A method for controlling a powered surgical stapler that includes an end effector with jaws that are movable between an open and a closed position and a firing member that is movable between a starting position and an ending position within the end effector. The jaws and firing member are controlled by separate rotary systems and the end effector includes a firing member lockout system that prevents axial movement of the firing member unless the surgical staple cartridge is in ready to fire condition.

A tool comprises a distal portion and a proximal portion spaced apart by a shaft along a longitudinal axis. The distal portion includes a distal link and the proximal portion including a proximal link. The distal link and proximal link form a pair of links. The tool also comprises a set of tension load bearing members connecting the proximal link and the distal link and terminating at the links of the pair to transfer movement therebetween. The tool also comprises an articulation lock positioned between the distal portion and the proximal portion and configured to allow through passage of the set of tension load bearing members. The articulation lock is adjustable between an unlocked configuration in which the proximal and distal links are moveable and a locked configuration in which an effective length of the shaft is increased, creating a force to impede movement of the proximal and distal links.

An adapter assembly configured to be coupled to a surgical loading unit includes a switch, an elongated member, and an annular member. The switch is configured to be toggled in response to the surgical loading unit being coupled to the adapter assembly. The elongated member is in communication with the switch and is resiliently biased in a distal direction toward a locking position in which the switch is toggled. The annular member is disposed adjacent the elongated member and is rotatable between a first orientation, in which the annular member prevents distal movement of the elongated member, and a second orientation, in which the elongated member moves distally to toggle the switch.

An apparatus includes a body, a shaft assembly, and an end effector. The shaft assembly includes an outer tube, an inner tube, and an acoustic waveguide. The end effector includes an ultrasonic blade and a clamp arm. The ultrasonic blade is acoustically coupled with the acoustic waveguide. 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 inner tube. The outer tube and the inner tube are configured to removably couple with the body such that the outer tube, the inner tube, 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.

The invention relates to a medical instrument having an elongated shaft, a movable tool at a distal end of the shaft, a handle with a movable grip part at a proximal end of the shaft, and a force transmission element which can be moved in the longitudinal direction of the instrument and is operatively connected to the movable grip part and to the tool such that an actuation of the movable grip part is converted into a movement of the tool. The instrument has a spring assembly that is arranged on the handle and has at least one leg spring, which has at least one winding and two legs, and a pin, wherein the at least one winding extends about the pin. When the movable grip part is actuated, a force is applied to at least one of the legs of the leg spring, said force reducing the friction between the winding and the pin such that the leg spring can be rotated about the pin and the force transmission element and the tool can be moved. When a force is transmitted from the tool to the force transmission element in the longitudinal direction thereof, the leg spring cannot be rotated about the pin such that the force transmission element and the tool cannot be moved.

A sensing device for sensing one or more tissue properties includes an adapter assembly, an actuation assembly, a shuttle, and a piston assembly. The adapter assembly is configured to couple to surgical handheld devices. The actuation assembly extends distally from the adapter assembly and is configured to operably couple to and be engaged by handheld devices coupled thereto. The actuation assembly includes a first drive shaft and a second drive shaft. The shuttle has a clamp and a shuttle sensor, and is coupled to the first drive shaft via a coupling. The shuttle sensor is disposed on the clamp. The piston assembly is coupled to the second drive shaft and configured to compress target tissue between the piston assembly and the clamp of the shuttle.

A complete removal and reinsertion of instruments is avoided when the instruments are initially not correctly positioned during a minimally invasive operation on a bone, in particular a vertebra of the spine. This aim is achieved by an instrument set for spinal operations, including a guide rod, which has a cavity extending along the axis of the guide rod, and a guide tube, which can be received in the cavity of the guide rod, wherein the guide rod has a distal lip, which is arranged eccentrically to the cavity and/or to a center axis of the guide rod.

A system for controlling a robotic end-effector is disclosed. The system includes a robotic arm, a surgical tool including an end-effector with articulatable arm and a clamp jaw. A tool driver is coupled to the surgical tool and a motor is coupled to the tool driver and is configured to drive the surgical tool. A sensor is configured to sense external forces applied to the end-effector. A central control circuit is configured to control the tool driver. The central control circuit is configured to receive a sensed parameter from the sensor, receive a sensed motor current (I) from the motor, and control the tool driver based on the sensed parameter and the motor current (I).

A device for loading a trocar assembly with an adapter assembly of a surgical stapling instrument and a method of confirming that the trocar assembly is properly secured to the adapter assembly are provided. The device includes a base member and an engagement arm secured to the base member. The base member defines a longitudinal passage for receiving a trocar assembly and includes a proximal end surface. The engagement arm is configured to releasably secure a trocar assembly within the base member. The engagement arm includes a proximal end surface. The proximal end surface of the base member is configured to engage a distal end surface of a trocar housing of the trocar assembly when the trocar assembly is not properly secured within the adapter assembly.

A surgical stapling device includes a handle assembly, an adapter assembly, and a reload assembly that is releasably secured to the adapter assembly to facilitate replacement of the reload assembly after each use of the stapling device. The reload assembly includes an authentication chip and printed circuit board assembly that is constructed to provide electrical contacts that are self-supporting to allow for automated assembly of the electrical contacts and provide a more reliable, robust electrical connection between the electrical contacts and the chip.