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.

A surgical effector, a surgical tool, and a surgical robot are provided. The surgical effector includes a support part, a head part, a drive part, and a sealing member. The support part includes an inner cavity, the head part is at least partially movably arranged at a distal end of the support part, the drive part is slidably arranged in the inner cavity of the support part and is connected to a proximal end of the head part, the sealing member is connected to the drive part in a sealed manner at a first end thereof and is connected to the support part in a sealed manner at a second end thereof, and at least a part of the sealing member is deformable.

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 body, a shaft assembly, an end effector, an actuation assembly, and a bailout mechanism. 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 actuation assembly includes a pusher member configured to move relative to the end effector to drive movement of the first jaw, the second jaw, or both the first jaw and the second jaw. The bailout mechanism includes a first elongate actuation element and a second elongate actuation element. A portion of the bailout mechanism is configured to selectively apply tension to the first elongate actuation element and the second elongate actuation element to move the pusher member. The first elongate actuation element is stronger in tension than the second elongate actuation element cable.

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 robotically driven interventional device includes an elongate, flexible body, having a proximal end and a distal end; a hub on the proximal end; at least one rotatable roller on a first surface of the hub; and at least one magnet on the first surface of the hub.

The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. An example computer-implemented method for evaluating calibrations of a surgical tool includes fixating a joint of the surgical tool at a first angle, the joint being driven by an actuator, measuring an actuator position corresponding to the first angle, accessing a calibrated offset corresponding to the first angle, determining an expected joint angle based on the measured actuator position and the calibrated offset, and reporting a first difference between the expected joint angle and the first angle.

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.