633 results about "Robot end effector" patented technology

An articulating surgical instrument is shown, which comprises a shaft and an end effector. The shaft has a longitudinal axis, and the end effector is operationally coupled, preferably mechanically coupled, to the shaft at an articulation pivot. The instrument also comprises a first band, and in some embodiments, a second band, each operationally connected to the end effector and extending through at least a portion of the shaft. An articulation control applies a force in a direction substantially transverse to the longitudinal axis, wherein the force, when applied in one direction, is translated through the first band to the end effector to effect rotation of the end effector relative to the shaft about the articulation pivot in a first rotational direction, and when the force is applied in the opposite direction, is translated through the second band to the end effector to effect rotation of the end effector relative to the shaft about the articulation pivot in a second rotational direction.

A surgical instrument including a shaft assembly and an end effector, where the end effector can be moved relative to the shaft assembly. The shaft assembly can include a lock member selectively engageable with the end effector to limit, or prevent, relative movement therebetween. In at least one embodiment, the end effector can include a lock member having a plurality of teeth and / or a plurality of recesses, where the shaft assembly lock member can engage the teeth and / or recesses to fix the relative position between the end effector and shaft assembly. In various embodiments, the teeth can be positioned between first and second surfaces of the end effector lock member to reduce the possibility that the teeth can impinge on soft tissue surrounding the lock member. In other embodiments, the teeth can be beveled in order to allow the teeth to slide relative to the soft tissue.

An end effector for a surgical stapler. Various embodiments include a channel configured to operably support a staple cartridge therein. A first tip portion is attached to or formed on a distal end of one of the channel and staple cartridge wherein the first tip portion may have a first upwardly extending curved outer surface. An anvil is movably coupled to the channel and is selectively movable between open and closed positions relative to the staple cartridge in response to opening and closing motions applied to the anvil. A second tip portion is attached to or formed on a distal end thereof. The second tip portion may have a second downwardly extending curved surface such that when the anvil is in the closed position, the second tip portion cooperates with the first tip portion to define a blunt end effector nose. In various embodiments, the end effector nose has a substantially paraboloid outer surface.

A surgical instrument is adapted for applying a plurality of surgical fasteners to body tissue. The surgical instrument includes a frame having a proximal end and a distal end, with a handle positioned at the proximal end and an end effector positioned at the distal end. The end effector is shaped and dimensioned for supporting a cartridge housing and an anvil, the cartridge housing and anvil being relatively movable by actuation of a closure mechanism. The surgical instrument further includes a firing mechanism associated with the end effector and the cartridge housing for selective actuation of the surgical fasteners features. The surgical instrument also includes a retaining pin for enclosing tissue between the anvil and the cartridge housing. The retaining pin is moved by actuation of the closure mechanism from an open first position to a closed second position. A manual actuator is associated with the retaining pin for moving from the second position back to the first position and alternatively moving the retaining pin from the first position to the second position.

A surgical instrument including a handle assembly, a first endoscopic portion, a motor, and a first end effector is disclosed. The first endoscopic portion is selectively connectable to a distal portion of the handle assembly and defines a longitudinal axis. The first endoscopic portion includes a housing adjacent its proximal portion and includes an actuation member. The motor is disposed in mechanical cooperation with the housing of the first endoscopic portion and is operatively connected to the actuation member for moving the actuation member substantially along the longitudinal axis. The first end effector is selectively connectable to a distal portion of the first endoscopic portion and is configured to perform a first stapling function.

A surgical buttress includes a body portion and a band disposed on each of the distal and proximal ends thereof. The surgical buttress is configured to attach to an end effector of a surgical stapling apparatus. The body portion, having perforations disposed thereon, overlies the working surface of one of the first or second jaws of the end effector. A resilient portion extends transversely beyond the side edges of the first or second jaws. Each band remains attached to the end effector following the firing thereof. The proximal band is removably attachable to a hook feature disposed on one of the first or second jaws of the end effector. The surgical buttress can be made from suitable degradable or non-degradable materials. One embodiment contemplates a detachable and disposable single use loading unit. A method of attaching the surgical buttress to a surgical apparatus is also envisioned.

A surgical stapler having a selectively bendable end effector is provided. A staple holding jaw of the end effector is coupled to another jaw for grasping tissue to be stapled. The stapler can adapted to drive staples into tissue having a pattern conforming with the selected shape of the end effector. In particular, the end effector can be adapted to drive staples in a linear pattern when the end effector orients staples in a substantially linear configuration. The end effector can also be adapted to drive staples in a non linear pattern when the end effector orients staples in a non linear configuration. Methods of stapling tissue with a stapler having a bendable end effector are also discussed.

A rotating surgical stapler having a proximal end and a distal end includes a handle at the proximal end and an end effector at the distal end for selective rotation to improve access to tissue requiring treatment and ease of use of the present linear surgical stapler. A support shaft connects the handle to the end effector and includes a longitudinal axis. The end effector is coupled to the support shaft for rotation about a longitudinal axis of the stapler.

A surgical instrument is adapted for stapling tissue in a highly controlled manner. The surgical instrument includes a frame having a proximal end and a distal end, with a handle positioned at the proximal end and an end effector positioned at the distal end. The end effector is shaped and dimensioned for selectively receiving a cartridge module containing a plurality of surgical fasteners. A firing mechanism is associated with the end effector and the cartridge module for selective actuation of the surgical fasteners. The cartridge module includes a cartridge housing in which the surgical fasteners are housed and an anvil shaped and dimensioned for engagement with the surgical fasteners to facilitate stapling. The cartridge housing and anvil are relatively movable between a first spaced apart position and a second position in close approximation with one another. A retainer is removeably positioned between the anvil and the cartridge housing to prevent undesired movement of the cartridge housing toward the anvil.

