Systems and methods related to use of a measurement system in conjunction with a powered instrument for determination of the placement of a tool portion relative to the anatomy of a patient utilizing the powered instrument. The measurement system may include a displacement sensor that indicates the relative displacement of the tool portion relative to the anatomy. The system may also include a sensor for monitoring a tool drive signal representative of a tool drive parameter that is characteristic of the tool portion acting on the anatomy. The tool drive signal may be analyzed relative to a given amount of axial displacement as measured by the displacement sensor to avoid false indications of placement based on noise and or other artifacts in the tool drive signal that may result from characteristics of the anatomy and/or operational behaviors of the surgeon utilizing the instrument.

The disclosure provides tissue force sensor systems and methods for tissues, e.g., laryngeal tissue. The systems include a top housing including on an upper side an attachment mechanism for connecting the top housing to a medical device, e.g., a laryngoscope, and on a lower side a first cavity for receiving a top portion of a force measurement device such as a load cell; a bottom housing including on a lower side an attachment mechanism for connecting the bottom housing to a handle, holding system, or suspension system for holding or supporting the medical device, and on an upper side a second cavity for receiving a bottom portion of the force measurement device; and an attachment device for connecting the top housing to the bottom housing.

Aspects of the present disclosure are directed toward systems and methods for detecting force applied to a distal tip of a medical catheter. A medical catheter includes a deformable body near a distal tip of the catheter that deforms in response to a force applied at the distal tip, and a sensor detects various components of the deflection. Processor circuitry may then, based on the detected components of the deformation, determine a force applied to the distal tip of the catheter.

A robotic surgical system comprises a surgical tool, a manipulator configured to support the surgical tool, a force/torque sensor to measure forces and torques applied to the surgical tool, and a control system. The control system obtains a three-dimensional milling path for the surgical tool. The control system also receives one or more signals from the force/torque sensor in response to a user manually applying user forces and torques to the surgical tool. The control system determines a commanded pose to which to command the manipulator to advance the surgical tool along the milling path based on a tangential component of the user forces and torques, based on a virtual simulation using virtual constraints, and/or based on other suitable factors to promote guided, manual movement of the surgical tool along the milling path.

A surgical instrument includes a housing having a shaft affixed thereto, a reciprocatable drive rod slideably disposed at least partially within the shaft, and a force applicator coupled to the drive rod. The shaft includes first and second jaw members attached to a distal end thereof, at least one of which movable relative to the other from a first position wherein the jaw members are disposed in spaced relation relative to one another to at least a second position closer to one another wherein the jaw members cooperate to grasp tissue therebetween. The force applicator and the drive rod mechanically communicate to impart movement to at least one of the jaw members. The bipolar forceps includes a handle assembly and a force-balance interface. The force-balance interface configured to translate a multiple of the user-applied force exerted on the handle assembly into the jaw members.

A surgical fastener applier having a housing containing a compartment therein, an elongated member extending distally from the housing and first and second jaws. A firing mechanism is positioned within the housing movable to a second position to effect firing of fasteners. A power pack is removably loadable into the compartment, the power pack having one or both of a) a first motor and a first engagement member removably engageable with the firing mechanism when the power pack is loaded into the compartment to effect movement of the firing mechanism; and b) a second motor and a second engagement member removably engageable with an articulating mechanism in the housing of the surgical fastener applier to effect movement of an articulation mechanism to effect articulation. One or both of a firing position and an articulation position are tracked during the surgical procedure. Sensors are provided to detect select parameters and instrument functions.

The present application provides an automatic knife stop device and a system for fibula cutting, a computer equipment, and a medium. The device includes: an acquisition module; a threshold module; and a judgment module. The present application can avoid the destruction of blood vessels during shaping and greatly improve the success rate of surgery, while greatly improve the robustness of the control system by increasing the strength of the force feedback signal.

A tissue expansion system includes an expandable bladder for placement beneath the skin corresponding to a tissue to be expanded, a fluid source, a pump coupled to both the fluid source and the expandable bladder to deliver inflation medium thereto, a controller for the pump, a pressure sensor for monitoring pressure within the expandable bladder and informing the action of the controller, and a carrier for holding at least the fluid source, pump, and controller. The carrier is wearable as a bra or form-fitting vest and is shaped to mimic the appearance of natural breasts for the patient. The fluid source can have an outward facing surface that is relatively rigid to maintain a curved shape mimicking that of natural breast(s). The inward facing surface of the fluid source may be flexible to conform to the shape of the underlying skin and tissue as it is expanded.

The disclosure provides a dynamic interaction-oriented subject's limb time-varying stiffness identification method and device. The method includes: the combination of subject's limb displacement and measured force data or the combination of angle and measured torque data is collected; based on the time-varying dynamic system constructed based on a second-order impedance model, the linear parameter varying method is utilized to substitute the time-varying impedance parameters and reconstruct the restoring force/torque expression; iterative identification is performed on variable weights, dynamic interaction force/torque, and restoring force/torque by using time-varying dynamic parameters based on the dynamic interaction force/torque expression expanded from basis function; the time-varying stiffness is solved by using variable weights and dynamic interaction force/torque according to expression with substituted the time-varying impedance parameters. The disclosure not only improves the accuracy of the time-varying stiffness identification technology but also expands the application scenarios of the time-varying stiffness identification technology.

A tissue treatment system and method of using the tissue treatment system determines a size of a body lumen, or a neuromodulation parameter corresponding to the size of the body lumen. The tissue treatment system fills a balloon with a fluid when the balloon is within a body lumen. A fluid parameter of the fluid is detected over a period of time. A parameter curve of the fluid parameter is determined. The parameter curve includes the fluid parameter versus an independent variable over the period of time. The system compares the parameter curve of the fluid parameter to a reference curve and, based on the comparison, determine the body lumen size or the neuromodulation parameter. Other embodiments are also described and claimed.