extending therethrough and a driving member extending longitudinally through the channel of the outer sleeve from a proximal end to a distal end configured to engage a driving recess of a bone screw, the outer sleeve movable relative to the driving member between a first position in which the distal end of the outer sleeve extends over and covers a proximal portion of a bone screw engaged with the driving member, to a second position in which the distal end of the outer sleeve is longitudinally aligned with a proximal end of a bone screw engaged with the driving member.

Connectors for connecting or linking one instrument or object to one or more other instruments or objects are disclosed herein. In some embodiments, a connector can include a first arm with a first attachment feature for attaching to a first object, such as a surgical access device, and a second arm with a second attachment feature for attaching to a second object, such as a support. The connector can have an unlocked state, in which the position and orientation of the access device can be adjusted relative to the support, and a locked state in which movement of the access device relative to the support is prevented or limited. Locking the connector can also be effective to clamp or otherwise attach the connector to the access device and the support, or said attachment can be independent of the locking of the connector.

A surgical apparatus system for minimally invasive surgery (MIS) which includes a wrist assembly. The wrist assembly includes a first jaw, a first actuation hub, and a cable redirecting hub operably coupled to the first actuation hub, a second jaw, a second actuation hub, a housing for the first and second jaws, a first cable, a second cable, a third cable, rotational position sensors, and a control system. The first and second jaws of the wrist assembly are movably opposed, and the cables are configured such that applying tensions upon them cables produces rotation about a jaw axis. The wrist assembly may further include a hinge-rotary assembly to configured to provide rotation about a pitch axis and/or a roll axis. The wrist assembly may further include a fourth cable configured such that applying tensions upon the fourth cable and the opposing cable produces rotation about a pitch axis.

A console for controlling a robotic manipulator having an end effector, the console comprising: a hand controller connected to a gimbal assembly; and an articulated linkage connected at its proximal end to a rigid support structure, and at its distal end to the gimbal assembly. The gimbal assembly comprises only three degrees of freedom provided by only three joints, a first joint of the three joints permitting the gimbal assembly to rotate relative to the distal end of the articulated linkage about a first axis. The articulated linkage and gimbal assembly are arranged such that in every configuration of the articulated linkage and gimbal assembly, the first axis has the same orientation relative to the support structure. The articulated linkage has a parallelogram profile thereby mechanically constraining the first axis to have the same orientation relative to the support structure in every configuration of the articulated linkage.

A method of fixing a surgical instrument to a robot arm according to one or more embodiment may include: attaching the surgical instrument to a drive part of the robot arm via an adaptor in a state where a first engagement portion of a drive transmission member of the adaptor is set at a second initial orientation; and rotating the first engagement portion from the second initial orientation so as to engage the first engagement portion of the drive transmission member with an engagement portion of an driven member.

Various embodiments provide an electrosurgical resector tool comprising: a shaft defining a lumen; an energy conveying structure for carrying electromagnetic (EM) energy through the lumen of the shaft; an instrument tip mounted at a distal end of the shaft. The instrument tip comprises: a static portion comprising a first blade element; and a movable portion comprising a second blade element, wherein the movable portion is movable relative to the static portion between a closed position in which the first blade element and second blade element lie alongside each other to an open position in which the second blade element is spaced from the first blade element by a gap for receiving biological tissue. The instrument tip also includes a travel limiting mechanism operable to limit a maximum extent of relative movement between the second blade element and the first blade element in the open position and/or the closed position. The instrument tip further includes a first electrode, a second electrode and a planar dielectric body, the first and second electrodes being spaced apart and electrically isolated from each other by the planar dielectric body, and wherein the first electrode and the second electrode are connected to the energy conveying structure for delivery of the EM energy from the instrument tip. The tool further comprises an actuator for controlling relative movement between the movable portion and the static portion.

A staple cartridge comprising staple drivers including stability supports is disclosed.

A surgical instrument comprising a rotatable and translatable firing member is disclosed.

Disclosed is an electrosurgical instrument including an end effector with a cartridge having an asymmetric cartridge body.