A surgical device controllable by a surgical robotic system is provided. The surgical device includes a housing capable of being coupled to the surgical robotic system; a drive system at least partially mounted in the housing; and a shaft rotatably coupled to the drive system at a first end of the shaft. The surgical device further includes a tissue-removal assembly coupled to the second end of the shaft. The tissue-removal assembly includes a first cutting member having a plurality of rotatable blades. The first cutting member is coupled to a second end of the shaft. The tissue-removal assembly further includes a second cutting member, one or more support elements slidably or fixedly coupled to the second cutting member, and one or more extendable elements slidably or fixedly coupled to the second cutting member.

A surgical instrument can include a shaft, an end effector, and an articulation joint configured to permit the end effector to rotate relative to the shaft about the articulation joint. The surgical instrument can further comprise a first articulation actuator for rotating the end effector in a first direction and a second articulation actuator for rotating the end effector in a second direction. The articulation actuators can be configured to push the end effector. The articulation actuators can assume different configurations depending on whether they are experiencing a compressive load or a tensile load. The articulation joint can comprise an articulation frame which forms a proximal joint with the shaft and a distal joint with the end effector. The joints can comprise fixed axis joints and/or ball-and-socket joints, for example. The articulation joint can comprise links having different sizes to facilitate the articulation of the articulation joint.

A steerable instrument for endoscopic and/or invasive type of applications includes an elongated tubular body and at least one actuation means at a proximal side of the steerable instrument and at least one bendable zone at a distal side of the steerable instrument, the at least one actuation means being arranged to control bending of the at least one bendable zone by means of longitudinal elements. The instrument further includes first, second and third cylindrical elements; at least one tangential spacer; and at least one lip shaped portion formed on at least one of the first cylindrical element or the third cylindrical element.

Apparatus for performing a minimally-invasive procedure, the apparatus comprising: a shaft having a distal end and a proximal end; a monopolar knife assembly attached to the distal end of the shaft, the monopolar knife assembly comprising a knife; a handle attached to the proximal end of the shaft; wherein the shaft comprises a flexible portion and an articulating portion, wherein the flexible portion extends distally from the handle and the articulating portion extends distally from the flexible portion; wherein at least one articulation cable extends from the handle to the articulating portion, such that when tension is applied to the at least one articulation cable, the articulating portion deflects; wherein an actuation element extends through the shaft from the handle to the knife, such that when the actuation element is moved, the knife is moved; and wherein the actuation element transmits electrical power from the handle to the knife.

A steerable instrument for endoscopic and/or invasive type of applications, such as in surgery, which has an elongated tubular body having a proximal end part with a first actuation flexible zone having a first diameter and a distal end part having a first distal flexible zone having a second diameter that is different from the first diameter. A cylindrical diameter adaptation section is arranged to connect the proximal end part to the distal end part such that a flexion in a radial direction relative to a longitudinal center axis of the longitudinal tubular body of the first actuation flexible zone results in an amplified or attenuated flexion of the first distal flexible zone.

A tissue anchor system is provided that includes a first tissue anchor, a second tissue anchor that is separate and distinct from the first tissue anchor, and one or more tethers, which are configured to couple the first tissue anchor to the second tissue anchor. When the first tissue anchor is unconstrained, a head thereof is coaxial with an axis of a shaft thereof, and a tissue-coupling element thereof extends from a distal end of the shaft, is generally orthogonal to the axis, and is shaped such that if the tissue-coupling element were to be projected onto a plane that is perpendicular to the axis, at least 80% of an area of a projection of the tissue-coupling element on the plane would fall within a first angle of 180 degrees in the plane having a vertex at the axis. Other embodiments are also described.

A surgical instrument for placement of a movement restriction device for use in a surgical procedure for treating reflux disease in a patient. The instrument comprises a sleeve and a holding device configured to engage the movement restriction device, wherein the holding device is configured to be placed within the sleeve and be displaceable in relation to the sleeve. The instrument further comprises a first handling portion connected to the sleeve, and a second handling portion connected to the holding device. The handling of at least one of the first and second handling portion creates relative displacement of the holding device in relation to the sleeve, which disengages the holding device from the movement restriction device for performing the placement of the movement restriction device.

A surgical instrument is disclosed. The surgical instrument can include a first jaw, a second jaw, and a jaw closure lockout system. The first jaw can comprise a pivot pin slot and a slide pin slot. The second jaw can comprise an anvil and, in addition, a mounting portion comprising a pivot pin, which can be movably positioned in the pivot pin slot. A shiftable guide can be movably positioned in the first jaw and can comprise a body and a barrier wall. The body can comprise a slide pin movably positioned in the slide pin slot. The barrier wall can be aligned with a portion of the pivot pin slot when the slide pin is positioned within a range of positions in the slide pin slot, and the barrier wall can be offset from the pivot pin slot when the slide pin is positioned outside the range of positions.

A surgical instrument comprising a housing, an elongate shaft defining a longitudinal axis, an end effector, a firing member, and a laminate firing actuator connected to the firing member is disclosed. The elongate shaft comprises an articulation joint defining an articulation axis that is transverse to the longitudinal axis, a first lateral buckling support positioned on a first side of the articulation joint, and a second lateral buckling support positioned on a second side of the articulation joint. The laminate firing actuator extends through the articulation joint. The laminate firing actuator extends intermediate the first lateral buckling support and the second lateral buckling support. The first lateral buckling support and the second lateral buckling support engage the laminate firing actuator when the end effector is articulated about the articulation joint.

An articulating suture hook for passing or retrieving suture. The suture hook having a handle with a proximal end and distal end. A stiffening tube is fixed to the distal end of the handle extending distally from the handle. A flexible outer tube is fixed to the stiffening tube and extends distally therefrom. A cut portion of the flexible outer tube has a plurality of cuts positioned therealong. In a first configuration, the flexible outer tube extends parallel to or in alignment with the stiffening tube, but in a second configuration, the flexible outer tube is curved at the cut portion. The plurality of cuts may be arranged into two patterns. Each cut arranged in a first pattern is offset at an angle from each cut arranged in a second pattern. The pattern, shape, and size of the cuts determines the movement of the flexible outer tube to the second configuration.