A surgical system is provided comprising: an input device; and a controller for receiving control inputs from the input device and for providing haptic feedback at the input device, the controller configured to apply a staged transition from a first haptic feedback profile at the input device to a second haptic feedback profile at the input device.

A method of repairing a fractured humerus may include implanting a prosthetic humeral stem into a humeral canal of the fractured humerus. First and second tuberosities of the fractured humerus may be robotically machined to include first and second implant-facing surfaces that are substantially negatives of first and second surface portions of the proximal end of the prosthetic humeral stem. The first and second tuberosities may be machined so that the first and second tuberosities have first and second interlocking surfaces shaped to interlock with each other. During implantation, the first and second implant-facing surfaces are in contact with the first and second surface portions of the proximal end of the prosthetic humeral stem, and the first interlocking surface interlocks with the second interlocking surface.

A steerable catheter system may include a flexible elongate catheter body, a drive mechanism at the proximal end of the catheter body, and at least one group of pullwires extending along a length of the catheter body. The catheter body may include a distal articulating section and a proximal non-articulating section. Each group of pullwires includes at least two pullwires, and each of the pullwires is anchored at a first end to the distal end of the catheter body and at a second end to the drive mechanism. The pullwires of each group are positioned close to one another in the catheter wall to concentrate the forces and cause deflection along the articulating section of the catheter body and diverge away from one another to reach a more separated distribution around a circumference of the catheter body to distribute the forces and prevent deflection along the non-articulating section.

The present invention is relates to a user controller having a thumb sheath with an open side defined in the thumb sheath. Further embodiments relate to thumb presence sensors and sensory feedback components associated with the thumb sheath. Additional embodiments relate to an adjustable thumb sheath. Still other embodiments relate to systems comprising such user controllers.

Robotic systems and methods include a robotic manipulator and a skin incision tool to be coupled to the robotic manipulator and being configured to create an incision in skin of a patient. A skin tracker is attached to the skin of the patient to track the skin of the patient. A robotic controller controls the robotic manipulator to move the skin incision tool relative to a determined location on the skin of the patient. The robotic controller controls the robotic manipulator to constrain movement of the skin incision tool with a haptic object defined relative to the determined location to guide the skin incision tool to the determined location for making the incision in the skin.

Certain aspects relate to systems and techniques for surgical robotic arm admittance control. In one aspect, there is provided a system including a robotic arm and a processor. The processor may be configured to determine a force at a reference point on the robotic arm based on an output of a torque sensor and receive an indication of a direction of movement of the reference point. The processor may also determine that a component of the force is in the same direction as the direction of movement of the reference point, generate at least one parameter indicative of a target resistance to movement of the robotic arm, and control the motor, based on the at least one parameter, to move the robotic arm in accordance with the target resistance.

Various surgical systems are disclosed. A surgical system can include a surgical robot and a surgical hub. The surgical robot can include a control unit in signal communication with a control console and a robotic tool. The surgical hub can include a display. The surgical hub can be in signal communication with the control unit. A facility can include a plurality of surgical hubs that communicate data from the surgical robots to a primary server. To alleviate bandwidth competition among the surgical hubs, the surgical hubs can include prioritization protocols for collecting, storing, and/or communicating data to the primary server.

A surgical system includes a first surgical device comprising a control circuit. The control circuit is configured to be situationally aware of events occurring within the vicinity of the first surgical device according to data received from a database, a patient monitoring device, or a paired surgical device, or any combination of a database, patient monitoring device, or paired surgical device. The control circuit is configured to be wirelessly paired with a second surgical device according to usage of the first surgical device and the events of which the first surgical device is situationally aware.

Devices, systems, and methods of the present disclosure are directed to generating three-dimensional surface representations of an anatomic structure such as a heart cavity. More specifically, a three-dimensional surface representation of the anatomic structure is constrained relative to one or more anchor portions corresponding to received input regarding the location of anatomic features of the anatomic structure. The resulting three-dimensional surface representation includes salient features of the anatomic structure and, therefore, can be useful as visualization tool during any of various different medical procedures, including, for example, cardiac ablation.

A robotic surgical system for treating a patient is disclosed including a surgical tool movable relative to the patient and a user input device including a base and a space joint including a central portion movable relative to the base to effect a motion. The robotic surgical system further includes a control circuit configured to receive a user selection signal indicative of a selection between a first motion scaling profile of the motion of the surgical tool and a second motion scaling profile of the motion of the surgical tool, receive a motion control signal from the user input device indicative of a user input force, and cause the surgical tool to be moved in response to the motion control signal in accordance with the first motion scaling profile or the second motion scaling profile based on the user selection signal. The first motion scaling profile is different than the second motion scaling profile.