A surgical robotics system with robotic arms is configurable to perform a variety of surgical procedures. The surgical robotics system can include a table, column, base, and robotic arms that are either column-mounted, rail-mounted, or mounted on a separate unit. In a column-mounted configuration, the column can include column rings that translate vertically and rotate about the column. The robotic arms are attached to the column rings. In a rail-mounted configuration, the base can include base rails that translate along the base. The robotic arms are attached to the base rails. In both configurations, the robotic arms can move independently from each other and include multiple arm segments. Each arm segment can provide an additional degree of freedom to the robotic arm. Thus, the surgical robotics system may position the robotic arms into numerous configurations to access different parts of a patient's body.

A robotic surgical system according to an embodiment may include: a surgical instrument including a pair of jaw members; an operation handle; and a surgical robot that includes a robot arm to which the surgical instrument is attached and which includes a drive part to drive a driven member, and a controller configured to drive the drive part based on a command jaw opening angle associated with an input to the input device for controlling an opening angle between the pair of jaw members. The controller is configured, when it is determined that a current value of the drive part excesses a predetermined threshold value during a closing operation of the pair of jaw members, to drive the drive part in a restriction mode in which a magnitude of the command jaw opening angle is restricted.

A balloon is provided for selectively moving an esophagus away from an ablation site. The balloon is received through an oral cavity and into the esophagus of a patient. A deflecting member is provided in the tube, the balloon, or both, to selectively distort to bend the balloon and/or the tube to move the esophagus away from the ablation site. The deflecting member may comprise at least one of a strip made of a shape memory material that is responsive to the receipt of a stimulus to deflect to a predetermined shape, a strip that is made of or contains a ferrous material and that deflects in response to the presence of a magnetic field, and a selectively tensionable cable, wire, or string. The deflecting member may be supplemented by a stiffening strip that is located in the balloon and that causes the balloon to expand circumferentially and asymmetrically when inflated.

Surgical systems, computer-implemented methods, and software programs for generating a milling path for a bone. The implementations involve obtaining a virtual model of the bone, a resection volume defined relative to the virtual model of the bone, and a reference guide defined with respect to the resection volume. Section planes are successively arranged along the reference guide, and each section plane intersects the reference guide and intersects the resection volume. A section path is generated within each section plane and is defined relative to the resection volume. Transition segments are generated to connect section paths of section planes. The milling path is then generated by combining the section paths and the transition segments.

A robotic system includes first and second manipulator assemblies in an operating environment and having separately movable bases. A processing unit is configured to receive first sensor data from a first plurality of sensors disposed on the first manipulator assembly, wherein the first sensor data provide spatial information about the operating environment external to the first manipulator assembly. A first spatial relationship of the second manipulator assembly relative to the first manipulator assembly is determined using data including the first sensor data. A first alignment relationship between the first and second manipulator assemblies is established based on the first spatial relationship. Based on the first alignment relationship, motion of the second manipulator assembly is commanded in response to a command from a first input device operable by an operator.

An instrument can include a shaft with a proximal end portion and a distal end portion, an end effector at the distal end portion of the shaft, and a transmission mechanism at the proximal end portion of the shaft. The transmission mechanism can include a driven input device engageable with an external drive mechanism. The instrument can include an indicator operably coupled to the driven input device and moveable through each of a plurality of consecutive positions, each of the plurality of consecutive positions being associated with a unique indicium of a non-zero number of available uses left of the instrument. In response to the driven input device being driven, the indicator moves from a current position of the plurality of positions to a subsequent position of the plurality of positions. The instrument can also include a device configured to record occurrence of a change in an environmental condition to which the instrument is subjected.

A surgical robotics system with robotic arms is configurable to perform a variety of surgical procedures. The surgical robotics system includes a table, column, base, and robotic arms that are either column-mounted, rail-mounted, or mounted on a separate unit. In a column-mounted configuration, the column includes column rings that translate vertically and rotate about the column. The robotic arms are attached to the column rings. In a rail-mounted configuration, the base includes base rails that translate along the base. The robotic arms are attached to the base rails. In both configurations, the robotic arms move independently from each other and include a multiple arm segments. Each arm segment provides an additional degree of freedom to the robotic arm. Thus, the surgical robotics system may position the robotic arms into numerous configurations to access different parts of a patient's body.

A robotic device is provided. The robotic device comprises: an articulatable elongate member comprising a proximal end and a distal end, and the distal end is steerable via a first driving mechanism; an articulatable imaging instrument removably coupled to the articulatable elongate member via a first lumen of the articulatable elongate member, and the articulatable imaging instrument comprises a camera located at a distal portion of the articulatable imaging instrument; an articulatable instrument removably coupled to the articulatable elongate member via a second lumen, and an operation of the articulatable instrument is captured by the camera of the articulatable imaging instrument.

Navigational and/or robotic tracking systems include one or more wireless tracking device attached to an object or to a bone of a patient. The wireless tracking device may include a camera, a pair of cameras, and/or a probe, and a wireless transmitter. Surgical methods may include wirelessly obtaining reference data, the reference data based on the camera of the wireless tracking device operably attached to the bone of the patient, the reference data is associated with a plurality of markers and using the reference data in a surgical navigation system. Surgical methods may also include wirelessly obtaining positional and orientation data, and/or surface or structural data, and using the positional and orientation data, and/or surface or structural data in the surgical navigation system.

A surgical stapling instrument comprising a housing, a shaft, an end effector, a first articulation joint configured to permit the end effector to be articulated in a first plane, a second articulation joint configured to permit the end effector to be articulated in a second plane, and a staple firing drive is disclosed. The end effector comprises a distal end, a proximal end, a first jaw, a second jaw rotatable relative to the first iaw, and a staple cartridge. The staple firing drive comprises a firing member and a flexible drive tube extending through the first articulation joint and the second articulation joint. The firing member comprises a first cam, a second cam, and a round attachment aperture. The flexible drive tube comprises a longitudinal length, an outer circumference, a distal end seated in the round attachment aperture, and interlocking cuts in the outer circumference extending longitudinally and circumferentially.