A surgical robotic system has a robotic grasper, a user interface device (UID), and one or more processors communicatively coupled to the UID and the robotic grasper. The system detects a directive to engage or re-engage a teleoperation mode, determines that the system is in a non-teleoperation mode, receives a sequence of user actions through the UID, determines the UID matches a jaw angle or a grip force of the robotic grasper, and transitions into teleoperation mode. Other embodiments are also described and claimed.

A surgical robotic system has a robotic grasper, a user interface device (UID), and one or more processors communicatively coupled to the UID and the robotic grasper. The system detects a directive to engage or re-engage a teleoperation mode, determines that the system is in a non-teleoperation mode, receives a sequence of user actions through the UID, determines the UID matches a jaw angle or a grip force of the robotic grasper, and transitions into teleoperation mode. Other embodiments are also described and claimed.

An apparatus comprises an end effector, a shaft assembly, and an interface assembly. The end effector is operable to manipulate tissue, the shaft assembly is in communication with the end effector and a portion of the shaft assembly extends proximally from the end effector. The interface assembly is in communication with the shaft assembly. The interface assembly comprises a housing portion, a shaft cartridge, and a base portion. The housing portion can engage the shaft cartridge. The shaft cartridge is able to rotate and articulate the end effector, and the shaft assembly extends from the shaft cartridge. The base portion and the housing portion are able to enclose the shaft cartridge.

A surgical instrument includes an ultrasonic waveguide extending through a body assembly. An ultrasonic blade connects to the ultrasonic waveguide. A clamp arm assembly of the surgical instrument is able to move from an opened position for receiving a tissue toward a closed position for clamping the tissue. The clamp arm assembly includes a clamp body and a clamp pad facing the ultrasonic blade. A clamp arm actuator of the surgical instrument is able to move from a first position toward a second position to direct the clamp arm assembly from the opened position toward the closed position. A modular coupling of the surgical instrument connects to the clamp pad such that at least the clamp pad can be disconnected relative to the ultrasonic blade for replacement thereof.

A surgical instrument comprising a jaw assembly is disclosed. The surgical instrument further comprises a motor-driven drive system configured to open the jaw assembly. The surgical instrument also comprises a control system configured to control the drive system and, also, control a power supply system configured to supply electrical power to electrodes defined in the outer surface, or outer surfaces, of the jaw assembly. In use, the surgical instrument can be used to apply mechanical energy and electrical energy to the tissue of a patient at the same time, or at different times. In certain embodiments, the user controls when the mechanical and electrical energies are applied. In some embodiments, the control system controls when the mechanical and electrical energies are applied.

A tissue fusing clamp comprises a pair of components pivotably attached, having a component end with a finger loop for manipulation of the components, and each component having a fusing end comprising fusing jaws that are able to be motivated towards one another into a closed position. A depressor depresses tissue between the tissue areas to be fused, resulting in a tightening of the tissue after fusing. The fusing jaws may each comprise a fusing element, such as an ultrasonic transducer or laser, that is in electrical communication with a fusing circuit for providing electrical power to the fusing element as desired by a user. The fusing circuit may be controlled by use of a foot switch or other controller that may be manipulated by the user when it is desired to activate the fusing elements.

A tissue fusing clamp comprises a pair of components pivotably attached, having a component end with a finger loop for manipulation of the components, and each component having a fusing end comprising fusing jaws that are able to be motivated towards one another into a closed position. A depressor depresses tissue between the tissue areas to be fused, resulting in a tightening of the tissue after fusing. The fusing jaws may each comprise a fusing element, such as an ultrasonic transducer or laser, that is in electrical communication with a fusing circuit for providing electrical power to the fusing element as desired by a user. The fusing circuit may be controlled by use of a foot switch or other controller that may be manipulated by the user when it is desired to activate the fusing elements.

Embodiments of the present disclosure relate to an apparatus and method for treating a bowel obstruction. An example apparatus includes a first tong element and a second tong element forming a pair of tong elements pivotally connected at a junction point and movable between an opened position and a closed position. Each tong element defines a distal end and a proximal end and a body extending therebetween. The distal end of the first tong element defines a first collection half element and the distal end of the second tong element defines a second collection half element. The first collection half element and the second collection half element form a collection element when the pair of tong elements are in the closed position, which defines an inwardly facing cavity. At least one of an interior of the first collection half element or an interior of the second collection half element define a plurality of grasping teeth.

Treatment tool includes a fixed handle, a shaft extending distally from the fixed handle, a treatment portion projecting distally from the shaft and configured to treat biological tissue, a jaw pivotably rotatably with respect to the shaft and, with the treatment portion, configured to grasp the biological tissue therebetween, a movable handle extending proximally from the jaw and causing the jaw to open and close relative to the treatment portion by proximally approaching or separating from the fixed handle, and a first adjusting member provided on the movable handle and having an extension protruding toward the fixed handle and, when the movable handle is brought into close proximity to the fixed handle, abutting the fixed handle. Changing the amount (length) by which the extension of the first adjusting member protrudes from the movable handle, adjusts an amount of the stroke of the movable range of the movable handle.

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.