A steerable instrument (100) controllable by a robotic arm (200), having a proximal end (20) and a distal (40) end comprising: a cylindrical shaft (130), a cylindrical bendable proximal part (120) and a cylindrical bendable distal part (140), a connector (110) configured for dismountable attachment to the robotic arm (200), attached in fixed rotational relation to the bendable proximal part (120), an end effector (150) attached in fixed rotational relation to the bendable distal part (140), the steerable instrument (100) configured such that: the bendable distal part (140) bends responsive to bending of the bendable proximal part (120), and the end effector (150) is rotatable when the bendable distal part (140) is in a bent position by a complementary rotation of the connector (110), the shaft (130) is pivotable around a fulcrum zone (134) on the shaft (130) and changes direction responsive to a complementary movement of the connector (110), thereby providing control of the shaft (130) direction, bending of the bendable distal part (140), and rotation of the end effector (150) through robotic movement of the connector (110).

A surgical stapling device includes a tool assembly that includes a drive assembly having a drive member and a working end. The working end of the drive assembly has a I-beam configuration and includes a first beam, a second beam, and a strut interconnecting the first beam and the second beam. The strut defines a slot. The drive member includes a distal portion that is press-fit into the slot in the strut to secure the working end to the drive member.

A tibial alignment device includes an upper part for coupling with a tibial cutting guide and a lower part coupled to the upper part to be vertically slidable, wherein the upper part includes a cutting guide coupling part configured to mount the tibial cutting guide, and a connection part to connect the upper part and the lower part, and the lower part includes an ankle forceps part, wherein the cutting guide coupling part includes a fastening member for coupling to the tibial cutting guide, and a reception member to slidably receive the fastening member, wherein the fastening member includes a coupling part that protrudes to be coupled to the tibial cutting guide, the reception member includes a coupling part that protrudes to be coupled to the tibial cutting guide, and the coupling part of the fastening member is capable of adjusting a gap with respect to the coupling part of the reception member.

A circular stapling device includes an anvil assembly and an adaptor assembly including a shell assembly. The adaptor assembly includes an anvil retainer including an asymmetric tip. The anvil assembly has a center rod, an anvil head supported on the center rod, and an alignment member. The center rod has a proximal portion and a distal portion and defines a channel that extends from the proximal portion to the distal portion. The alignment member is positioned within the channel and is configured to engage the asymmetric trocar tip of the anvil retainer of the adaptor when the anvil assembly is attached to the anvil retainer to properly align the anvil assembly with the shell assembly.

The various embodiments disclosed herein relate to arms or forearms of medical devices that are configured to couple with quick-release end effectors, quick-release end effectors for use with such medical devices, and arms or forearms coupled to such quick-release end effectors. Certain forearms and end effectors have magnetic couplings, while others have mechanical couplings, and further implementations have both magnetic and mechanical couplings.

Provided is a robotic system that includes a surgical instrument with a wrist including an elongate shaft extending between a proximal end and a distal end, a wrist extending from the distal end of the elongate shaft, and an end effector extending from the wrist. The end effector may include a first jaw and a second jaw, the first and second jaw being moveable between an open position in which ends of the jaws are separated from each other, and a closed position in which the ends of the jaws are closer to each other as compared to the open position. The surgical instrument may also include at least one rotary cutter extending from the wrist and positioned at least partially within a recess formed in a face of the first jaw.

A robotic surgery system includes an orienting platform, a support linkage movably supporting the orienting platform, a plurality of surgical instrument manipulators, and a plurality of set-up linkages. Each of the manipulators includes an instrument holder and is operable to rotate the instrument holder around a remote center of manipulation (RC). At least one of the manipulators includes a reorientation mechanism that when actuated moves the attached manipulator through a motion that maintains the associated RC in a fixed position.

An end effector for use by a surgeon to staple an anatomical structure of a patient during a surgical procedure includes an anvil and a cartridge. Each of the anvil and the cartridge has a face that is positionable on the anatomical structure. The anvil is coupled to the cartridge at first and second ends. The anvil is movable relative to the cartridge to define a first gap between the faces at the first ends that is different from a second gap between the faces at the second ends.

A suture passing instrument for manipulating and passing suture through a tissue is disclosed. 5 The instrument includes a handle, an elongate shaft extending from the handle, a hook movably disposed within the elongate shaft. The elongate shaft includes a distal portion having an open end. The hook is movable from a retracted configuration in which at least a portion the hook is situated within the elongate shaft, and a deployed configuration in which the hook extends distally from the open end. The hook is operatively coupled to an actuator of the handle via a 10 coupling member and the hook is moved from the retracted configuration to the deployed configuration be applying tension to the coupling member.

A camera system for use with retractors. The system includes a camera assembly configured for mounting on the proximal end of a retractor system, such as the proximal end of a blade such that the entirety of the camera assembly is disposed at the proximal end of the retractor system may be disposed such that the distal-most optical element overhangs the working channel established by the retractor, and includes a reflector and a rotatable mount for the reflector, camera assembly viewing axis may be altered without changing the position of the entire camera assembly.