Devices and methods for surgical retraction are described herein, e.g., for retracting nerve tissue, blood vessels, or other obstacles to create an unobstructed, safe surgical area. In some embodiments, a surgical access device can include an outer tube that defines a working channel through which a surgical procedure can be performed. A shield, blade, arm, or other structure can be manipulated with respect to the outer tube to retract an obstacle. For example, an inner blade can protrude from a distal end of the outer tube to retract obstacles disposed distal to the outer tube. The inner blade can be movable between a radially-inward position and a radially-outward position. The radially-inward position can allow insertion of the blade to the depth of the obstacle to position the obstacle adjacent to and radially-outward from the blade. Subsequent movement of the blade to the radially-outward position can retract the obstacle in a radially-outward direction. The blade can be manipulated remotely, e.g., from a proximal end of the access device or a location disposed outside of the patient. The blade can be manipulated in various ways, such as by rotating the blade relative to the outer tube, translating the blade longitudinally relative to the outer tube, sliding an expander along the blade, driving a wedge between the blade and the outer tube, actuating a cam mechanism of the access device, and/or pivoting the blade relative to the outer tube.

A surgical instrument includes a housing, a shaft assembly, and a rotation locking mechanism. The shaft assembly extends distally from the housing and includes a shaft portion defining a longitudinal axis, and an end effector extending distally from the shaft portion, wherein the end effector and the shaft portion are axially rotatable relative to the housing about the longitudinal axis. The end effector includes a first jaw and a second jaw movable relative to the first jaw to transition the end effector between an open configuration and a closed configuration. The rotation locking mechanism is configured to prevent an axial rotation of the end effector and the shaft portion relative to the housing in the closed configuration. The rotation locking mechanism is configured to permit the axial rotation of the end effector and the shaft portion relative to the housing in the open configuration.

A rotatable scalpet for rotational fractional resection, and method of manufacturing same, is provided. In an embodiment, a rotatable scalpet includes a hollow tube extending along a longitudinal axis and including an inner surface and an outer surface, the inner surface forming a passageway between a first end and a second end of the hollow tube, a cutting edge located at the first end of the hollow tube, the cutting edge configured to cut a patient's tissue when the hollow tube is rotated around the longitudinal axis, and a gear molding feature formed into the outer surface of the hollow tube, the gear molding feature enabling a gear to be molded around at least a portion of the hollow tube.

Active end-effectors for guiding an instrument during a robot-assisted surgery. The surgical robot system may include a robot having a robot base, a robot arm coupled to the robot base, and the active end-effector coupled to the robot arm. The active end-effector may have a slide mechanism, which may provide for a greater range of motion of a surgical instrument along a vertical axis.

Disclosed herein are techniques for preparation of a bone structure wherein a robotically controlled cutting bur is utilized for both milling the entry point at the outer cortical region and cannulation of the cancellous bone region for receipt of an implant. A robotic manipulator supports and moves the cutting bur and one or more controllers analyze measurements from sensors and, in response, control the robotic manipulator and/or the cutting bur for purposes such as landmark detection to determine entry point, avoiding tool skiving at entry point, and avoidance of cortical wall breach during cannulation. Also described are techniques for managing feed rate, rotational cutting speed, or mode of operation depending on operational conditions surrounding various stages of cannulation. A control interface is also provided to enable the user to manage or adjust cutting bur operation and feed rate.

A surgical system is disclosed including a surgical tool, a motor operably coupled to the surgical tool, and a control circuit coupled to the motor. The control circuit is configured to receive an instrument motion control signal indicative of a user input, cause the motor to move the surgical tool in response to the instrument motion control signal, receive an input signal indicative of a distance between the surgical tool and tissue, and scale the movement of the surgical tool to the user input in accordance with the input signal.

A robotic surgical system for treating a patient is disclosed including a surgical tool movable relative to the patient and a user input device including a base and a controller movable relative to the base to effect a motion. The robotic surgical system further includes a control circuit configured to receive a user selection signal indicative of a selection between a first motion scaling profile of the motion of the surgical tool and a second motion scaling profile of the motion of the surgical tool, receive a motion control signal from the user input device indicative of a user input force, and cause the surgical tool to be moved in response to the motion control signal in accordance with the first motion scaling profile or the second motion scaling profile based on the user selection signal. The first motion scaling profile is different than the second motion scaling profile.

A compliant mechanism is provided, for extending a rod in a manually controlled instrument and providing clicking haptic feedback, such as in particular in a compliant surgical grasper. The compliant mechanism comprises an inner rod that comprises an upper slit and a lower slit running through a section of the rod, that forma generally S-shaped cut in the rod, such that when ends of the rod are pulled at the S-shaped form allows an extension of the rod in the axial direction by compliant bending; the mechanism comprises a notch placed on the outer surface of the rod, adjacent to a respective slit opening and on the proximal side of the opening, and an outer sleeve enclosing the inner rod, the sleeve having on its inner surface one or more groove or teeth facing the at least one notch on the rod surface, such that when the rod is extended, the notch engages with said groove or tooth to create a clicking haptic feedback.

Embodiments of a surgical instrument including an actuation lockout system as well as its method of use are disclosed. In one embodiment, a surgical instrument includes a trigger and a driveshaft coupled to the trigger such that actuation of the trigger causes the driveshaft to move from a first position to a second position, thereby resulting in deployment of a surgical fastener. An actuation lockout system restrains distal movement of the driveshaft until a force greater than or equal to a threshold force is applied to the trigger.

A surgical instrument is disclosed comprising a shaft and an end effector rotatably connected to the shaft about an articulation joint. The surgical instrument comprises a plurality of rotation joints which can be simultaneously operated to maintain the alignment of a portion of the surgical instrument relative to the patient tissue.