A number of improvements are provided relating to computer aided surgery. The improvement relates to both the methods used during computer aided surgery and the devices used during such procedures. Some of the improvement relate to controlling the selection of which data to display during a procedure and/or how the data is displayed to aid the surgeon. Other improvements relate to the structure of the tools used during a procedure and how the tools can be controlled automatically to improve the efficiency of the procedure. Still other improvements relate to methods of providing feedback during a procedure to improve either the efficiency or quality, or both, for a procedure.

Generally, a system for use in a robotic surgical system may be used to determine an attachment state between a tool driver, sterile adapter, and surgical tool of the system. The system may include sensors used to generate attachment data corresponding to the attachment state. The attachment state may be used to control operation of the tool driver and surgical tool. In some variations, one or more of the attachment states may be visually output to an operator using one or more of the tool driver, sterile adapter, and surgical tool. In some variations, the tool driver and surgical tool may include electronic communication devices configured to be in close proximity when the surgical tool is attached to the sterile adapter and tool driver.

The present invention is directed to a minimally invasive surgical cannula provided with at least two grooves having a semi-circular profile as a non rotating feature. The non rotating grooves of cannula further accommodates at least one sensor and a strain gauge to detect and measure forces acting on cannula when it is coupled with a modular interfacing arrangement and facilitates maneuvering of surgical instrument inside the body cavity during surgical incision.

A surgical robotic arm includes an instrument having a coupler rotatable about a longitudinal axis, the coupler including: a drive screw; a drive nut threadably coupled to the drive screw, the drive nut movable along the longitudinal axis in response to rotation of the drive screw; and a drive member coupled to the drive nut and movable in response to movement of the drive nut. The surgical robotic arm also includes an instrument drive unit having: a motor configured to engage the coupler and rotate about the longitudinal axis to rotate the coupler and the drive screw; one or more sensors configured to measure one or more properties of the motor; and a controller coupled to the sensor(s) and the motor. The controller is configured to control the motor based on the property of the motor.

Endoluminal robotic systems and corresponding methods include subsystems for visualization, navigation, pressure sensing, platform compatibility, and user interfaces. The user interfaces may be implemented by one or more of a console, haptics, image fusion, voice controls, remote support, and multi-system controls.

Generally, a sterile adapter for use in robotic surgery may include a frame configured to be interposed between a tool driver and a surgical tool, a plate assembly coupled to the frame, and at least one rotatable coupler supported by the plate assembly and configured to communicate torque from an output drive of the tool driver to an input drive of the surgical tool.

A device including smart sensors with a local signal processor is disclosed. The device includes an end-effector including at least one sensor and a signal processing component corresponding to the at least one sensor; and a handle configured to receive processed information from the signal processing component. The processed information is generated by the signal processing component at the end-effector based on data received from the at least one sensor at the end-effector.

Generally, a system for use in a robotic surgical system may be used to determine an attachment state between a tool driver, sterile adapter, and surgical tool of the system. The system may include sensors used to generate attachment data corresponding to the attachment state. The attachment state may be used to control operation of the tool driver and surgical tool. In some variations, one or more of the attachment states may be visually output to an operator using one or more of the tool driver, sterile adapter, and surgical tool. In some variations, the tool driver and surgical tool may include electronic communication devices configured to be in close proximity when the surgical tool is attached to the sterile adapter and tool driver.

A method for obviating spline crash in a surgical stapler that utilizes a motor of the surgical stapler includes oscillating an anvil retainer of the surgical stapler in a first oscillation pattern, oscillating the anvil retainer in a second oscillation pattern that is different from the first oscillation pattern after the first oscillation pattern, and retracting the anvil retainer until an anvil of the surgical stapler is in a clamped position relative to a shell assembly after the second oscillation pattern. Oscillating the anvil retainer in the first oscillation pattern includes oscillating the anvil retainer in a longitudinal direction between extension and retraction with the motor such that the anvil moves towards and away from the shell assembly. Oscillating the anvil retainer in the second oscillation pattern includes moving the anvil towards and away from the shell assembly.

A surgical instrument comprising an adjustment system is disclosed.