A control system of a surgical robot arm, the surgical robot arm comprising a series of joints by which the configuration of that surgical robot arm can be altered, an attachment for a surgical instrument at a distal end of the robot arm and one or more force or torque sensors, each force or torque sensor configured to sense a force or torque at a joint of the series of joints; the control system being configured to control the configuration of the surgical robot arm to be altered in response to an externally applied force or torque by: receiving sensory data from the one or more force or torque sensors indicative of a sensed force or torque at a point of the surgical robot arm resulting from the externally applied force or torque; resolving the sensed force or torque so as to determine the components of the sensed force or torque acting at the point in a direction parallel with the longitudinal axis of a surgical instrument attached to the attachment; and sending a command signal to the surgical robot arm to drive the robot arm such that the configuration of the robot arm is altered so as to comply with the resolved force or torque components.

A surgical robot system comprising: a surgical robot, the surgical robot comprising a base, and an arm extending from the base to an attachment for an instrument the arm comprising a plurality of joints whereby the configuration of the arm can be altered; an instrument attached to the arm of the surgical robot; and a control unit configured to receive one or more inputs from an operator of the surgical robot in relation to movement of the instrument and translate the one or more inputs into one or more control signals in accordance with a set of control parameters to control the movement of the instrument, the set of control parameters being one of one or more sets of control parameters associated with the operator.

A surgical anvil assembly for use with a circular stapling instrument includes an anvil center rod defining a longitudinal axis and an anvil head pivotally coupled to the anvil center rod and movable between a first operative condition and a second tilted condition. The anvil assembly further includes a locking assembly configured to selectively lock the anvil head in each of the first and second conditions.

Medical devices including a housing, an actuator, a body having a passageway extending through the body, a drive shaft extending through the passageway, and a clip coupled to the body and the drive shaft to fix the body relative to the drive shaft. The medical device further including features to couple the clip to at least one of the body and/or the drive shaft such that back out of the clip is inhibited.

An apparatus for preventing deployment failure or damage of a movable portion of a treatment device via a force limiting element in the treatment device.

A surgical instrument including a system for stopping a beam of the surgical instrument from impacting a distal pin when reversing a knife is disclosed. A knife assembly of the surgical instrument comprises the knife, the beam, and a firing nut. A firing lead screw can drive the firing nut distally and proximally. A firing screw compression spring extends along the firing lead screw and applies a load proximally on the firing nut when the firing nut is driven toward a distal end of the firing lead screw.

Retraction systems, assemblies, and devices for retracting an end unit are provided. A retraction assembly may be configured to move the end unit of a robot between a first state and a second state. A first signal may be received indicating a working condition. A first instruction may be generated to move the end unit from the second state to the first state. The retraction assembly may be caused to move the end unit from the second state to the first state based on receiving the first signal and the first instruction. The end unit may be held in the first state when the first signal is being received and the retraction assembly may move the end unit from the first state to the second state when the first signal is not received.

A controller operates in different operating modes to control movement of a distal tip of a medical instrument when inserting and retracting the medical instrument through linked body passages. When inserting the medical instrument, the controller normally operates in an automatic navigation mode unless manually overridden to operate in a manual mode. When retracting the medical instrument, the controller normally operates in a zero-force mode to allow the distal tip to freely move so that it may comply with the shape of the passages as the medical instrument is being retracted through the linked body unless manually overridden to operate in a manual mode.

A system comprises a manipulator assembly, one or more sensing elements configured to sense an arrangement of the assembly, and a control system configured to: determine a motion limit of the manipulator assembly based on the sensed arrangement of the assembly by using a position of a joint of a plurality of joints or using a position of a link of a plurality of links; store a plurality of threshold limits, where each of the plurality of threshold limits is associated with a procedure type and defines a limit of a range to be potentially travelled by the manipulator assembly to perform a procedure of the associated procedure type; select a threshold limit of the plurality of threshold limits based on which procedure type is to be performed; and provide a notification indicative of whether the selected threshold limit is outside a range of motion bounded by the motion limit.

A surgical system, method, and non-transitory computer readable medium involving a robotic manipulator configured to move a surgical instrument relative to virtual boundaries. A navigation system tracks each of a first object, a second object, and the surgical instrument. The first object is moveable relative to the second object. One or more controllers associate a first virtual boundary with the first object and associate a second virtual boundary with the second object. The first virtual boundary is moveable in relation to the second virtual boundary. The controller(s) control the robotic manipulator in relation to the first virtual boundary to facilitate interaction of the surgical instrument with the first object. The controller(s) control the robotic manipulator in relation to the second virtual boundary to avoid interaction of the surgical instrument with the second object.