An apparatus includes a shaft assembly, an end effector, and a drive member visualization assembly. The end effector includes a first jaw, a second jaw, a staple cartridge, and a drive member capable of actuating along a firing stroke to fire a plurality of staples out of the staple cartridge or to sever tissue. The drive member visualization assembly provides an electronic indication linked to a physical location of the drive member within the upper jaw and the lower jaw during the firing stroke.

A surgical instrument includes a body, a shaft assembly, an end effector, a stapling assembly, and a restriction feature. The shaft assembly extends distally from the body. The end effector being on a distal end of the shaft assembly and incudes a first second jaw. The stapling assembly is supported by one of the first jaw or the second jaw. The stapling assembly includes a wedge sled. The wedge sled is configured to move relative to the one of the first jaw or the second jaw to drive movement of one or more staples. The restriction feature is configured to releasably hold the wedge sled in a predetermined position within the stapling assembly while the stapling assembly is in a pre-fired configuration. At least a portion of the restriction feature is configured to respond to movement of the edge sled to release the restriction feature from the wedge sled.

A robotic surgical system in which the system applies a scaling factor between user input from a user input device and corresponding movements of the robotic manipulator. Scaling factors may be applied or adjusted based on detected conditions such as the type of instrument being manipulated, detected distance between multiple instruments being manipulated, user biometric parameters.

A robotic system includes an instrument including an elongate shaft, a robotic manipulator configured to manipulate the elongate shaft of the instrument, and control circuitry communicatively coupled to the robotic manipulator and configured to determine a first estimated position of at least a portion of the elongate shaft of the instrument based at least in part on robotic command data, determine a second estimated position of the at least a portion of the elongate shaft of the instrument based at least in part on position sensor data, compare the first estimated position and the second estimated position, and generate a third estimated position based at least in part on the comparison of the first estimated position to the second estimated position.

A method of operating a robotically controlled surgical instrument that includes an end effector, a driving assembly, and a lockout, the method includes inhibiting actuation of the driving assembly when the lockout is in a locked configuration in response to an unspent staple cartridge being absent from a first jaw of the end effector. The method also includes inserting the unspent staple cartridge into the first jaw of the end effector to switch the lockout to an unlocked configuration. The method also includes actuating the driving assembly to pivot the first jaw, which includes the staple cartridge, toward a second jaw of the end effector to at least one of staple or cut tissue with the end effector when the lockout is in the unlocked configuration.

Provided are systems and methods for registration of location sensors. In one aspect, a system includes an instrument and a processor configured to provide a first set of commands to drive the instrument along a first branch of the luminal network, the first branch being outside a path to a target within a model. The processor is also configured to track a set of one or more registration parameters during the driving of the instrument along the first branch and determine that the set of registration parameters satisfy a registration criterion. The processor is further configured to determine a registration between a location sensor coordinate system and a model coordinate system based on location data received from a set of location sensors during the driving of the instrument along the first branch and a second branch.

A surgical apparatus system for minimally invasive surgery (MIS) which includes a wrist assembly. The wrist assembly includes a first jaw, a first actuation hub, and a cable redirecting hub operably coupled to the first actuation hub, a second jaw, a second actuation hub, a housing for the first and second jaws, a first cable, a second cable, a third cable, rotational position sensors, and a control system. The first and second jaws of the wrist assembly are movably opposed, and the cables are configured such that applying tensions upon them cables produces rotation about a jaw axis. The wrist assembly may further include a hinge-rotary assembly to configured to provide rotation about a pitch axis and/or a roll axis. The wrist assembly may further include a fourth cable configured such that applying tensions upon the fourth cable and the opposing cable produces rotation about a pitch axis.

Provided is a robotic system that includes a surgical instrument with a wrist including an elongate shaft extending between a proximal end and a distal end, a wrist extending from the distal end of the elongate shaft, and an end effector extending from the wrist. The end effector may include a first jaw and a second jaw, the first and second jaw being moveable between an open position in which ends of the jaws are separated from each other, and a closed position in which the ends of the jaws are closer to each other as compared to the open position. The surgical instrument may also include at least one rotary cutter extending from the wrist and positioned at least partially within a recess formed in a face of the first jaw.

A conformational state of a medical device operated within a body lumen is determined by measuring, using the medical device as an electrode, an electrical parameter which varies in a correspondence with a conformational state (e.g., deployment state) of the portion of the medical device used as the electrode. The conformational state of the medical device is determined, based on the electrical parameter; and an image is presented indicating the determined conformational state. In some embodiments, the electrical parameter is a self-impedance of the portion of the medical device used as the electrode. In some embodiments, current positioning of the medical device is used as part of calibrating a parametric relationship between the electrical parameter and conformational states of the medical device.

A medical holding apparatus includes: a support including a plurality of arms, and a plurality of joints configured to connect the plurality of arms, the support being configured to support an imaging unit at a distal end thereof; a load applying mechanism arranged in at least one of the joints and configured to apply a resistance load against operation of the at least one of the joints to the support; and a processor comprising hardware, the processor being configured to: set torque to be applied by the load applying mechanism based on an operating state of the imaging unit; and apply a load corresponding to the set torque to the load applying mechanism when a rotation inhibit state of each of the arms of the support is released.