Various embodiments of devices and systems comprising a polymer driveshaft for use in high-speed rotational medical procedures, e.g., atherectomy, are disclosed. Generally, the primary driveshaft for transferring torque and activating rotation of a tool attached thereto, e.g., an abrasive element, is constructed with at least a polymer outer and inner surface. In certain embodiments, the polymer driveshaft may comprise a metallic band for fixed attachment of a structure, e.g., an abrasive element, thereto. Various embodiments may comprise a coupler that connects a drive shaft connected with a prime mover, e.g., a turbine or electric motor, with the polymer drive shaft, the coupler comprising openings through the coupler wall to the inner diameter of the coupler to allow fluid flow to the inner diameter of the coupled polymer drive shaft.

A method of controlling the temperature of an ultrasonic blade between two temperature set points includes applying a first power level to an ultrasonic transducer to set an ultrasonic blade temperature to a first target temperature T1, monitoring a phase angle φ between voltage V.sub.g(t) and current I.sub.g(t) signals applied to the transducer, inferring the temperature of the blade based on the phase angle φ, determining that a transection process is complete, and applying a second power level to the transducer to set the blade temperature to a second target temperature T2. The transducer may be coupled to the blade via an ultrasonic waveguide. The first target temperature may be optimized for vessel sealing and the second target temperature may be optimized for clamp arm pad life. The control circuit may determine that transection is complete by determining that the ultrasonic blade contacts the clamp arm pad.

A sterile interface module includes a body member that couples a surgical instrument to a robotic surgical assembly, a first drive transfer assembly supported by the body member, and a rotatable collar supported on the body member. The first drive transfer assembly includes a drive coupler and a transfer shaft extending from the drive coupler. The drive coupler is engagable with the robotic surgical assembly and the transfer shaft is engagable with the surgical instrument. The drive coupler and the transfer assembly are robotically movable to operate an end effector of the surgical instrument. The rotatable collar is operably associated with the first drive transfer assembly and is manually movable relative to the body member to manually operate the end effector of the surgical instrument.

Embodiments of the present disclosure are directed to systems, devices, and methods of inducing physical effects in tissue, such as dermis, adipose, musculoskeletal, vascular, hepatic tissue, using unfocused or planar, non-cavitating acoustic shock waves. The physical effects include disruption of fibrous extracellular matrix of the targeted tissues. Embodiments of the present disclosure include applying rapid acoustic pulses (e.g., shock waves) to cause a breakdown in the fibrous extracellular matrix to reduce the appearance of cellulite or scars in a treatment area. Such unfocused or planar, non-cavitating acoustic shock waves may induce a tissue reaction, such as reduction of fibrosis, induction of angiogenesis, or lymphangiogenesis.

An ultrasonic device may include an electromechanical ultrasonic system having a resonant frequency, the system including a transducer coupled to an ultrasonic blade. A method of driving the blade may include determining a tissue type contacting the blade, setting current delivered to the transducer to achieve a desired blade temperature, and setting a desired period during which the desired temperature is applied to the tissue. The tissue type may be determined by measuring an impedance of the transducer, comparing an impedance measurement data point to a reference data point, and classifying the impedance measurement data point based on a result of the comparison. Alternatively, the tissue type may be determined by applying a drive signal to the transducer, sweeping the frequency of the drive signal from below to above a resonance of the ultrasonic system, measuring and recording impedance/admittance variables, and comparing the measured variables to reference variables.

A method of determining an initial temperature of an ultrasonic blade may include measuring a resonant frequency of an ultrasonic blade prior to activating an ultrasonic transducer, in which the ultrasonic transducer is coupled to the blade via an ultrasonic waveguide, comparing the measured resonant frequency to a baseline resonant frequency, determining an initial temperature of the ultrasonic blade based on a difference between the measured resonant frequency and the baseline resonant frequency, and applying a power level to the blade based on the initial temperature of the blade. The method may further include applying a high power level to the transducer when the initial temperature of the ultrasonic blade is low or applying a low power level to the transducer when the initial temperature of the blade is high. The baseline resonant frequency may be stored in a memory look up table.

A method of determining instability of an ultrasonic blade includes monitoring a phase angle φ between voltage Vg(t) and current Ig(t) signals applied to an ultrasonic transducer, coupled to an ultrasonic blade via an ultrasonic waveguide, inferring the blade temperature based on the phase angle φ, comparing the inferred temperature to an ultrasonic blade instability trigger point threshold, and adjusting a power level applied to the ultrasonic transducer to modulate the temperature of the blade. The method may also include determining a frequency/temperature relationship of an ultrasonic blade that exhibits a displacement or modal instability and compensating for a thermal induced instability of the ultrasonic blade. The method may be implemented in an ultrasonic surgical instrument or by a control circuit in a power generator for the ultrasonic surgical instrument.

A robotic surgical system includes a robotic arm, a carriage coupled to the robotic arm, a drive belt, and a motor supported by the carriage. The carriage rotatably supports an instrument rotation pulley and a motor axis pulley. The drive belt is coupled to the instrument rotation pulley and the motor axis pulley. The motor includes a coupling that is driven by the motor upon an actuation of the motor. The coupling is engaged with the motor axis pulley such that rotation of the motor axis pulley rotates the drive belt to rotate the instrument rotation pulley.

A radio frequency (RF) instrument may include a method of classifying a tissue in live time. The method may include activating the instrument for a first period of time T1 when the RF instrument contacts the tissue, plotting at least three electrical parameters associated with the tissue to classify the tissue into distinct groups, and applying a classification algorithm to classify the tissue into a distinct group in live time. The parameters may include an initial impedance of the tissue, a minimum impedance of the tissue, and an amount of time that the impedance slope is ˜0. The instrument may collect the parameters during a predetermined amount of time, such as within the first 0.75 seconds of the activation of the device. The classification algorithm may include a support vector machine algorithm that may use a linear, polynomial, or radial basis set.

A method of manufacturing a surgical instrument that includes an energized feature operable to apply ultrasonic energy or RF energy to tissue. The method includes forming at least one of a microscopic surface pattern or a nanoscopic surface roughness into a base surface of the energized feature to produce at least one recessed portion. The method also includes applying a hydrophobic coating that includes at least one of silicone, titanium nitride, chromium nitride, or titanium aluminum nitride to at least the recessed portion of the energized feature after forming at least one of the microscopic surface pattern or the nanoscopic surface roughness.