The invention involves a system and method for quickly retracting a tool from a surgical site. The system is generally constructed and arranged for attachment to a robotic arm for manipulation of the tool to perform an in-vivo surgery. The tool is constructed to retract from the surgical site upon a predetermined condition. The system and the robot can be reset when the condition has cleared so that the surgery can continue.

A surgical instrument for use during a surgical procedure includes an instrument body, an ultrasonic transducer assembly extending along a longitudinal axis, a power cord, and a transducer slip joint. The ultrasonic transducer assembly is rotatably mounted within the instrument body about the longitudinal axis and defines a first outer profile. The power cord projects from the instrument body to provide electrical power to the ultrasonic transducer assembly for operating an acoustic waveguide. The transducer slip joint is positioned between the power cord and the ultrasonic transducer assembly and electrically and mechanically connects the power cord to the ultrasonic transducer assembly. The ultrasonic transducer assembly selectively rotates relative to the power cord for inhibiting the power cord from winding upon rotation of the ultrasonic transducer assembly. The transducer slip joint also defines a second outer profile that fits within the first outer profile of the ultrasonic transducer assembly.

A component (14) for a medical instrument includes a shaft (15), a transmission device (16), which is movable in the shaft (15), for transmitting a force from a manipulation device (18) coupled to the proximal end of the component (14) to a tool (13) at the distal end of the component (14), an abutment surface (86) on the shaft (15), and an abutment surface (36) on the transmission device (16). The abutment surface (86) of the shaft (15) and the abutment surface (36) of the transmission device (16) are arranged such that a mechanical contact between the abutment surface (36) of the transmission device (16) and the abutment surface (86) of the shaft (15) limits a movement of the transmission device (16) relative to the shaft (15) in the proximal direction.

Adjustable-length surgical access devices are disclosed herein, which can advantageously allow an overall length of the access device to be quickly and easily changed by the user. The access devices herein can reduce or eliminate the need to maintain an inventory of many different length access devices. In some embodiments, the length of the access device can be adjusted while the access device is inserted into the patient. This can reduce or eliminate the need to swap in and out several different access devices before arriving at an optimal length access device. This can also reduce or eliminate the need to change the access device that is inserted into a patient as the depth at which a surgical step is performed changes over the course of a procedure. Rather, the length of the access device can be adjusted in situ and on-the-fly as needed or desired to accommodate different surgical depths.

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.

A surgical instrument is disclosed, the instrument including: a handle assembly; a jaw assembly including a staple cartridge containing a plurality of staples and an anvil to form the plurality of staples upon firing; a lockout mechanism configured to prevent reuse of the jaw assembly; a drive assembly at least partially located within the handle and connected to the jaw assembly; a motor operatively coupled to the drive assembly; and a controller operatively coupled to the motor, the controller configured to control supply of electrical current to the motor and to monitor a current draw of the motor, wherein the controller is further configured to terminate the supply of electrical current to the motor in response to a drop in the current draw.

A retractor system includes a retractor with an oximeter sensor at its tip and a force sensor coupled to the retractor. The retractor system also includes a system unit which can send signals to and receive signals from the oximeter sensor via optical fibers. The oximeter sensor measures oxygen saturation of a tissue being retracted by the retractor, and the force sensor measures an amount of force that is applied to the retracted tissue by the tip of the retractor. Another retractor system has a closed loop control arrangement with a positioning mechanism which moves the retractor based on measurements of the sensors.

Surgical end effectors having an empty and missing cartridge lockout are disclosed. The surgical end effectors can comprise a first jaw, a second jaw rotatably coupled to the first jaw, and a multi-function firing member configured to translate during a firing stroke, wherein the firing member comprises a notch. The surgical end effectors can also include a lockout spring comprising a hook. The notch in the firing member can be aligned to receive the hook during the firing stroke unless an unfired staple cartridge is positioned in the first jaw. A sled assembly of the unfired staple cartridge can be positioned to deflect the hook out of alignment with the notch.

A pulley assembly of a robotic arm includes a first cable, a first pulley, and a second pulley. The first pulley has a first end of the first cable fixed thereto. The second pulley is operably coupled to the first pulley via the first cable. The second pulley includes a hub, a first semicircular body rotatably attached to the hub, and a first fastener movably coupled to the hub. The first semicircular body has a second end of the first cable fixed thereto. Movement of the first fastener rotates the first semicircular body relative to the hub to change a tension in the first cable.

A medical instrument includes a proximal handle (3), for controlling a distal tool, including two grip pieces (4, 5) pivotable relative to one another, subjected to spring force and coupled in movement via a path guide with a path component (7). The path component includes a guide path (11), and a guide body (14) on a guide component (8). The guide body engages into the guide path. The components (7, 8) are arranged on one of the grip pieces and are subjected to a spring force, transversely to a pivoting plane of the grip pieces. One of the components (8) is pivotably arranged on a grip piece. Functionally independent of the guide body (14) and guide path (11), a latching body (12) is received by a latching receiver (16) on the components (7, 8) for a latching function, blocking pivoting movement of the grip pieces.