Clip applier tool for use with a robotic surgical system

A clip applier tool for use with a robotic surgical system is disclosed. The clip applier tool comprises a housing, a shaft, an end effector, a firing chamber, a replaceable clip magazine, an articulation joint, an articulation drive configured to articulate the end effector, a rotation drive configured to rotate the shaft, and a firing drive. The housing comprises an interface for attachment to the robotic surgical system. The interface comprises rotatable inputs. The end effector comprises a crimping chamber. The replaceable clip magazine comprises a storage chamber, clips removably positioned in the storage chamber, and a biasing member configured to sequentially bias the clips from the storage chamber into the firing chamber. The firing drive is configured to advance a clip positioned in the firing chamber into the crimping chamber. The articulation drive, the rotation drive, and the firing drive are each operably coupled to different rotatable inputs.

Surgical instrument systems comprising an articulatable end effector and means for adjusting the firing stroke of a firing member

A surgical instrument is disclosed. The surgical instrument can include an end effector, comprising an anvil and a staple cartridge. The surgical instrument can further include a shaft defining a longitudinal axis. The surgical instrument can also include an articulation joint, wherein the end effector is rotatably connected to the shaft about the articulation joint between an unarticulated position and at least one articulated position. The surgical instrument can include means for adjusting the length of a firing stroke as a function of the degree in which the end effector is articulated relative to the longitudinal axis. The surgical instrument can include a sensor configured to defect shifting of lateral portions of a flexible firing bar that extends through the articulation joint. Additionally or alternatively, the surgical instrument can include a relief feature configured to accommodate shifting of lateral portions of a flexible firing bar.

Staple cartridge comprising an absorbable adjunct

A staple cartridge comprising a cartridge body, a plurality of staples, and an absorbable adjunct releasably secured to the cartridge body is disclosed. A plurality of staple cavities are defined in the cartridge body and the plurality of staples are removably positioned in the staple cavities. The absorbable adjunct comprises a first zone comprising a tissue-supporting surface, a second zone comprising a cartridge body contacting surface, and an intermediate zone position between the first zone and the second zone. The first zone comprises a first compressibility and the second zone comprises a second compressibility that is less than the first compressibility. The intermediate zone comprises a third compressibility greater than the first compressibility.

Surgical end effector

A surgical end effector comprising a first jaw and a second jaw is disclosed. The first jaw comprises a staple cartridge including a plurality of staples. The second jaw comprises an anvil comprising an anvil surface and a plurality of staple-forming pockets defined in the anvil surface. The second jaw is movable relative to the first jaw. The second jaw comprises an unclamped position, a first clamped position, and a second clamped position. The first clamped position is different than the second clamped position. The anvil surface is in contact with the staple cartridge when the second jaw is in the first clamped position. The staples are configured to be formed against the staple-forming pockets when the second jaw is in the second clamped position. The anvil surface and the staple cartridge are not in contact with each other when the second jaw is in the second clamped position.

Drive arrangements for articulatable surgical instruments

A shaft assembly for a surgical instrument that includes a movable drive member. In at least one form, the surgical instrument includes a spine assembly that is couplable to the surgical instrument and has a surgical end effector coupled thereto by an articulation joint. The shaft assembly in one form includes a proximal firing member and an intermediate firing member that is coupled to a distal firing member. The distal firing member is configured for selective travel through the surgical end effector. At least one articulation driver is coupled to the surgical end effector to apply articulation motions thereto. A clutch assembly interfaces with the primary and intermediate firing members and the articulation driver such that when in an articulation orientation, movement of the drive member results in movement of the articulation driver and when in a firing orientation, movement of the drive member results in movement of the intermediate and distal firing members. A separate articulation motor may be employed to actuate the articulation driver.

Surgical stapling system

A surgical stapling system comprising a robotic interface and a surgical stapling attachment assembly configured to be attached to the robotic interface is disclosed. The robotic interface comprises motor-driven output drives. The surgical stapling attachment assembly comprises a closure member configured to be actuated by one of the motor-driven output drives, a firing bar configured to be actuated by another one of the motor-driven output drives, an end effector, and a shaft comprising an articulation joint. The end effector comprises a first jaw, a second jaw, and a pivot pin coupling the first jaw and the second jaw and defining a pivot axis. The closure member is actuatable through a closure stroke to move the second jaw relative to the first jaw.

Interlock and surgical instrument including same

A surgical instrument is disclosed. The instrument includes an end effector comprising a moveable cutting instrument to cut an object and a motor coupled to the end effector. The motor actuates the cutting instrument in response to a current therethrough, causing the cutting instrument to move between a proximal-most position and a distal-most position. The instrument includes an interlock coupled to the end effector and to the motor to prevent actuation of the cutting instrument based on the current through the motor.

Interlock and surgical instrument including same

A robotic surgical system comprising a surgical robot, a surgical instrument, a motor, and a current sensor is disclosed. The surgical instrument comprises an end effector, a firing assembly, and a lockout mechanism. The firing assembly comprises a firing member movable from an unfired position to a fired position during a firing stroke and a sled movable from a proximal position to a distal position. The lockout mechanism is configured to prevent the firing stroke when the sled is not in the proximal position. The motor is operably coupled with the firing member and couplable with a supply of current. When the current through the motor exceeds a threshold value the firing member is prevented from completing the firing stroke. The threshold value corresponds to the current through the motor when the lockout mechanism is activated. The motor is de-energized when the current through the motor exceeds the threshold value.

Surgical instrument assembly including an end effector configurable in different positions

A surgical instrument assembly comprising a handle, a shaft, and an end effector is disclosed. The end effector comprises a first iaw comprising a tissue-supporting surface defining a plurality of staple cavities defined therein, a second iaw movable relative to the first jaw, a proximal pin coupling the first and second jaws, a first slot configured to receive the proximal pin, a distal pin coupling the jaw and second jaws, and a second slot configured to receive the distal pin. The proximal pin is movable vertically within the first slot. The distal pin is actuatable within the second slot between a first position where the second jaw is in an open position, a second position where the second jaw is in a clamped position, and a third position where the second jaw is in a fully closed position and the second iaw is in contact with the tissue-supporting surface.

System and method for synthetic interaction with user and devices

Systems and methods for conducting automated synthetic interactions with a user, such as a patient at home following a medical procedure. A digital coach having a processor and memory initiates a session with a user's interactive device, and presents pre-recorded scripts as video and/or audio through the interactive device. The user's responses are received by the digital coach through the interactive device. Peripheral devices, such as medical devices, may be used by the user or controlled by the digital coach to obtain data measurements regarding the physiological condition of the user. The processor of the digital coach analyzes the data from the user responses and devices, and semantically interprets the responses and data to determine the next action and script to present the user in the session. The digital coach provides a conversational, dynamic, adaptive session with a user based on semantically expanded interpretations of data by the processor.