The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. An actuator or a motor of a tool driver is configured to operate a joint of a tool. One or more processors are configured to receive an initial joint command for the joint of the tool, determine a joint torque based on motor torque of the motor or actuator as well as motor to joint torque mapping, calculate a tip force based on an effective length associated with the joint and based on the joint torque, compare the tip force to a predetermined threshold, calculate an admittance control compensation term in response to the tip force exceeding the predetermined threshold, and generate a command for the motor or actuator based on the admittance control compensation term and the initial joint command.

Surgical systems and methods for use with a hand-guided tool. The surgical system includes a robotic manipulator that holds a tool guide. The tool guide receives and guides the surgical tool to enable the tool to manipulate a bone. The robotic manipulator autonomously aligns the tool guide to a target orientation relative to the bone. The tool guide is moved to an initial location adjacent to the bone while remaining aligned with the target orientation. The initial location is suitable for the tool to perform an initial manipulation of the bone. The robotic manipulator facilitates withdrawal of the tool guide away from the initial location to a spaced location after the initial manipulation of the bone while maintaining alignment of the tool guide with the target orientation at the spaced guide location. The spaced guide location is suitable for the tool to perform a further manipulation of the bone.

A sterile unit for the sterile connection of an instrument drive unit to a surgical instrument, including: a base with a circular passageway orifice having a transmission element supported to be rotatable around a rotational axis and axially movable in a direction of the rotational axis in a movement range between first and second end positions. The sterile unit also includes a first fastening mechanism connecting the sterile unit to the instrument drive unit and a second fastening mechanism connecting the sterile unit to the instrument. To improve the coupling between the sterile and instrument drive units, the transmission element has a conical region at a circumferential surface and the passageway orifice has a complementary conical region at a passageway wall. The conical regions are aligned coaxially and contact one another such that a rotation of the transmission element around the rotational axis relative to the base is blocked.

An orthopedic implant kit for tightening a set screw to a head of a pedicle screw for holding a spinal rod to the pedicle screw, the kit including a screw extender for holding the head of the pedicle screw, a set screw driver for engaging with the set screw to threadably tighten the set screw to the head of the pedicle screw, a first torque limiting mechanism for limiting a torque between the set screw driver and the screw extender to a first torque value or a first torque indication mechanism for indicating that the first torque has been reached, and a second torque limiting mechanism for limiting a torque between the set screw driver and the screw extender to a second torque value, the second torque value being higher than the first torque value.

An instrument drive unit includes a housing defining a central longitudinal axis; an inertial measurement unit disposed within the housing and configured to determine a pose of the instrument drive unit; and a controller disposed within the housing, the controller configured to receive the pose of the instrument drive unit from the inertial measurement unit and to generate a corrected output signal which compensates for the pose of the instrument drive unit.

A catheter with a distal end that rotates through the conversion of linear motion to rotational motion, thus the distal end may be rotated without longitudinally advancing or retracting the distal end. The catheter includes a tube with a single helix or a dual chirality helix cut into the tube, a distal end segment, means for linear displacement of the helix, and means for coupling the junction point of the helix to the distal segment.

A handle assembly for a structural heart catheter based delivery system comprises an actuation mechanism connectable to a delivery member and adapted to move the delivery member along a longitudinal axis, a wheel element, and a force limiting coupling unit attaching the wheel element to the actuation mechanism. The force limiting coupling unit disengages the wheel element from the actuation mechanism if a mechanical force applied to the wheel element exceeds a threshold value.

The present disclosure provides a connection mechanism of an ultrasonic scalpel and a transducer and an ultrasonic scalpel assembly using the connection mechanism of an ultrasonic scalpel and a transducer. The connection mechanism of the present disclosure includes: a tightening turntable, a rotating cap and a sleeve structure. The sleeve structure has a hollow interior and is capable of accommodating the transducer and a cable. A surface of the sleeve structure is capable of forming a detachable sealing connection with a bag and/or a protective film, so that the sleeve structure is capable of being isolated from the outside by using the bag and/or the protective film, thus the transducer is protected from contamination.

The device (10) for mounting and demounting a hollow needle (12) on or from a phaco instrument handpiece (14) comprises a housing (16) having a torque limiting and non-return coupling (34). The coupling (34) is provided with corresponding coupling release projections (58) and coupling recesses (56) on two coupling surfaces (36), (38). Said coupling surfaces (36, 38) further have corresponding non-return projections (62) and non-return recesses (60). The coupling (34) is formed by a driver element (32) and a rotary shaft (18) having a plug-on end (22) for plugging on the hollow needle (12) to be mounted and demounted, respectively.

Systems include an end effector having a first jaw and a second jaw, a motor system configured to actuate the end effector, and a processor. The processor is configured to determine a maximum tip deflection for the end effector, determine a torque limit based on the maximum tip deflection, and operate, subject to the torque limit, the end effector using the motor system. In some embodiments, the maximum tip deflection is determined based a type of staple cartridge being used by the end effector. In some embodiments, the type of staple cartridge identifies a length of staples fired by the end effector. In some embodiments, the firing of the staples is stalled when an applied torque exceeds the torque limit. In some embodiments, the processor is further configured to fire staples subject to the torque limit.