A delivery system and methods are disclosed for delivering a material to a target site. A delivery instrument is coupled to a robotic manipulator and comprises a delivery device having a distal tip comprising an opening deliver the material to the target site through the opening. A navigation system tracks the delivery device and the target site and generates position signals. One or more controllers are in communication with the robotic manipulator and the navigation system and define a virtual boundary associated with the target site, wherein the virtual boundary is utilized to constrain movement of the delivery device. The one or more controllers control one or more joint motors of the robotic manipulator to move the distal tip of the delivery device with respect to the virtual boundary based on the position signals from the navigation system.

An end effector for use with a surgical instrument includes an anvil with at least one staple pocket that defines a longitudinal axis. The staple pocket comprises a first cup and a second cup. The end effector also includes a staple cartridge.

A stone retrieval device includes a sheath and a stone retrieval basket that includes a distal region with a plurality of basket wires and a proximal region with one or more core wires. The stone retrieval basket is contained within the sheath and is movable out a distal opening of the sheath to cause the plurality of basket wires to open into a basket shape. The stone retrieval device further includes a lock mechanism that locks the position of the stone retrieval basket with respect to the position of the sheath and a basket force controller that includes a first and a second control stage. The first control stage includes a sensor for measuring force on the stone retrieval basket when the lock mechanism is in an unlocked position, and the second control stage includes a sensor for measuring force when the lock mechanism is in a locked position.

A powered surgical device configured to clamp and fasten tissue is disclosed. The powered surgical device comprises a shaft, an articulation joint, a motor-driven flexible drive member movably supported in the shaft, an I-beam coupled to the motor-driven flexible drive member, and a housing. The shaft comprises a proximal end. The motor-driven flexible drive member passes through the articulation joint during a tissue clamping motion. The motor-driven flexible drive member is driven distally away from the proximal end of the shaft during the tissue clamping motion. The housing is coupled to the proximal end of the shaft. The housing comprises a rotary multi-turn unidirectional manually-operated retraction mechanism. A rotation of the rotary multi-turn unidirectional manually-operated retraction mechanism in a first direction is configured to retract the motor-driven flexible drive member proximally toward the proximal end of the shaft.

A fastener cartridge can include, one, a cartridge body comprising a deck and a plurality of fastener cavities and, two, a plurality of fasteners positioned in the fastener cavities. The cartridge body can further comprise extensions extending from the deck having different sizes and/or configurations. The extensions can control the flow of tissue relative to the deck and/or support the fasteners as they are ejected from the fastener cavities.

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 system is disclosed including a surgical instrument, an end effector, and a display. The end effector includes a distal end, a proximal connection portion configured to attach the end effector to the surgical instrument, a first jaw, a second jaw movable relative to the first jaw, and at least one sensor configured to detect an orientation of the second jaw. The second jaw is moveable between an open orientation, a partially-closed orientation, and a closed orientation. The display is configured to incrementally display discrete steps of partial closure of the second jaw.

Methods, apparatuses and systems are described for implanting a plurality of fiducial markers into a tissue. Systems include a needle, a stylet sized to slide within a lumen of the needle, and a multi-stop stylet spacer having stopping features configured to engage with the stylet to stop the distal end of the stylet at one or more predetermined distances from the distal end of the needle. Methods for implanting a plurality of fiducial markers into a tissue are described and include inserting a needle preloaded with fiducial markers into a tissue, adjusting a multi-stop stylet spacer from a safety position to a first deployment position, deploying a first fiducial marker into the tissue, adjusting the stylet spacer from the first deployment position to a second deployment position, and deploying a second fiducial marker into the tissue.

Disclosed are surgical tools (10) comprising a surgical clamp (20) having at least two, preferably exactly two legs (21) and a base (22) connecting the legs (21). The tools (10) comprise one or more of the following further elements: a handle (30) integrally connected to the clamp (20), wherein the handle (30) is connected to the base (22) of the clamp (20) via at least one first predetermined breaking point (91); a drilling aid (40) having at least two openings (41) whose distance (D) is greater than the distance (d) of the legs (21) of the clamp (20); a drill (50) which is connected, in particular at a first end (51), to the handle (30) via at least one third predetermined breaking point (93); a separation opening (42) which is designed in such a way that, in particular after separation of the drilling aid (40) from the handle (30), the clamp can be received in the separation opening (42), in particular in the region of the first predetermined breaking point (91), in such a way that the clamp (20) can be separated from the handle (30) at the first predetermined breaking point (91). More generally, there are also disclosed one-piece surgical tools (10; 10′) having at least two elements interconnected by predetermined breaking points.

A surgical system is provided comprising: an input device; a first actuator and a second actuator; a controller for controlling the first actuator and the second actuator, the controller configured to apply a first scale factor to a first commanded output and a second commanded output for the first actuator the second actuator, respectively, when the first commanded output would fall outside a first predetermined working range of the first actuator, wherein the first scale factor adjusts the first commanded output to be within the first predetermined working range.