A surgical device includes an adapter assembly including a tubular housing having a proximal end portion configured to couple to a handle assembly, and a load sensing assembly disposed with the tubular housing. The load sensing assembly is configured to measure a load exerted on the tubular housing and includes: a sensor body including a pocket defined therein; a load sensor circuit disposed within the pocket and coupled to the sensor body; a signal processing circuit disposed within the pocket and electrically coupled to the load sensor circuit; a cover defining a cavity and disposed over the pocket and enclosing the load sensor circuit and the signal processing circuit therein, the cover being coupled to the sensor body thereby forming a first hermetic seal therebetween; and a thermal management material disposed within the cavity and in contact with the load sensor circuit and the signal processing circuit.

An analyte sensor cover is disclosed comprising a sensor cover including a top side, a bottom side, and an aperture. The bottom side includes a recessed portion dimensioned to at least partially receive an in vivo analyte sensor. An adhesive component adheres to the top side of the sensor cover and at least partially to the skin of a user to retain the in vivo analyte sensor in a suitable position.

An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.

A non-invasive epidermal electrochemical sensor device includes an adhesive membrane; a flexible or stretchable substrate disposed over the adhesive membrane; and an anodic electrode assembly disposed over the flexible or stretchable substrate including an iontophoretic electrode. The device includes a cathodic electrode assembly disposed adjacent to the anodic electrode assembly over the flexible or stretchable substrate and includes an iontophoretic electrode. Either the cathodic electrode assembly or the anodic electrode assembly also includes a sensing electrode that includes a working electrode and at least one of a counter electrode or a reference electrode. The iontophoretic electrode in either the anodic electrode assembly or the cathodic electrode assembly that includes the sensing electrode is disposed on the substrate to at least partially encompass the working electrode and the at least one of the counter electrode or the reference electrode. The device includes an electrode interface assembly including independent electrically conductive contacts.

A medical imaging device, a system, and a method for generating a motion-compensated image are provided. A corresponding method as well as a computer readable storage medium having stored thereon a corresponding computer program are also provided. Image data is captured and acquired while a deformable robotic instrument is in contact with a subject to be imaged. A data processor is configured to compensate for a motion of the subject by processing the image data in dependence on time-resolved motion and/or geometry data of the robotic instrument, and/or by generating a control signal for controlling the robotic instrument to counteract the motion of the subject.

A surgical system comprises a surgical instrument having distal and proximal portions. The surgical system also comprises a reference fixture positioned in a first reference frame and a shape sensor extending from the distal portion through the proximal portion to the reference fixture. The surgical system also comprises a processor configured to perform a registration step to register the first reference frame to a fixed world reference frame. The registration step includes receiving a set of shape information of the shape sensor with a distal point of the surgical instrument located at a patient reference point. A first portion of the shape sensor is in a known geometrical shape at a fixed location along a length of the shape sensor. The registration step also includes computing a location of the patient reference point and computing a pose of the first reference frame relative to the fixed world reference frame.

An electrode assembly includes a needle and a conductive thread electrode carried in a slot on the surface of the needle. The needle pushes the thread electrode into the body and leaves it in place when the needle is removed. The needle is secured in a housing in a retracted position and moved to an extended position by a latch. In the extended position, one end of the needle remains in the housing and the other end extends from the housing. The needle is attached to a spring inside the housing and is moved by the latch against the urging of the spring to the extended position and locked in place. A protective cover is applied over the needle while extended and removed to insert the needle into the body of a patient.

A sensor bracket is provided with frame members supporting an acceleration sensor, the frame members having circular arc members holding an outer periphery of a tool of a robot in a state in which circumferential-direction gaps are defined in at least one portion of the circular arc members in a circumferential direction, and a bolt thread-screwed into the frame members so as to reduce the circumferential-direction gaps.

A sensor bracket is provided with frame members supporting an acceleration sensor, the frame members having circular arc members holding an outer periphery of a tool of a robot in a state in which circumferential-direction gaps are defined in at least one portion of the circular arc members in a circumferential direction, and a bolt thread-screwed into the frame members so as to reduce the circumferential-direction gaps.

A system comprises a first cannula comprising a proximal end and a cannula opening at the proximal end. The system further comprises a teleoperated surgical instrument, and a manually operated surgical instrument configured to be inserted into the cannula opening. The system further comprises a teleoperated manipulator, a controller, and a first position sensor coupled to the teleoperated surgical instrument, the first position sensor configured to provide a first sensor input to the controller. The system further comprises a second position sensor coupled to the manually operated surgical instrument, the second position sensor configured to provide a second sensor input to the controller, the second sensor input comprising an insertion depth of the manually operated surgical instrument into the first cannula. The system further comprises a reference fixture coupled to the first and second position sensors and to the teleoperated manipulator, the reference fixture being movable with the teleoperated manipulator.