A robotic surgical tool includes an elongate shaft, an end effector arranged at a distal end of the shaft and including opposing first and second jaws, an articulable wrist that interposes the end effector and the distal end, the wrist including an articulation joint pivotable about an axis and a linkage mounted to the first and second jaws, a distal wedge positioned distal to the articulation joint and within a central portion of the wrist, and an electrical conductor extending through the wrist and to an electrode located at the end effector, wherein the distal wedge guides the electrical conductor to the electrode.

A surgical instrument includes a housing, an end effector assembly, and a shaft. The end effector assembly includes first and second jaw members each defining a curved configuration. At least one of the jaw members is movable relative to the other between a spaced-apart position and an approximated position. The shaft includes a proximal portion coupled with and extending distally from the housing and a distal portion extending distally from the proximal portion and having the end effector assembly coupled thereto at the distal end thereof. The proximal portion defines a circular cross-sectional configuration to facilitate formation of a fluid-tight seal thereabout. The distal portion defines a rectangular cross-sectional configuration configured to facilitate insertion through a cannula.

A surgical instrument comprising a shiftable transmission is disclosed. The transmission comprises a mechanism for assuring that the transmission is in one of a plurality of predefined configurations.

A sterile interface assembly configured to operably engage a robotic surgical instrument includes an adapter, a surgical drape, and a clip. The adapter includes a body having a first end portion and a second end portion, inputs disposed at the first end portion of the body, outputs disposed at the second end portion of the body, connectors coupling each of the inputs with a corresponding one of the outputs, and a seal disposed within the body and configured to establish a fluid-tight seal with an interior surface of the body and about the connectors. The surgical drape defines a sleeve of material having a proximal end portion and a distal end portion. The proximal end portion is attached to an exterior of the body of the adapter. The clip is configured to engage the distal end portion of the surgical drape to a shaft.

Various exemplary systems, devices, and methods are provided for resisting torque in articulating surgical tools. In general, a surgical tool can include an elongate shaft having at a distal end thereof an end effector configured to engage tissue. The end effector can be configured to articulate relative to the elongate shaft. The surgical tool can include a cutting element configured to translate longitudinally along the end effector to cut the engaged tissue. When the end effector is articulated, the longitudinal translation of the cutting element along the end effector exerts a torque force on the end effector that urges the end effector away from its current angled orientation. The surgical tool can be configured to have a corrective tension or force applied thereto that counteracts the torque force.

An articulation assembly for a robotic surgical instrument includes a plurality of rotatable but longitudinally fixed lead screws extending between first and second base plates, a collar threaded about each lead screws and configured to translate therealong in response to rotation of the corresponding lead screw, an articulation cable coupled to each collar and defining or having a threaded shaft, and a threaded nipple threaded about each of the threaded shafts. Each threaded nipple is engaged with one of the collars to thereby engage each of the articulation cables with a corresponding one of the collars such that longitudinal translation of the corresponding collar pushes or pulls the corresponding articulation cable. Each threaded nipple is configured for further threading or unthreading about the corresponding threaded shaft to vary a pre-tension on the corresponding articulation cable.

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.

In one embodiment, a medical system includes a medical instrument includes an elongated shaft having a distal end, at least one cutting element disposed at a distal end of the shaft, a position-tracking transducer disposed at the distal end of the shaft, and electrically insulated from the shaft and the at least one cutting element, and at least one metal coagulation electrode disposed at least partially over the position-tracking transducer, which electrically isolates the at least one metal coagulation electrode from the shaft, a signal generator coupled to apply an electrical current to the at least one metal coagulation electrode, and processing circuitry configured to receive signals generated by the position-tracking transducer, and track a location of the distal end responsively to the received signals.

An electrosurgical instrument is disclosed which includes a proximal handle portion, an elongated tubular body portion extending distally from the proximal handle portion, and a jaw assembly operatively associated with a distal end of the body portion and including a pair of cooperating jaw members mounted for movement between an open position and a closed position, each jaw member having a sealing surface, wherein the sealing surfaces of the jaw members define a vessel sealing gap therebetween when the jaw members are in the closed position, and wherein the vessel sealing gap has a height that varies along an axial extent of the jaw assembly between a proximal end portion of the jaw assembly and a distal end portion of the jaw assembly.

A vessel sealer having a uniform pressure mechanism, detachable blade/cutter and detachable jaw assembly is disclosed. A bipolar surgical instrument, includes a jaw assembly having jaws connected to an outer tube, wherein the blade is connected to the blade pushing tube through a blade connector; a spring cap operatively engages said blade tube assembly wherein on disengagement of the said jaw assembly from an outer tube and said spring cap from said blade pushing tube are adapted to be detached from each other; a handle assembly, operatively coupled to said jaw assembly comprising a uniform pressure mechanism which contains primary spring, a secondary spring, wherein said uniform pressure mechanism enables closure of the jaws to ensure and exert a uniform pressure on the tissue and/or vessel.