Provided is a manipulator including: a movable part; a drive unit generating power; an elongated flexible long guide member to which the part is attached at one end thereof and the drive unit is attached at the other end thereof; an elongated tension transmission member passing through a lumen in the long guide member and transmitting the power of the drive unit to the part by means of a tension; a tension adjusting mechanism adjusting the tension of the tension transmission member; and a holding unit to which the drive unit is detachably attached. The mechanism includes: a tensioner, provided in a movable manner in a direction intersecting the longitudinal direction of the tension transmission member, that pulls the tension transmission member; and a pressing member, provided in the holding unit, that moves the tensioner in a state in which the drive unit has been attached to the holding unit.

A surgical instrument includes a housing, an elongated shaft extending distally from the housing, an end effector assembly, and a trigger assembly. The trigger assembly is disposed in mechanical cooperation with the housing and is configured to longitudinally translate a drive member. The trigger assembly includes a trigger, a gear assembly, a spool, a slider, and a flexible drive member. The trigger is disposed in mechanical cooperation with the gear assembly. The flexible drive member is configured to engage the gear assembly, the spool, and the slider. Movement of the trigger with respect to the housing results in movement of the flexible drive member with respect to the housing and longitudinal movement of the slider with respect to the housing.

A surgical instrument includes a housing, a handle, an elongated shaft, an end effector assembly, a drive assembly, a support, a roller, and an extension depending from the handle. The end effector assembly includes a first jaw member and a second jaw member. At least one of the jaw members is movable with respect to the other jaw member. The drive assembly includes a drive bar extending at least partially through the elongated shaft such that longitudinal translation of the drive bar causes movement of the jaw members. The extension includes a proximal surface and a channel defined therein. The proximal surface is configured to contact a portion of the drive assembly such that movement of the handle with respect to the housing causes longitudinal translation of the drive bar. The channel is positioned for mechanical engagement by the roller.

A manipulator adapted to grasp and draw tissue comprises first and second arms having proximal ends and distal ends separated by a distance. First and second grasping surfaces each connected to and extending from respective distal ends of the first and second arms are biased toward each other by a respective spring force. When the first and second arms are actuated to reduce the distance, the manipulator is configured such that tissue arranged between the first and second grasping surfaces resist actuation of the first and second arms. The first and second arms are further actuatable to overcome the spring force of the first and second grasping surfaces so that the first and second grasping surfaces pivot at respective pivot points such that the distance between the distal ends of the first and second arms is reduced.

Methods for treating tissue, and surgical assemblies and related methods are disclosed in which a single input is used to sequentially articulate two members. A medical device includes an input link movable through an input link range of motion, a jaw coupled with the input link, and a tissue manipulation member coupled to the input link and positioned to manipulate a tissue gripped by the jaw. The input link range of motion includes a first portion and a second portion. The input link within the first portion of the input link range of motion drives the jaw through a jaw range of motion. The input link within the second portion of the input link range of motion drives the tissue manipulation member through a tissue manipulation member range of motion.

A retrieval device is provided for retrieving stones, calculi, and other objects from a body. The device allows for a retrieval basket to be articulated and extended simultaneously. The device also allows for the basket to be articulated and retracted simultaneously.

An adaptor for a powered surgical instrument includes a casing, a cam drum, a first linear driver, and a second linear driver. The cam drum defines and is translatable along a longitudinal axis of the adaptor between a retracted position and an advanced position. The cam drum is being supported for rotation about the longitudinal axis. The cam drum defines first and second radial cam grooves about an outer surface thereof. The first cam groove defines a first profile and the second cam groove defines a second profile. The first linear driver includes a first cam follower disposed in the first cam groove and the second linear driver includes a second cam follower disposed in the second cam groove. The first and second linear drivers are supported for movement between advanced and retracted positions in response to rotation of the cam drum.

An adaptor for a powered surgical instrument includes a casing, a cam drum, a first linear driver, and a second linear driver. The cam drum defines and is translatable along a longitudinal axis of the adaptor between a retracted position and an advanced position. The cam drum is being supported for rotation about the longitudinal axis. The cam drum defines first and second radial cam grooves about an outer surface thereof. The first cam groove defines a first profile and the second cam groove defines a second profile. The first linear driver includes a first cam follower disposed in the first cam groove and the second linear driver includes a second cam follower disposed in the second cam groove. The first and second linear drivers are supported for movement between advanced and retracted positions in response to rotation of the cam drum.

The present disclosure discloses a control mechanism of a surgical instrument and a surgical robot. The control mechanism of the surgical instrument is connected to an effector of the surgical instrument and is configured to control a clamp assembly of the effector to open or close. The control mechanism of the surgical instrument includes a base, an operation assembly connected to the effector, a first transmission assembly arranged on the base, and a lever having a first end, a second end and a lever body. The first transmission assembly is rotatable under drive of a drive mechanism. The first end of the lever is connected to the first transmission assembly and is movable vertically with rotation of the first transmission assembly. The second end is connected to the operation assembly. The lever body is pivotably connected to the base to form a fulcrum.

A manipulator adapted to grasp and draw tissue comprises first and second arms having proximal ends and distal ends separated by a distance. First and second grasping surfaces each connected to and extending from respective distal ends of the first and second arms are biased toward each other by a respective spring force. When the first and second arms are actuated to reduce the distance, the manipulator is configured such that tissue arranged between the first and second grasping surfaces resist actuation of the first and second arms. The first and second arms are further actuatable to overcome the spring force of the first and second grasping surfaces so that the first and second grasping surfaces pivot at respective pivot points such that the distance between the distal ends of the first and second arms is reduced.