A surgical system includes a robotic arm, a constraint mechanism coupled to the robotic arm, and a computer system configured to control the robotic arm to constrain manual movement of the constraint mechanism to a plane. The computer system is also configured to control the robotic arm to lock the constraint mechanism in a desired pose when the constraint mechanism is moved to the desired pose via manual movement in the plane.

Some embodiments are directed to a surgical robotic system for use in a surgical procedure, including a surgical arm having a movable arm part for mounting of a surgical instrument having at least one degree-of-freedom to enable longitudinal movement of the surgical instrument towards a surgical target. Some other embodiments are directed to a human machine interface for receiving positioning commands from a human operator for controlling the longitudinal movement of the surgical instrument, and an actuator configured for actuating the movable arm part to effect the longitudinal movement of the surgical instrument, and controlled by a processor in accordance with the positioning commands and a virtual bound. The virtual bound establishes a transition in the control of the longitudinal movement of the surgical instrument in a direction towards the surgical target. The virtual bound is determined, during use of the surgical robotic system, based on the positioning commands.

A bipolar forceps includes a mechanical forceps including first and second shafts each having a jaw member extending from a distal end thereof and a handle disposed at a proximal end thereof for effecting movement of the jaw members relative to one another about a pivot. A disposable housing is configured to releasably couple to at least one of the shafts and an electrode assembly is associated with the disposable housing. The electrode assembly includes electrodes releasably coupleable to the jaw members. At least one of the electrodes includes a knife channel configured to receive a knife blade therethrough to cut tissue grasped between the jaw members. A switch is configured to initiate delivery of electrosurgical energy from the source of electrosurgical energy to the electrodes. An actuation mechanism is configured to selectively advance the knife blade through the knife channel to cut tissue.

A transection device including a hollow tubular body extending from a proximal end to a distal end. A plurality of stabilizing members extend from the distal end of the tubular body and define a reduced diameter opening into a receiving chamber adjacent the distal end of the tubular body. A blade is positioned within the tubular body and moveable between an initial position within the tubular body to an extended position wherein at least a portion of the blade extends into the receiving chamber. A depressible member extends from the proximal end and is configured to move the blade between the initial position and the extended position. A compression member may be positioned between the plunger member and the blade.

Various forms are directed to systems and methods for dissection and coagulation of tissue. A surgical instrument includes an end effector configured to dissect and seal tissue at a distal end thereof, and a selector switch having a plurality of surgical modes. A generator is electrically coupled to the surgical instrument and is configured to deliver energy to the end effector. Each surgical mode of the selector switch corresponds to an algorithm for controlling the power delivered from the generator to the end effector, and each algorithm corresponding to the plurality of surgical modes is configured to allow a user to control the power output level of the generator.

A device sized and shaped for insertion into a body includes at least one mechanical limb including a support segment, a first flexible section extending from the support segment and terminating in a coupling section, and a second flexible section extending from the coupling section and terminating in a tool or an connector for a tool. One or more of the flexible sections is bendable by at least 120°. A long axis length of the first flexible section is at least double a maximum extent of the first flexible section perpendicular to a flexible section long axis. A long axis length of the second flexible section is at least double a maximum extent of the second flexible section perpendicular to a flexible section long axis.

A fastener delivery tool configured to deliver a fastener into tissue of a patient including a shaft, a handle assembly connected to a proximal end of the shaft, one or more prongs connected to a distal end of the shaft, and a fastener push rod received at least partially within the shaft, wherein the fastener push rod is connected to the handle assembly, wherein the fastener push rod is moveable relative to the shaft, and wherein the fastener push rod includes one or more detents configured to be received within a passageway of a fastener and secure the fastener to the fastener push rod with friction.

A forceps includes a first jaw member, a second jaw member, a drive rod assembly and a moveable handle attached to a fixed handle. The first jaw member and the second jaw member are in opposing relation relative to one another, and at least one of the first jaw member and the second jaw member is relatively movable from a first open position to a second clamping position when the first jaw member and the second jaw member cooperate to grasp tissue therebetween. Moving the moveable handle relative to the fixed handle moves the drive rod assembly for imparting movement of at least one of the first jaw member and the second jaw member from the first position and the second position. The moveable handle has an actuator with a lost motion connection between the first and second jaw members and the actuator.

A system includes a robotic manipulator and an end effector coupled to the robotic manipulator and being moveable for interacting with a target site in a manual mode and an autonomous mode of operation. A navigation system is configured to track a position of the end effector and the target site. One or more controllers are configured to define a virtual boundary relative to the target site, prevent the end effector from penetrating the virtual boundary in the autonomous mode, and allow the end effector to penetrate the virtual boundary in the manual mode.

Methods and systems for insertion of an instrument into a body cavity of an animal for performing a surgical procedure using a processor circuit controlled robotic surgery system are disclosed. In some embodiments, a method involves receiving body cavity image data representing an interior view of the body cavity captured by a camera inserted into the body cavity, determining, by the processor circuit, instrument parameters associated with physical extents of the instrument to be inserted, determining, by the processor circuit, an instrument envelope identifying a region through which the instrument is capable of moving in the body cavity, and generating, by the processor circuit, display signals operable to display a composite view of the interior of the body cavity on a display, the composite view being based on the body cavity image data and including an envelope overlay image generated to represent the instrument envelope.