An articulating ultrasonic surgical end effector for use with a hand-held surgical instrument or a robotic surgical system includes an articulation assembly, a clevis operably coupled to the articulation assembly, and a transducer assembly pivotably coupled to the clevis. The transducer assembly includes a transducer housing and an ultrasonic transducer and a waveguide disposed within the transducer housing. The waveguide is coupled to the ultrasonic transducer and extends distally from the ultrasonic transducer. The transducer assembly also includes an ultrasonic blade disposed at the distal end of the waveguide and extending from the transducer housing and a clamp arm pivotably coupled to the transducer housing and movable relative to the ultrasonic blade between an open position and a clamping position. Ultrasonic energy produced by the ultrasonic transducer is transmitted along the waveguide to the ultrasonic blade for treating tissue.

Aspects of the present disclosure are presented for a surgical instrument for cutting and sealing tissue. In some embodiments, the surgical instrument includes a handle assembly, a shaft, and an end effector. The end effector may include: a blade that vibrates at an ultrasonic frequency, a shielded portion enclosing a back edge of the blade, a high-friction surface coupled to the shielded portion and positioned between the shielded portion and the back edge of the blade. A space is defined between the high-friction surface and the back edge of the blade when the end effector is in a cutting configuration. In a sealing configuration, the high-friction surface contacts the back edge of the blade, which generates heat based on ultrasonic vibrations of the blade rubbing against the high-friction surface. The shielded portion can coagulate bleeding tissue based on heat transfer from the high-friction surface to the shielded portion.

A surgical instrument includes a housing, a shaft extending from the housing, an end effector assembly extending from the shaft and configured to rotate and/or articulate relative to the housing, a motor disposed within the housing and operably coupled to the end effector assembly to rotate and/or articulate of the end effector assembly relative to the housing, and a sensing assembly configured to sense movement of the housing relative to a reference position and to drive the motor to rotate and/or articulate of the end effector assembly relative to the housing based upon the sensed movement. The sensing assembly is configured to operate in each of a standard mode, wherein movement of the housing effects rotation and/or articulation of the end effector assembly in a similar direction, and a reversed mode, wherein movement of the housing effects rotation and/or articulation of the end effector assembly in an opposite direction.

An ultrasonic device may include an electromechanical ultrasonic system defined by a predetermined resonant frequency, in which the system may include an ultrasonic transducer coupled to an ultrasonic blade. A method of estimating a state of an end effector of the ultrasonic device may include applying a drive signal defined by a magnitude and a frequency to the ultrasonic transducer, sweeping the frequency of the drive signal from below a first resonance to above the first resonance of the electromagnetic ultrasonic system, measuring and recording, impedance/admittance circle variables R.sub.e, G.sub.e, X.sub.e, and B.sub.e, comparing, the measured impedance/admittance circle variables R.sub.e, G.sub.e, X.sub.e, and B.sub.e to reference impedance/admittance circle variables R.sub.ref, G.sub.ref, X.sub.ref, and B.sub.ref, and determining, a state or condition of the end effector based on the result of the comparison. An electromechanical ultrasonic system may include a control circuit to effect the method.

A surgical instrument includes an end effector, a shaft assembly, and a torque wrench integrally connected with the shaft assembly. The shaft assembly has an acoustic waveguide extending therethrough and the end effector projects distally from the shaft assembly. The acoustic waveguide has a proximal end portion configured to rotatably couple with an ultrasonic transducer assembly. The torque wrench is configured to transmit torque applied to the acoustic waveguide up to a predetermined torque. A portion of the torque wrench is configured to deflect upon receipt of torque greater than the predetermined torque. Accordingly, the portion of the torque wrench slips relative to the acoustic waveguide for limiting coupling of the acoustic waveguide to the ultrasonic transducer assembly to the predetermined torque.

A treatment device includes: a probe including a treatment portion that performs treatment to a treatment target portion by transmission of ultrasonic vibration; a first sheath having a first edge and enclosing a periphery of the probe; a second sheath having a second edge and enclosing a periphery of the first sheath; a suction path including a suction opening between the first edge and the second edge and provided between the first sheath and the second sheath; and a connection part communicating with the suction path and connected to a suction source.

A surgical apparatus comprises a body, an ultrasonic transducer, a shaft, an acoustic waveguide, an articulation section, an end effector, and an articulation drive assembly. The ultrasonic transducer is operable to convert electrical power into ultrasonic vibrations. The shaft couples the end effector and the body together. The acoustic waveguide is coupled with the transducer. The articulation section includes a collar that is located distal to a nodal portion of the waveguide and is operable to deflect the end effector away from the longitudinal axis. The end effector comprises an ultrasonic blade in acoustic communication with the ultrasonic transducer. The articulation drive assembly is operable to drive articulation of the articulation section. The articulation drive assembly comprises at least one translating articulation driver coupled with the collar. The ultrasonic blade is operable to deliver ultrasonic vibrations to tissue even when the articulation section is in an articulated state.

A surgical apparatus includes a body assembly, a shaft, an acoustic waveguide, an articulation section, an end effector, and a rigidizing member. The shaft extends distally from the body assembly and defines a longitudinal axis. The acoustic waveguide includes a flexible portion. The articulation section is coupled with the shaft. A portion of the articulation section encompasses the flexible portion of the waveguide. The articulation section includes a first member and a second member. The second member is longitudinally translatable relative to the first member. The end effector includes an ultrasonic blade in acoustic communication with the waveguide. The rigidizing member is configured to selectively engage at least a portion of the articulation section to thereby selectively provide rigidity to the articulation section.

An ultrasonic surgical instrument and method of deflecting an end effector includes the end effector having an ultrasonic blade, a shaft assembly defining a longitudinal axis, and a body assembly. The shaft assembly has an articulation section configured to articulate from a straight configuration to an articulated configuration and an acoustic waveguide with a flexible waveguide portion positioned within the articulation section. The body assembly proximally extends from the shaft assembly and includes a housing and a shiftable transducer. The shiftable transducer is secured to the acoustic waveguide and configured to generate an ultrasonic energy. In addition, the shiftable transducer assembly is movably mounted relative to the housing and configured to accommodate deflection of the end effector.

An ultrasonic instrument includes a body, an actuation assembly, a shaft assembly, and an end effector. The actuation assembly includes a mode selection member and an activation member. The shaft assembly extends distally from the body. The shaft assembly includes an acoustic waveguide. The end effector includes an ultrasonic blade. The ultrasonic blade is in acoustic communication with the acoustic waveguide. The end effector is configured to be activated in a first activation mode in response to actuation of the activation member when the mode selection member is in a first position. The end effector is configured to be activated in a second activation mode in response to actuation of the activation member when the mode selection member is in a second position.