Ethicon, Gmbh

Cilag International Gmbh

Cara Shapiro

Jeffrey David Messerly

Ryan M Asher

Benjamin D Dickerson

William Bruce Weisenburgh, Ii

Barry C Worrell

Richard William Timm

Gregory W Johnson

Craig N Faller

Jacob Spencer Gee

John B Schulte

Kristen G Denzinger

David James Cagle

Tylor C Muhlenkamp

David Alexander Monroe

Joseph E Hollo

Jason R Sullivan

Jeffrey S Swayze

Charles J Scheib

John A Hibner

Foster B Stulen

Matthew C Miller

Geoffrey S Strobl

Daniel J Mumaw

Rudolph Henry Nobis

David T Martin

Katherine J Schmid

Brian D Black

Stephen M Leuck

Michael R Lamping

Disha V Labhasetwar

Frederick L Estera

Benjamin J Danziger

William A Olson

Eric W Thompson

Kristen L Pirozzi

Frederick E Shelton, IV

Jason L Harris

David C Yates

Kevin D Felder

Stephen J Balek

Joshua D Young

Cortney E Henderson

Kristen L D'Uva

Methods and devices are provided for supporting an elongate shaft on a surgical tool during robotic surgery. For example, a tool holder is provided with an elongate carrier arm configured to couple to a distal end of a surgical robotic arm. The tool holder has a housing that is removably mounted on the carrier arm and that is configured to be positioned adjacent to a tissue surface without extending into tissue. The tool holder thus simulates a trocar. The housing has an opening formed therethrough for receiving an elongate shaft of a surgical tool, and the opening has an inner diameter that is configured to dynamically adjust in size to adapt to and resist movement of elongate shafts of varying diameters inserted therethrough.

Trocar simulation

An apparatus comprises a body assembly, a shaft, an acoustic waveguide, an articulation section, an end effector, and an articulation drive assembly. The shaft extends distally from the body assembly and defines a longitudinal axis. The acoustic waveguide comprises a flexible portion. The articulation section is coupled with the shaft. A portion of the articulation section encompasses the flexible portion of the waveguide. The articulation section comprises a plurality of body portions aligned along the longitudinal axis and a flexible locking member. The flexible locking member is operable to secure the body portions in relation to each other and in relation to the shaft. The end effector comprises an ultrasonic blade in acoustic communication with the waveguide. The articulation drive assembly is operable to drive articulation of the articulation section to thereby deflect the end effector from the longitudinal axis.

Method of operating an articulating ultrasonic surgical instrument

Surgical systems and methods are provided for controlling actuation and movement of various surgical devices.

Electrically-powered surgical systems for cutting and welding solid organs

Trocar Simulation

A surgical apparatus comprises a body, an ultrasonic transducer, a shaft, an acoustic waveguide, an articulation section, an end effector, and an articulation lock assembly. The ultrasonic transducer is operable to convert electrical power into ultrasonic vibrations. The shaft couples the end effector and the body together. The acoustic waveguide is coupled with the transducer and includes a flexible portion. The articulation section is coupled with the shaft and encompasses the flexible portion of the waveguide. The articulation section comprises a first member and a second member. The second member is longitudinally translatable relative to the first member. The end effector comprises an ultrasonic blade in acoustic communication with the ultrasonic transducer. The articulation lock comprises a tensioning feature, which is configured to selectively apply tension to at least one of the first member and the second member of the articulation section to thereby increase rigidity in the articulation section.

Ultrasonic surgical instrument with rigidizing articulation drive members

A surgical apparatus comprises a body, an ultrasonic transducer, a shaft, an acoustic waveguide, an articulation section, an end effector, and a rigidizing member. The ultrasonic transducer is operable to convert electrical power into ultrasonic vibrations. The shaft couples the end effector and the body together. The acoustic waveguide is coupled with the transducer. The articulation section is operable to flex to thereby deflect the end effector from a longitudinal axis defined by the shaft. The rigidizing member is operable to selectively rigidize the articulation section and thereby prevent deflection of the end effector by preventing flexibility of the articulation section. Such rigidization includes removing any 'play' or other small movement that might otherwise be provided by the articulation section due to manufacturing tolerances and/or looseness between parts.

Ultrasonic surgical instrument with articulation joint having integral stiffening members

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Milford, OH, United States of America

Cara Shapiro