An articulating surgical stapler having a proximal end and a distal end includes a handle at the proximal end and an end effector at the distal end for selective articulation to improve access to tissue requiring treatment and ease of use of the present linear surgical stapler. A support shaft connects the handle to the end effector. An articulation mechanism is positioned between the support shaft and the end effector permitting selective movement of the end effector relative to the support shaft.

A robotic apparatus has eight actuators (M0-M7) and a linkage (LINK 0-LINK 5) that actuates an end effector. Three serial macro freedoms have large ranges of motion and inertias. Four serial micro freedoms have small ranges of motion and inertias. Translation of the end effector in an y direction is actuated by at least one micro joint and at least one macro joint. The apparatus can be part of a master and slave combination, providing force feedback without any explicit force sensors. The slave is controlled with an Inverse Jacobian controller, and the mater with a Jacobian Transpose controller. A slave having more degrees of freedom (DOFs) than the master can be controlled. A removable effector unit actuates its DOFs with cables. Beating heart surgery can be accomplished by commanding the slave to move with a beating heart and cancelling out any such motion in the motions perceived by the master.

Robotic, telerobotic, and / or telesurgical devices, systems, and methods take advantage of robotic structures and data to calculate changes in the focus of an image capture device in response to movement of the image capture device, a robotic end effector, or the like. As the size of an image of an object shown in the display device varies with changes in a separation distance between that object and the image capture device used to capture the image, a scale factor between a movement command input may be changed in response to moving an input device or a corresponding master / slave robotic movement command of the system. This may enhance the perceived correlation between the input commands and the robotic movements as they appear in the image presented to the system operator.

In various embodiments, an anvil of a disposable loading unit including a first member having staple pockets for deforming staples, a first cover plate secured to the first member, and a second cover plate secured to at least one of the first member and the first cover plate, wherein the first and second cover plates can be configured to support the first member. In at least one embodiment, an anvil can include a first member inserted into a second member, where at least one of the first and second members can be deformed to retain one to the other. In various embodiments, a surgical stapling instrument can include a disposable loading unit comprising a staple cartridge, an anvil, and a sleeve, wherein the sleeve can be configured to be slid relative to the staple cartridge and the anvil to hold the anvil in a closed position.

A surgical retrieval apparatus includes an elongate tubular member having a drive rod slidably disposed therein. A support member is operably coupled to a distal end of the drive rod. A pouch is attached to the support member and has a closed end and an open end. The pouch may be releasably coupled to the support member. An end effector is repositionable with respect to a longitudinal axis of the tubular member. The support member may include an expandable member.

A surgical instrument including a housing, an endoscopic portion, a drive motor, a drive tube, a firing rod and an end effector is disclosed. The endoscopic portion extends distally from the housing and defines a first longitudinal axis. The drive motor is disposed at least partially within the housing. The drive tube is disposed in mechanical cooperation with the drive motor and is rotatable about a drive tube axis extending through the drive tube. The firing rod is disposed in mechanical cooperation with the drive tube and at least a portion of the firing rod is translatable with respect to the drive tube. The end effector is disposed adjacent a distal portion of the endoscopic portion and is in mechanical cooperation with the firing rod so that the firing rod drives a surgical function of the end effector.

A surgical instrument including a handle assembly, a first endoscopic portion, a motor, and a first end effector is disclosed. The first endoscopic portion is selectively connectable to a distal portion of the handle assembly and defines a longitudinal axis. The first endoscopic portion includes a housing adjacent its proximal portion and includes an actuation member. The motor is disposed in mechanical cooperation with the housing of the first endoscopic portion and is operatively connected to the actuation member for moving the actuation member substantially along the longitudinal axis. The first end effector is selectively connectable to a distal portion of the first endoscopic portion and is configured to perform a first stapling function.

A surgical instrument is disclosed. The surgical instrument has an end effector and a trigger in communication with the end effector. The surgical instrument also has a built-in memory system for recording the instrument condition during a use process. The recording system comprises: a first sensor located on or inside the instrument and an externally accessible built-in memory device in communication with the first sensor. The first sensor has an output that represents a first condition of either the trigger or the end effector. The memory device is configured to record the output of the first sensor. In various embodiments, memory device may include an output port and / or a removable storage medium.

Enhanced telepresence and telesurgery systems automatically update coordinate transformations so as to retain alignment between movement of an input device and movement of an end effector as displayed adjacent the input device. A processor maps a controller workspace with an end effector workspace, and effects movement of the end effector in response to the movement of the input device. This allows the use of kinematically dissimilar master and slave linkages. Gripping an input member near a gimbal point and appropriate input member to end effector mapping points enhance the operator's control. Dexterity is enhanced by accurately tracking orientational and / or angles of movement, even if linear movement distances of the end effector do not correspond to those of the input device.

Methods and devices are provided for performing minimally invasive surgical procedures. In one embodiment, a surgical device is provided that includes an elongate shaft having an end effector at a distal end thereof. The end effector can be configured to be movable between a first configuration in which the end effector is longitudinally aligned with or linear relative to the shaft and a second configuration in which the end effector is articulated at an angle beyond 45 degrees relative to the shaft. With the end effector in the first configuration or in the second configuration, the device can be configured to allow selective actuation of the end effector.