A surgical instrument comprising a handle, a shaft extending from the handle, and an end effector is disclosed. The surgical instrument comprises at least one drive system including an actuator. The actuator and/or the handle comprise features which limit the travel of the actuator.

A retainer for use with a staple cartridge that is configured for use with a surgical stapling device is disclosed. The retainer comprises a retainer body that is configured to be attached to the staple cartridge to form a cartridge assembly. An authentication key is movably supported on the retainer between an actuation position wherein the actuation key can defeat a lockout of the surgical stapling device when the cartridge assembly is seated in the surgical stapling device and a retracted position when the retainer is detached from the staple cartridge.

Delivery systems and methods for delivering a material to a target site. A delivery instrument is coupled to a robotic manipulator and includes a delivery device with a distal tip having an opening to deliver the material to the target site. Controller(s) obtain a virtual model of the target site and a virtual boundary associated with the virtual model. The controller(s) register, using a navigation system, the virtual model and the virtual boundary to the target site and control the robotic manipulator to move the distal tip of the delivery device with respect to the target site. The controller(s) detect that distal tip of the delivery device either is, or will, interact with the virtual boundary, and in response, control the robotic manipulator to move the distal tip away from the virtual boundary.

An embodiment in accordance with the present invention provides a robot structure that includes an MM-Safe pneumatic stepper motor and optical encoding technologies. The present invention includes a needle guide and a needle depth limiter. The needle for biopsy is inserted through the needle guide and the depth of inserting is limited by the needle depth limiter. The robot is configured to control this procedure. The robot structure is adapted for biopsy, a novel way of setting the depth of needle insertion, image-to-robot registration. The system includes control for the robot.

A method for engaging and disengaging a surgical instrument of a surgical robotic system comprising: receiving a plurality of interlock inputs from one or more interlock detection components of the surgical robotic system; determining, by one or more processors communicatively coupled to the interlock detection components, whether the plurality of interlock inputs indicate each of the following interlock requirements are satisfied: (1) a user is looking toward a display, (2) at least one or more user interface devices of the surgical robotic system are configured in a usable manner, and (3) a surgical workspace of the surgical robotic system is configured in a usable manner; in response to determining each of the interlock requirements are satisfied, transition the surgical robotic system into a teleoperation mode; and in response to determining less than all of the interlock requirements are satisfied, transition the surgical robotic system out of a teleoperation mode.

Aspects of the present disclosure relate to systems, devices and methods for performing a surgical step or surgical procedure with visual guidance using an optical head mounted display. Aspects of the present disclosure relate to systems, devices and methods for displaying, placing, fitting, sizing, selecting, aligning, moving a virtual implant on a physical anatomic structure of a patient and, optionally, modifying or changing the displaying, placing, fitting, sizing, selecting, aligning, moving, for example based on kinematic information.

Surgical instruments include a first drive assembly having a first drive gear and a lockout mechanism positioned for releasable engagement with the first drive assembly to inhibit rotation of the first drive gear. The lockout mechanism includes a pawl and an actuator means for moving the pawl from a first position in engagement with the first drive gear to a second position spaced from the first drive gear.

An electrosurgical forceps includes first and second shaft members and first and second jaw members extending distally from the respective first and second shaft members. A pivot couples the first and second shaft members with one another such that the first and second shaft members are movable relative to one another between a spaced-apart position and an approximated position to move the first and second jaw members relative to one another between an open position and a closed position. The jaw members are configured to facilitate tissue treatment, tissue division, and blunt tissue dissection.

A surgical visualization system is disclosed. The surgical visualization system is configured to identify one or more structure(s) and/or determine one or more distances with respect to obscuring tissue and/or the identified structure(s). The surgical visualization system can facilitate avoidance of the identified structure(s) by a surgical device. The surgical visualization system can comprise a first emitter configured to emit a plurality of tissue-penetrating light waves and a second emitter configured to emit structured light onto the surface of tissue. The surgical visualization system can also include an image sensor configured to detect reflected visible light, tissue-penetrating light, and/or structured light. The surgical visualization system can convey information to one or more clinicians regarding the position of one or more hidden identified structures and/or provide one or more proximity indicators. In various instances, a robotic camera of the surgical visualization system can monitor and track one or more tagged structures.

A system for robotic surgery makes use of an end-effector which has been configured so that any selected one of a group of surgical tools may be selectively connected to such end-effector. The end-effector makes use of a tool-insert locking mechanism which secures a selected one of the surgical tools at not only a respective, predetermined height and angle of orientation, but also at a rotational position relative to an anatomical feature of the patient. The tool-insert locking mechanism may include interchangeable inserts to interconnect multiple tools to the same end-effector. In this way, different robotic operations may be accomplished with less reconfiguration of the end-effector. The end-effector may also include a tool stop which has a sensor associated with a moveable stop mechanism which may be positioned to selectively inhibit tool insertion or end-effector movement.