A robotic system includes an electrosurgical instrument having an instrument housing having a shaft with an end effector assembly and first and second jaw members attached thereto movable to grasp tissue. An input is operably coupled to the instrument housing and is configured to move the jaw members. A handle is remotely disposed relative to the instrument housing and is configured to communicate with the input for controlling the jaw members, the handle having a lever configured to cooperate with the input to control the jaw members relative to movement of the lever. The lever moves between a homing position and a first position correlating to the jaw members closing with a pressure therebetween in the range of about 0.1 kg/cm.sup.2 to about 2 kg/cm.sup.2. The lever further movable to a seal position correlating to the jaw members closing about tissue with a pressure between about 3 kg/cm.sup.2 to about 16 kg/cm.sup.2 for sealing.

A robotic system includes an electrosurgical instrument having an instrument housing having a shaft with an end effector assembly and first and second jaw members attached thereto movable to grasp tissue. An input is configured to move the jaw members and is configured to operably couple to a torque sensor that measures the torque of the input during rotation thereof. A handle is remotely disposed relative to the instrument housing and is configured to communicate with the input for controlling the movement of the jaw members. A housing having a lever operably coupled thereto, houses components therein configured to operably connect to the input such that movement of the lever correlates to movement of the jaw members. The components are configured to regulate the resistance of the lever in response to the feedback from the torque sensor.

A reposable surgical clip applier (10) is provided and includes a handle assembly (100), an endoscopic assembly (200) selectively connectable to a housing (102) of the handle assembly (100), and a cartridge assembly (300) selectively loadable in and connectable to the endoscopic assembly (200).

A treatment instrument includes a rotating body and a housing. The rotating body includes a connecting portion including: a supported portion having a cylindrical outer peripheral surface, and an engaged portion that is adjacent to the supported surface. The housing includes a supporting portion that is configured to support the supported portion of the rotating body, the supporting portion being rotatable around a predetermined rotation axis; and an engaging portion that is configured to generate a frictional force larger than a frictional force between the supporting portion and the supported portion by coming into contact with the engaged portion.

An endoscopic suturing system and method are disclosed as are devices for use with the system and method such as a suture dispenser, a cinch device, and a tissue grasper. In one embodiment the suturing system includes a cap assembly arranged at the distal end portion of an endoscope or guide member, with the cap assembly including a rotatable needle holder. The needle holder is actuated through a transmission element extending outside the endoscope or guide member. A needle capture device may be inserted through a channel of the endoscope or guide member in order to capture a needle held in the needle holder when the needle holder is rotated so that the needle punctures tissue.

A robotic surgical tool is disclosed. The robotic surgical tool can comprise an end effector comprising a firing member; a drive system responsive to a motor-driven input; and a proximal housing comprising a retraction mechanism. The retraction mechanism can comprise a control responsive to a manual input. The control can be rotatable in a first direction through a retraction motion and rotatable in a second direction through a reset motion. The retraction mechanism can further comprise a clutch coupled to the control. The clutch can be configured to drivingly engage the drive system as the control rotates through the retraction motion to supply a proximal retraction stroke to a firing bar and drivingly disengaged from the drive system as the control rotates through the reset motion to prevent any displacement of the firing bar by the retraction mechanism until the control is reset for a subsequent retraction motion.

Provided is an end tool including: a first jaw configured to rotate independently; a J11 pulley coupled with the first jaw and configured to rotate around a first axis formed at an end tool hub; a J16 pulley formed at one side of the J11 pulley and configured to rotate around a second axis formed at one side of the first axis; a J12 pulley and a J14 pulley formed at one side of the J16 pulley, and configured to rotate around a third axis formed at a predetermined angle with the first axis. The end tool may further include: a first jaw wire configured to at least partially contact the J12 pulley, the J11 pulley, the J16 pulley, and the J14 pulley; a J16 pulley formed between the J11 pulley and a J12 pulley/a J14 pulley; and the first jaw wire is located on an internal tangent of the J11 pulley and the J16 pulley.

The invention relates to a medical instrument having an elongated shaft, a movable tool at a distal end of the shaft, a handle with a movable grip part at a proximal end of the shaft, and a force transmission element which can be moved in the longitudinal direction of the instrument and is operatively connected to the movable grip part and to the tool such that an actuation of the movable grip part is converted into a movement of the tool. The instrument has a spring assembly that is arranged on the handle and has at least one leg spring, which has at least one winding and two legs, and a pin, wherein the at least one winding extends about the pin. When the movable grip part is actuated, a force is applied to at least one of the legs of the leg spring, said force reducing the friction between the winding and the pin such that the leg spring can be rotated about the pin and the force transmission element and the tool can be moved. When a force is transmitted from the tool to the force transmission element in the longitudinal direction thereof, the leg spring cannot be rotated about the pin such that the force transmission element and the tool cannot be moved.

A surgical system comprising an electric motor and a surgical instrument is disclosed. The surgical instrument comprises a housing, a shaft extending from the housing, a fastener cartridge, an anvil, a translatable drive member, and a rotatable actuator knob. The housing comprises an input shaft operably coupled to the electric motor. The input shaft is rotatable in a first mode by the electric motor. The fastener cartridge comprises a plurality of fasteners removably stored therein. The anvil is configured to deform the fasteners. The translatable drive member is configured to move the anvil toward and away from the fastener cartridge. The translatable drive member is movable by the electric motor in the first mode. The rotatable actuator knob is configured to be rotated multiple full rotations in a second mode to manually cause the input shaft to move the anvil.

A needle and suture assembly is provided for use with an endoscopic suturing device with a needle holder arm. The needle assembly includes a needle tip and a needle body. The needle tip has a sharp end, a capture groove, a tab groove and a plug portion positioned between the capture groove and the tab groove. The needle body has first and second ends, tip tabs, retainers for removably retaining the needle body relative to the needle holder arm, and a suture opening. The needle tip is fixed relative to the needle body by plastic deformation of the tip tabs into the tab groove. A suture extends into the suture opening of the needle body and is fixed therein.