A robotic system includes an electrosurgical instrument having an instrument housing with a shaft and first and second jaw members attached thereto movable to grasp tissue. An input is coupled to a jaw drive rod and is configured to move the jaw members. A strain gauge is coupled to the jaw drive rod and is configured to measure an amount of strain thereon and communicate the amount of strain to a robotic controller. 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 includes a housing having components therein and a lever operably associated therewith such that movement of the lever relative to the housing correlates to movement of the jaw members. The components are configured to operably regulate the resistance of the lever in response to the amount of strain from the strain gauge.

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.

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.

Systems and methods for effecting bariatric procedures are disclosed. Each system includes an instrument, a control valve and, optionally, a suction controller. The instrument is in the form of an elongated, flexible member having a distal end portion arranged for anchoring the instrument in the patient's stomach and for enabling fluids to be removed from the patient's stomach. Suction is applied to the patient's stomach by the distal end portion of the instrument to drain gastric fluids and to bring adjacent portions of the patient's stomach into engagement with the instrument to provide a visually perceptible delineation line along which a portion of the stomach may be resected, sealed and tested.

A vapor delivery system is provided that may include any of a number of features. One feature of the vapor delivery system is that it can apply condensable vapor energy to tissue, such as a prostrate, to shrink, damage, or denature the prostate. In some embodiments, the vapor delivery system can include safety features including prostate capsule detection, needle tracking, and treatment tracking. Methods for safe and effective treatment of prostate tissues are presented.

The disclosure provides for an isovolumetric pump system for the removal of a thrombus and a method of use thereof. The isovolumetric pump system includes at least one inflow container connected to an output of the treatment region, at least one outflow container connected to an input of the treatment region, and a drawbar connecting the inflow container and the outflow container. As the drawbar is drawn back, the same quantity of fluid is drawn from the treatment region into the inflow container and injected into the treatment region from the outflow container.

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 surgical instrument includes a shaft assembly, an end effector, a driving assembly, at least one motor, and a motor controller. The at least one motor is configured to actuate the driving assembly to deploy staples. The motor controller is in communication with the motor. The motor controller is configured to determine whether values of first and second trigger variables exceed predetermined thresholds. The motor controller is configured to modify at least one motor control parameter in response to determining that the values of the first and second trigger variables exceed the predetermined thresholds. The motor control parameters include a motion profile instituted by the motor controller for the motor, a waiting period during which power to the motor is reduced or stopped, or the predetermined threshold relating to current or force for proximal retraction to be different from the predetermined threshold relating to current or force for distal advancement.

Embodiments directed to an apparatus and system of monitoring an instrument with a working tool engaged thereby. In one aspect, an embodiment including a working tool with a machine readable indicium indicative of a working tool attribute. The working tool may be receivable by an instrument such that a corresponding machine readable indicia reader receives an identifier of the working tool. Various attributes and conditions in relation to the instrument and working tool received thereby may be identified to facilitate the provisioning of a response to prompt various corrective actions. In this regard, a controller may provide an output in response to a received identifier of a working tool and an identified instrument operating condition.