Robotics tool exchange

An electromechanical robotic arm is provided having a distal end with a tool engaging member configured to mate with an electromechanical tool and a trocar holding member configured to mate with a trocar. The trocar holding member can have at least one engagement mechanism configured to engage and orient a trocar to mate the trocar to the trocar holding member in a desired orientation.

Surgical tool with a display

A surgical tool assembly is provided that is configured to be removably and replaceably attached to an electromechanical arm of a surgical robotic system that is capable of supplying electrical power to the surgical tool assembly. The tool assembly has a housing and an elongate shaft extending distally from the housing and having an end effector at a distal end thereof. The housing has a display configured to present information related to operation of the surgical tool assembly, and one or more controls. The end effector has opposed jaws that are movable between open and closed positions, and at least one of the jaws supports a removable and replaceable staple cartridge assembly. The controls are configured to accept user input comprising instructions to the surgical robotic system, including an instruction to open the jaws of the end effector, which can then be loaded with another staple cartridge assembly.

Hand manipulated endoscopic medical device

A hand manipulated endoscopic medical device is disclosed. The medical device includes a body having a proximal end, which is hand manipulated, and a distal end which includes a manipulator. A light emitting device is centrally disposed at the distal end. An imaging device is centrally disposed at the distal end for imaging at least a portion of the region illuminated by the light emitting device. Also disclosed is a tool for extracting an artificial lumbar disc from between a pair of vertebral plates. The extraction tool includes a handle, a member for transmitting force, and a sharpened end, specially configured to be placed between the artificial disc and the vertebral plate. Further disclosed is a tool for implanting or explanting a ball to or from an artificial lumbar disc. The implanter/explanter includes a pinion shaft and a pinion shaft enclosure. A tightening knob is disposed at the proximal end of the shaft enclosure and coupled to the pinion shaft. A pinion is disposed at the distal end of the pinion shaft. A grappling device is disposed at the pinion, and it includes a pair of semi-circular rings. When the pinion is rotated, the semi-circular rings move relative to one another and are capable of grasping or releasing the ball.

Robotic visualization and collision avoidance

Methods and devices are provided for robotic surgery, and in particular for controlling various motions of a tool based on visual indicators. In general, a surgical tool can include an elongate shaft and an end effector coupled to a distal end of the elongate shaft and including first and second jaws. The tool can have at least one visual indicator disposed thereon and configured to indicate a size, position, or speed of movement of the tool or components of the tool.

Modular surgical robotic tool

A robotic surgical arm includes a puck containing motors to drive an end effector. A tool assembly attached to the puck generates ultrasonic and/or radio frequency energy to apply to tissue disposed between the jaws of the end effector. The tool assembly can include modular components such as a modular shaft that can include an ultrasonic transducer, nonvolatile memory, wireless interface, and/or a power source. The power source allows the modular shaft to communicate wirelessly with the robotic arm. The tool assembly can be moved from one robotic arm to another while remaining powered by the power source. The tool assembly can include sensors to determine a location or movement of the tool assembly after being detached from the robotic surgical arm. The modular shaft can be moved from a robotic arm to a handle manually controlled by a surgeon and back again to the robotic arm.

Surgical tool with manual control of end effector jaws

A surgical tool of a robotic surgical device is provided that is configured to be removably and replaceably attached to an electromechanical arm of a surgical robotic system that is capable of supplying electrical power to the surgical tool when the tool is attached to the arm. The tool has an elongate shaft with an end effector having opposed jaws movable between open and closed positions. The tool also has a member configured to move distally and proximally within at least a portion of the end effector to open and close the jaws. An actuator disposed on the shaft is configured to be manually moved from a first position to a second position to cause the member to move proximally to thereby open the jaws when the surgical tool is in a mode in which it is not deriving electrical power from the surgical robotic system.

Robotics tool bailouts

Various surgical tools with bailout mechanisms are provided that allow direct engagement with one or more actuators to provide rapid and effective bailout (such as release, reversal, and/or retraction) of surgical tools while minimizing the amount of force and/or time to complete the bailout. Robotic surgical tools generally have a housing and an elongate tool shaft extending from the housing and having an end effector on a distal end thereof. The housing has a plurality of actuators for causing various functions of the end effector, such as rotation, articulation, clamping, firing, stapling, etc. The housing attaches to a tool driver on a robotic arm that electromechanically drives the actuators to control the end effector. A bailout mechanism can extend from the housing into the elongate shaft and directly engage the actuators to apply a force thereto to retract an actuator.

Communication system having a coupler for guiding electromagnetic waves through interstitial areas formed by a plurality of stranded uninsulated conductors and method of use

In accordance with one or more embodiments, a communication system, includes a first coupler configured to guide a first communication signal conveying first data to an interior of a cable, wherein the first coupler is further configured to generate first guided electromagnetic waves in response to the first communication signal, wherein the first guided electromagnetic waves are guided by a structure within the cable and propagate within the cable without requiring an electrical return path; wherein the cable comprises a plurality of uninsulated conductors that are stranded together, wherein the plurality of uninsulated conductors form a plurality of interstitial areas that are bounded by conductive surfaces of at least three of the plurality of uninsulated conductors, and wherein the structure comprises one of the plurality of interstitial areas.

Communication system having a cable with a plurality of stranded uninsulated conductors forming interstitial areas for propagating guided wave modes therein and methods of use

In accordance with one or more embodiments, a communication system, includes at least one launcher configured to generate first guided electromagnetic waves in response to a first communication signal conveying first data, wherein the first guided electromagnetic waves are guided by a structure within a cable and propagate within the cable via a plurality of guided wave modes without requiring an electrical return path; wherein the cable comprises a plurality of uninsulated conductors that are stranded together, wherein the plurality of uninsulated conductors form a plurality of interstitial areas that are bounded by conductive surfaces of at least three of the plurality of uninsulated conductors, and wherein the structure comprises one of the plurality of interstitial areas.

Communication cable having a plurality of uninsulated conductors forming interstitial areas for propagating electromagnetic waves therein and method of use

In accordance with one or more embodiments, a method includes: receiving, at a stranded cable, a communication signal and a medium voltage power signal; propagating, by the stranded cable, the medium voltage power signal as an electrical signal utilizing an electrical return path; and propagating, by the stranded cable and responsive to the communication signal, guided electromagnetic waves, wherein the guided electromagnetic waves are guided by an interstice between uninsulated strands of the stranded cable and propagate within the stranded cable without requiring the electrical return path.