An apparatus includes an end effector, a motor, and a processing unit. The processing unit is configured to activate the motor to distally advance a firing member within a body of the end effector. The processing unit is further configured to detect an initiation condition. In response to detecting the initiation condition, the processing unit is configured to activate an algorithmic bumping mode. The bumping mode includes activating the motor to advance the firing member distally with a first plurality starting and stopping motions at a first rate and a first power level. The bumping mode further includes activating the motor to retract the firing member proximally with a second plurality of starting and stopping motions at a second rate and a second power level. The first rate is different than the second rate. The first power level is different than the second power level.

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 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 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.

An apparatus includes an end effector and a drive system. The drive system is configured to drive a jaw closure assembly to provide the end effector in a first closed position. The drive system is further configured to operatively disengage the jaw closure assembly and operatively engage a firing assembly, then distally advance a firing member to actuate the end effector. The drive system is further configured to detect an initiation condition; and in response to detecting the initiation condition, operatively disengage the firing assembly and operatively re-engage the jaw closure assembly. The drive system is further configured to drive the jaw closure assembly to provide the end effector in a second closed position, then operatively disengage the jaw closure assembly and operatively re-engage the firing assembly. The drive system is further configured to distally advance the firing member further within the end effector to further actuate the end effector.

Embodiments described herein provide various examples of a machine-learning-based visual-haptic system for constructing visual-haptic models for various interactions between surgical tools and tissues. In one aspect, a process for constructing a visual-haptic model is disclosed. This process can begin by receiving a set of training videos. The process then processes each training video in the set of training videos to extract one or more video segments that depict a target tool-tissue interaction from the training video, wherein the target tool-tissue interaction involves exerting a force by one or more surgical tools on a tissue. Next, for each video segment in the set of video segments, the process annotates each video image in the video segment with a set of force levels predefined for the target tool-tissue interaction. The process subsequently trains a machine-learning model using the annotated video images to obtain a trained machine-learning model for the target tool-tissue interaction.

A Robotic control system has a wand, which emits multiple narrow beams of light, which fall on a light sensor array, or with a camera, a surface, defining the wand's changing position and attitude which a computer uses to direct relative motion of robotic tools or remote processes, such as those that are controlled by a mouse, but in three dimensions and motion compensation means and means for reducing latency.

A virtual reality system providing a virtual robotic surgical environment, and methods for using the virtual reality system, are described herein. Within the virtual reality system, various user modes enable different kinds of interactions between a user and the virtual robotic surgical environment. For example, one variation of a method for facilitating navigation of a virtual robotic surgical environment includes displaying a first-person perspective view of the virtual robotic surgical environment from a first vantage point, displaying a first window view of the virtual robotic surgical environment from a second vantage point and displaying a second window view of the virtual robotic surgical environment from a third vantage point. Additionally, in response to a user input associating the first and second window views, a trajectory between the second and third vantage points can be generated sequentially linking the first and second window views.

A control system for regulating operative control of a surgical instrument by a remote surgeon input device. The surgical instrument is supported by an articulated robot arm, and comprises an end effector connected to a shaft by an articulated coupling. The remote surgeon input device is capable of operatively controlling the surgical instrument by controlling articulation of the end effector, and controlling articulation of the robot arm and coupling. On receiving a request to engage operative control of the surgical instrument by the surgeon input device, the control system initially engages operative control of articulation of the robot arm and coupling by the surgeon input device, whilst maintaining disengagement of operative control of articulation of the end effector by the surgeon input device. Subsequently, the control system engages operative control of articulation of the end effector by the surgeon input device following a manipulation of the surgeon input device.