In various embodiments, a surgical instrument for use with a robotic surgical system is disclosed. The surgical instrument comprises a mounting portion, an elongate shaft, and an end effector. The end effector comprises a first jaw, a second jaw, a staple cartridge, a closure member, a drive screw, a thrust bearing, a coupling member, and a sled. The closure member is configured to move the second jaw from an open position toward a closed position in response to an output motion. The drive screw is configured to apply a distal force to the coupling member when the drive screw is rotated. The coupling member is configured to engage the second jaw and retain the second jaw at a distance relative to the first jaw during a firing stroke. The sled ejects staples from the staple cartridge when the sled is moved by the coupling member during the firing stroke.

A flexible instrument comprises a first link and a second link that each comprise a first end, a second end, and a wall extending between the first end and the second end, the wall comprising an outer wall surface and an inner wall surface; an outer ear extending in a first axial direction away from the first end of the link; an inner bearing surface defined at the first end of the link, the inner bearing surface extending between the outer ear and the inner wall surface; an inner ear extending in a second axial direction away from the second end of the link; and an outer bearing surface defined at the second end of the wall, the inner bearing surface extending between the inner ear and the outer wall surface. The instrument further comprises at least one of a position sensor and an orientation sensor located along the wall of the instrument.

A stapling assembly comprising a first jaw, a second jaw, an elongate channel configured to receive a staple cartridge, a firing member, a biasing member, and a lock member movable between locked and unlocked positions is disclosed. One of the first jaw and the second iaw is movable relative to the other of the first jaw and the second jaw between an open position and a closed position. The staple cartridge comprises staples and a sled configured to be advanced by the firing member during a firing stroke. The firing member comprises a cutting edge, a first camming member configured to engage the first jaw during the firing stroke, and a second camming member configured to engage the second jaw during the firing stroke. The firing member is prevented from performing the firing stroke when the stapling assembly is in one of a plurality of lockout states.

A surgical tool for use with a robotic system that includes a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to robotically-generate output motions. A drive system is configured to interface with a corresponding portion of the tool drive assembly for receiving the robotically-generated output motions and applying the output motions to a drive shaft assembly which is configured to apply control motions to a surgical end effector operably coupled thereto. A manually-actuatable control system operably interfaces with the drive shaft assembly to facilitate the selective application of manually-generated control motions to the drive shaft assembly.

A surgical tool for use with a robotic system that includes a tool drive assembly that is operatively coupled to a control unit of the robotic system that is operable by inputs from an operator and is configured to robotically-generate output motions. A drive system is configured to interface with a corresponding portion of the tool drive assembly for receiving the robotically-generated output motions and applying the output motions to a drive shaft assembly which is configured to apply control motions to a surgical end effector operably coupled thereto. A manually-actuatable control system operably interfaces with the drive shaft assembly to facilitate the selective application of manually-generated control motions to the drive shaft assembly.

A stapling assembly comprising a first jaw, a second jaw, an elongate channel configured to receive a staple cartridge, a firing member configured to perform a firing stroke, a biasing element, and a rotary drive shaft is disclosed. The staple cartridge comprises staple cavities, staples, staple drivers, and a sled. The firing member comprises a cutting edge, a first camming member, and a second camming member. The biasing element comprises a spring and is movable between an initial position and a displaced position. The rotary drive shaft is movable between a first position and a second position relative to the elongate channel. The rotary drive shaft is moved from the first position to the second position by the staple cartridge when the staple cartridge is inserted into the elongate channel and moves the biasing element to the displaced position against a distal biasing force of the spring.

A surgical instrument system that includes a housing and a rotatable drive shaft, a motor operably coupled to the drive shaft, and a plurality of replaceable end effectors that can be connected to the housing. Each replaceable end effector includes a drive screw that is turned a fixed number of revolutions by the motor-driven rotatable drive shaft when the end effector is connected to the housing. Each end effector further comprises a firing member operably coupled with the drive screw of the end effector. The drive screw is configured to displace the firing member over a firing length as a result of the fixed number of revolutions. In certain embodiments, each replaceable end effector can include a drive screw with a thread pitch set to the firing length divided by the fixed number of revolutions.

A sealing arrangement for application in a robot joint. The sealing arrangement includes: a circular sealing assembly arranged between a swing and a base of the robot joint in a longitudinal direction, the circular sealing assembly defining a tubular cavity in a circumferential direction and having a gas inlet and a gas outlet; and an air channel coupled to the gas inlet and operable to continuously conduct pressured air flow into the cavity to maintain an air pressure inside the cavity above an air pressure outside the cavity, and thereby a high-speed airflow out of the gas outlet.

Systems and methods for an actuation system including a plurality of single actuation units for modular control of a tendon-driven robotic mechanism are disclosed.

A surgical instrument system that includes a housing and a rotatable drive shaft, a motor operably coupled to the drive shaft, and a plurality of replaceable end effectors that can be connected to the housing. Each replaceable end effector includes a drive screw that is turned a fixed number of revolutions by the motor-driven rotatable drive shaft when the end effector is connected to the housing. Each end effector further comprises a firing member operably coupled with the drive screw of the end effector. The drive screw is configured to displace the firing member over a firing length as a result of the fixed number of revolutions. In certain embodiments, each replaceable end effector can include a drive screw with a thread pitch set to the firing length divided by the fixed number of revolutions.