The present invention relates to an electronic module for a surgical tool. The electronic module may be removably attached to the surgical tool or it may be encompassed within a part of the surgical tool. The electronic module is configured to learn about the evolution of measurable parameters which are detectable by at least a part of the tool to which the electronic module is attached or incorporated and, during an operation mode of the tool, to determine optimum values of a parameter depending on the evolution of the parameter or parameters being monitored.

An embodiment in accordance with the present invention provides a robot structure that includes an MRI-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.

An end effector assembly for use in a surgical robotic system includes an anvil assembly and a staple cartridge assembly operably coupled to the anvil assembly. The staple cartridge assembly includes a chassis defining an elongate channel therein, a staple cartridge body configured for removable receipt in the elongate channel of the chassis, and a shipping wedge removably coupled to the staple cartridge body and at least partially covering a tissue-contacting surface of the staple cartridge body. The shipping wedge has a machine-readable medium thereon that stores a characteristic of the staple cartridge body.

Tissue access devices and methods of using the same are disclosed. The devices can have a sensor configured to occlude a flow path by deflecting a membrane into the flow path when the devices become dislodged from tissue. The sensor can be configured to partially or fully occlude the flow path. The sensor can have a spring. The spring can be biased to move the sensor from a sensor first configuration to a sensor second configuration when a force applied by the sensor first surface against a non-sensor surface changes from a first force to a second force less than the first force. The membrane can be deflected into the flow path when the sensor is in the sensor second configuration.

A surgical access assembly comprises a trocar and a surgical instrument. The trocar comprises a housing and an access tube extending distally from the housing. The housing comprises a hollow light emitter. The housing and the access tube define a lumen extending through the housing and the access tube. The hollow light emitter is configured to project light in the lumen. The surgical instrument comprises an end effector and a shaft extending proximally from the end effector. The shaft comprises an optical receiver positioned within reach of the light from the hollow light emitter. The shaft further comprises a light guide extending from the optical receiver along at least a portion of the shaft toward the end effector.

A system is provided comprising a robotic instrument for use with a tool. In some versions, the robotic instrument comprises a hand-held portion to be held by a user and a tool support movably coupled to the hand-held portion to support the tool. A plurality of actuators operatively interconnect the tool support and the hand-held portion to move the tool support in three degrees of freedom relative to the hand-held portion. An optional constraint assembly may operatively interconnect the tool support and the hand-held portion to constrain movement of the tool support relative to the hand-held portion in three degrees of freedom. A guidance array assists users in positioning the tool and/or portions of the instrument.

A pivotal bone anchor assembly includes a receiver having an axial bore with an internal support surface adjacent a lower opening and a channel configured to receive a fixation rod, as well as a shank having a proximal end portion configured to be pivotally supported by the internal support surface with the shank extending downward through the lower opening. The proximal end portion includes a drive socket engageable by a drive tool, an upwardly-facing planar top surface surrounding and entirely peripheral to the drive socket, and a central bore extending from the drive socket to a distal tip configured to receive a guide wire. The assembly further includes an insert with an upper surface configured to receive the fixation rod and a lower surface configured to transfer a downward force toward the proximal end portion of the shank to lock the assembly, with the planar top surface of the shank remaining spaced apart from the lower surface of the insert so as to not directly receive the downwardly-directed force when the assembly is locked by a closure.

A method to guide in preparation of a bone relies on an instrument having a shaft with a working end and a stop member. The shaft is free to translate along an axis. Surgical planning data is registered to the bone to determine intra-operative coordinates of the desired axis and depth. The instrument holder is positioned by the bone so the stop member contacts the instrument holder to prevent translating beyond the desired depth. Alternatively, an arm is manipulated to align the instrument with the desired axis. The working end rests on the bone to define a linear separation to the desired depth. By proximally translating the instrument holder to contact the stop member and distally translating the instrument holder along the shaft, the stop member physically stops translating beyond the desired depth. A surgical system for performing the methods is provided; a reamer or impactor are also disclosed.

An apparatus includes a drive module having a drive module base component and a load-sensed component. An elongated medical device (EMD) is removably coupled to an isolated component. The isolated component is isolated from an external load other than an actual load acting on the EMD. The isolated component is removably coupled to the load-sensed component. A load sensor is secured to the drive module base component and the load-sensed component sensing the actual load acting on the EMD.

A surgical robotic visualization system comprises a first robotic arm, a second robotic arm, a photoacoustic receiver coupled to the first robotic arm, an emitter assembly coupled to the second robotic arm, and a control circuit. The control circuit is configured to cause the emitter assembly to emit electromagnetic radiation toward an anatomical structure at a plurality of wavelengths capable of penetrating the anatomical structure and reaching an embedded structure located below a surface of the anatomical structure, receive an input of the photoacoustic receiver indicative of an acoustic response signal of the embedded structure, and detect the embedded structure based on the input from the photoacoustic receiver.