A system for controlling a robotic end-effector is disclosed. The system includes a robotic arm, a surgical tool including an end-effector with articulatable arm and a clamp jaw. A tool driver is coupled to the surgical tool and a motor is coupled to the tool driver and is configured to drive the surgical tool. A sensor is configured to sense external forces applied to the end-effector. A central control circuit is configured to control the tool driver. The central control circuit is configured to receive a sensed parameter from the sensor, receive a sensed motor current (I) from the motor, and control the tool driver based on the sensed parameter and the motor current (I).

A device for therapeutic neuromodulation in a nasal region can include, for example, a shaft and a therapeutic element at a distal portion of the shaft. The shaft can locate the distal portion intraluminally at a target site inferior to a patient's sphenopalatine foramen. The therapeutic element can include an energy delivery element configured to therapeutically modulate postganglionic parasympathetic nerves at microforamina of a palatine bone of the human patient for the treatment of rhinitis or other indications. In other embodiments, the therapeutic element can be configured to therapeutically modulate nerves that innervate the frontal, ethmoidal, sphenoidal, and maxillary sinuses for the treatment of chronic sinusitis.

Methods and systems for modulating intraosseous nerves (e.g., nerves within bone) are provided. For example, the methods and systems described herein may be used to modulate (e.g., denervate, ablate) basivertebral nerves within vertebrae. The modulation of the basivertebral nerves may facilitate treatment of chronic back pain. The modulation may be performed by a neuromodulation device (e.g., an energy delivery device).

An electrosurgical apparatus having a feed structure comprising a radiofrequency (RF) channel for conveying RF electromagnetic (EM) radiation from an RF signal generator to a probe and a microwave channel for conveying microwave EM radiation from a microwave signal generator to the probe, wherein the RF channel and microwave channel comprise physically separate signal pathways, wherein the feed structure includes a combining circuit having an input connected to the signal pathway on the RF channel, another input connected to the signal pathway on the microwave channel, and an output connected to a common signal pathway for conveying the RE EM radiation and EM radiation separately or simultaneously to the probe, and wherein the microwave channel includes a waveguide isolator connected to isolate the signal pathway on the microwave channel from the RF EM radiation.

The device comprises an outer conductor (7) and an inner conductor (9) arranged approximately coaxial with each other. The outer conductor surrounds the inner conductor. The outer conductor (7) and the inner conductor (9) are arranged and configured to generate an electromagnetic field with lines of force extending from a front surface (9A) of the inner conductor (9) to a front surface (7C) of the outer conductor (7). The device further comprises an energy delivery window (13) arranged in front of the outer conductor and the inner conductor.

A method for determining a change of temperature of an object. The method may include heating an object and measuring scattering parameters (S-parameters) of scattered microwave electric fields from the object. A distorted Born iterative method may be used to determine a change of a dielectric property of the object based on the measured S-parameters. A change of temperature of the object may be determined based on the change of the dielectric property of the object.

A microwave ablation system and method include an elongate microwave ablation probe. The probe has a radiating portion for performing microwave ablation. The probe includes a first electrode and a second electrode located along the probe body. A radiofrequency energy source is connected to the first and second electrodes. An impedance of tissue is measured using the first and second electrodes. The impedance is used to detect a change in tissue due to microwave ablation of the tissue. Therapy parameters for the microwave ablation procedure can be adjusted in response to the measured impedance. In some examples, one of the electrodes is proximal and one electrode is distal to the radiating portion.

Provided is a scissors-type medical treatment tool capable of not only local tissue fixation in an incision/cutting part but also heating on side surfaces of electrodes of a forceps/tweezers type. It has been found out that a tissue part in which tissue is nipped between blades and a tissue part which is brought into abutment against side surfaces of the blades can be heated simultaneously or sequentially by optimizing arrangement of microwave application electrodes and microwave receiver electrodes in a blade pair (in particular, by causing coagulation to be performed evenly on the left and right of the blades), and the present invention has therefore been achieved.

A microwave ablation probe includes a cable comprising an antenna configured to deliver Radio Frequency (RF) energy to a target zone and a cooling path defined by a first channel and a second channel configured to circulate cooling fluid in the probe. The inner tube also comprises a choke formed thereon configured to reduce RF energy reflected away from the antenna.

An energy-delivery device (10) includes a handle body (12), an antenna assembly (14) extending distally from the handle body (12), and a transmission line (16) configured to be detachably coupled to the antenna assembly (14).