A system for cutting bone is provided and may comprise a cutting tool configured to rotate and a shield. The system may also comprise a first robotic arm configured to hold the cutting tool and a second robotic arm configured to hold the shield. A processor and a memory storing instructions for execution by the processor that, when executed, may cause the processor to cause the second robotic arm to orient the shield proximate an anatomical element along a cutting path of the cutting tool.

Surgical visualization systems and related methods are disclosed herein, e.g., for providing visualization during surgical procedures. Systems and methods herein can be used in a wide range of surgical procedures, including spinal surgeries such as minimally-invasive fusion or discectomy procedures. Systems and methods herein can include various features for enhancing end user experience, improving clinical outcomes, or reducing the invasiveness of a surgery. Exemplary features can include access port integration, hands-free operation, active and/or passive lens cleaning, adjustable camera depth, and many others.

An ultrasonic surgical instrument and method of sealing tissue includes interrogating the tissue with an electrical signal and adjusting an electrical parameter of at least one of the ultrasonic energy or the RF energy in response to the tissue feedback to inhibit transecting the tissue. The ultrasonic surgical instrument has an end effector, a shaft assembly, a body, and a power controller. The power controller is operatively connected to the ultrasonic blade and the RF electrode and configured to direct activation of the ultrasonic blade or the RF electrode. The power controller is further configured to interrogate the tissue with the electrical signal via the ultrasonic blade or the RF electrode to provide a tissue feedback and adjust an electrical parameter of the ultrasonic energy or the RF energy in response to the tissue feedback to inhibit transecting the tissue.

In one embodiment, a surgical instrument comprises an articulable waveguide. The articulable waveguide may be configured to transmit ultrasonic energy therealong. The articulable waveguide comprises a proximal drive section, an end effector and a first flexible. The proximal drive section is configured to couple to an ultrasonic transducer. The end effector is located at a distal portion of the articulable waveguide. The first flexible section comprises a flex bias and be positioned between the proximal drive section and the end effector. The surgical instrument further comprises a first tine extending longitudinally relative to the articulable waveguide.

An ultrasonic surgical instrument and method of sealing a tissue based on a production clamp force includes determining an ultrasonic seal process with the controller based on the production clamp force between an upper jaw and a lower jaw of an end effector and activating the ultrasonic energy or RF energy according to the determined ultrasonic seal process. The ultrasonic surgical instrument further includes an end effector having an ultrasonic blade, a jaw, an RF electrode, and a controller. The jaw is movably positioned relative to the ultrasonic blade and configured to move between an open position and a closed position and clamp together with a production clamp force in the closed position. The controller operatively connects to the ultrasonic blade and the RF electrode and includes the ultrasonic seal process based on the production clamp force stored thereon for driving the ultrasonic blade or the RF electrode.

An ultrasonic surgical instrument and method for identifying tissue state and energizing the surgical instrument includes an end effector having an ultrasonic blade and an RF electrode, a shaft assembly, a body, and a power controller. A first ultrasonic energy input is configured to be actuated from a first unactuated energy input state to a first actuated energy input state. A trigger input is configured to be actuated from an unactuated trigger input state to an actuated trigger input state. The power controller is operatively connected to the ultrasonic blade, the RF electrode, the first ultrasonic energy input, and the trigger input and configured to direct at least one of the ultrasonic blade or the RF electrode to be selectively driven according to a predetermined drive function based on the tissue impedance, the state of the first energy input, and the state of the trigger input.

An ultrasonic surgical instrument and method of limiting an ultrasonic blade temperature includes adjusting at least one power parameter of the ultrasonic energy in response to reaching a predetermined frequency parameter change threshold in the ultrasonic blade limiting the temperature of the ultrasonic blade to an upper temperature limit. The ultrasonic surgical instrument further includes an end effector having an ultrasonic blade, a jaw, and a controller. The jaw is movably positioned relative to the ultrasonic blade and configured to move between an open position and a closed position. The controller operatively connects to the ultrasonic blade and is configured to measure an ultrasonic frequency of the ultrasonic blade. The controller has a memory including a plurality of predetermined data correlations that correlate changes in measured ultrasonic frequency of the ultrasonic blade to a blade temperature of the ultrasonic blade.

A surgical instrument includes an ultrasonic transducer, an ultrasonic transmission waveguide extending from the ultrasonic transducer, and an ultrasonic blade acoustically coupled to the ultrasonic transmission waveguide. The ultrasonic blade includes a base and a curved body extending distally from the base. The curved body includes a tissue-treating surface extending on a first side of the curved body and a curved edge extending on a second side of the curved body opposite the first side. The curved edge has a proximal end and a distal end, wherein the proximal end is offset from the distal end in a first direction, wherein the proximal end is offset from the distal end in a second direction, and wherein the first direction is perpendicular to the second direction.

An apparatus includes a body, a shaft assembly, and an end effector. The shaft assembly includes an outer tube, a proximal inner tube member, a distal inner tube member, and an acoustic waveguide. The end effector includes an ultrasonic blade and a clamp arm. A first portion of the clamp arm is pivotably coupled with a distal end of the outer tube. A second portion of the clamp arm is pivotably coupled with a distal end of the distal inner tube member. The outer tube is configured to removably couple with the body and the distal inner tube member is configured to removably couple with the proximal inner tube member such that the outer tube, the distal inner tube member, and the clamp arm are configured to removably couple with the body and the remainder of the shaft assembly and end effector as a unit.

Disclosed is a torque wrench for an ultrasonic scalpel, the torque wrench comprising a torque wrench body (20) and a wrench rotor (10). The torque wrench body comprises a circular-hole-shaped torque hole (21), with a torque clamping catch being provided in the torque hole, and the wrench rotor being disposed in the torque hole. The wrench rotor comprises a scalpel head clamping hole (11), a rotor clamping catch (12) located outside the wrench rotor (10), and a scalpel head clamping slot (13) located inside the scalpel head clamping hole (11), wherein a wrench part (31), which is disposed on a scalpel head (30) of the ultrasonic scalpel that is fitted with the torque wrench of the ultrasonic scalpel, is clamped into the scalpel head clamping slot via the scalpel head clamping hole, the rotor clamping catch is fitted with the torque clamping.