A sterile packaging assembly for transporting interventional devices to a robotic surgery site includes a sterile barrier having a hub support portion and configured to enclose a sterile volume; and at least a first interventional device within the sterile volume. The first interventional device includes a hub and an elongate flexible body. The hub includes at least one magnet and at least one roller configured to roll on the hub support portion of the sterile barrier.

An actuation system for actuating concentric tubes of a concentric-tube robot. The actuation system is configured to actuate the concentric tubes from radially to one side of the concentric tubes.

The present invention relates to an assistive apparatus for a single port surgical robot, including a single port housing which forms a chamber communicating with a wound retractor and is coupled to the wound retractor with airtightness maintained, and a plurality of guide tubes which are provided in the single port housing to communicate with the chamber and form passages through which a surgical tool mounted on an arm of the single port surgical robot and assistive surgical tools for assisting with single port surgery are selectively inserted, wherein the plurality of guide tubes have different heights and are provided to protrude from the single port housing.

A catheter system is disclosed. A catheter system comprises a catheter module and a magnetic robot, which can be coupled to the catheter module, wherein: the catheter module comprises a catheter having an accommodation space formed on the front end thereof, and a rotational magnet that is rotatable; and the magnetic robot comprises a body and a magnet member, which is coupled to the body and induces magnetism with the rotational magnet.

A drive unit for a surgical robot arm, the robot arm being configured to engage a robotic surgical instrument, the drive unit comprising a plurality of drive interface elements, each drive interface element having a longitudinal axis; a plurality of actuators configured to drive the plurality of drive interface elements, each actuator of the plurality of actuators being configured to drive one of the plurality of drive interface elements so as to cause that drive interface element to be displaced along its longitudinal axis in a first direction,

wherein the drive unit is configured such that, when the surgical robot arm engages the robotic surgical instrument, the longitudinal axis of each drive interface element is aligned with a longitudinal axis of a respective instrument interface element in the instrument and each drive interface element is configured such that the displacement of said drive interface element along its longitudinal axis in the first direction causes a displacement of the respective instrument interface element along its longitudinal axis in the first direction.

A surgical robot arm comprises a base connected to a terminal link via a series of intermediate joints. The terminal link comprises a drive assembly interface comprising drive assembly interface elements. Each drive assembly interface element is configured to: engage an instrument interface element of an instrument interface of a robotic surgical instrument when the surgical robot arm engages the robotic surgical instrument; and move relative to the drive assembly interface across a range of motion so as to, when engaged with the instrument interface element, transfer drive to that instrument interface element. The drive assembly interface elements are arranged across a plane perpendicular to the longitudinal axis of the terminal link such that the robotic surgical instrument is detachable from the surgical robot arm in a detachment direction parallel to the plane when each drive assembly interface element is anywhere within its range of motion.

A cannula for providing a pathway for surgical instruments in a minimally invasive procedure including a flexible body portion having a lumen extending from the proximal region to the distal region, a proximal opening, a distal opening and a flange extending radially outwardly from the distal region and being flexible for insertion through an incision in a body of a patient. A rigid body portion extends proximally of the flexible body portion which is more flexible than the rigid body portion. A first seal is positioned within the rigid body portion and spaced proximally of a region of the flexible body portion distal of the rigid body portion, the seal preventing egress of fluids from the body of the patient.

A surgical instrument including a housing, an elongated portion, and a loading unit is disclosed. The elongated portion extends distally from the housing, defines a longitudinal axis, and includes an electrical contact. The loading unit is configured to releasably engage the elongated portion. The loading unit includes an electronic component, a proximal portion including an electrical contact in electrical communication with the electronic component, and an end effector coupled to the proximal portion and configured to manipulate tissue. Engagement between the elongated portion and the loading unit causes the electrical contact of the elongated portion to engage the electrical contact of the loading unit thereby electrically connecting the elongated portion and the loading unit.

A surgical instrument includes a body, a shaft assembly, an end effector, a stapling assembly, and a drive system. The shaft assembly extends distally from the body. The end effector is disposed on a distal end of the shaft assembly and includes a first jaw and a second jaw. The stapling assembly is supported by one of the first jaw or the second jaw of the end effector. The drive system includes a shift mechanism configured to selectively modify a mechanical advantage of a drive input driven by a motor and used to power one or more functions associated with operation of the end effector.

A surgical stapling instrument includes an anvil defining a plurality of staple forming pockets and a stapling head assembly configured to drive a plurality of staples against the staple forming pockets of the anvil. The stapling head assembly comprises a coupling member configured to actuate the anvil relative to the stapling head assembly, a firing assembly configured to drive the plurality of staples against the staple forming pockets of the anvil, and a deck member. The deck member includes a deck surface extending radially between an inner circular edge and an outer circular edge, and a plurality of staple openings extending through the deck surface. The plurality of staple openings define at least one cross shape.