A system for controlling a robotic arm is disclosed. The system includes a robotic arm including a surgical tool, a tool driver, and at least two sensors disposed on the robotic arm to redundantly monitor a status of the robotic arm and to verify an operational parameter of the surgical robotic tool. A central control circuit is configured to measure a first physical property of the robotic arm based on readings from the first sensor, measure a second physical property of the robotic arm based on readings from the second sensor, and determine a status of the robotic arm based on the first and second measurements of the first and second physical properties of the robotic arm.

A system for controlling a first robotic arm relative to a second robotic arm is disclosed. The system includes a two robotic arms each including a surgical tool and a tool driver. A central control circuit is configured to communicate with the robotic arms to determine a position of the robotic arms and modify a control algorithm for one of the robotic arms based on the relative position of the other robotic arm.

A surgical instrument and a drive mechanism, the drive mechanism includes a motor, a planetary gear train, and a bidirectional ratchet mechanism; the input sun gear of the planetary gear train engages the output shaft of the motor; an output carrier of the planetary gear train engages an executing mechanism of the surgical instrument through a transmission mechanism; the bidirectional ratchet mechanism includes a ratchet, a bidirectional pawl assembly, and a selector; the ratchet is in rigid connection with an annular gear of the planetary gear train; the bidirectional pawl assembly includes a bidirectional pawl; the selector selectively drives a first end or a second end of the bidirectional pawl to bias the ratchet, so as to prevent corresponding rotation of the ratchet when the motor drives the planetary gear train, and allow corresponding rotation of the ratchet when the transmission mechanism drives the planetary gear train.

A bipolar electrosurgical fusion/sealer and dissector is provided that is arranged to simultaneously fuse and cut tissue captured between jaws of the instrument. The jaws include particularly positioned, shaped and/or oriented electrodes along with a compressible landing pad to perform the simultaneous fusion and cutting of tissue. An electrosurgical generator is arranged to supply RF energy through the instrument and monitors a phase angle of the supplied RF energy and adjusts or terminates the supplied RF energy based on the monitored phase angle to optimally fuse and dissect the tissue.

A method for determining the position of a rotatable jaw of an attachment relative to a non-rotatable jaw is disclosed. The method comprises assembling the attachment to a surgical robot, rotating a first rotatable driver of the robot to align the first driver with a first rotatable drive of the attachment, and rotating a second rotatable driver of the robot to align the second driver with a second rotatable drive of the attachment. The method further comprises evaluating the amount of rotation required to align the first driver with the first drive and the amount of rotation required to align the second driver with the second drive, calculating a difference between the amount of rotation of the first driver and the amount of the rotation of the second driver, and determining the position of the rotatable jaw relative to the non-rotatable jaw based on the calculated difference.

A method comprising the steps of obtaining a shaft assembly comprising an end effector, attaching the shaft assembly to a handle of a surgical instrument, wherein the handle comprises a trigger operable to actuate a function of the end effector when the shaft assembly is attached to the handle, removing the shaft assembly from the handle, attaching the shaft assembly to an arm of a surgical robot and removing the shaft assembly from the arm is disclosed.

A system for performing image-guided surgery includes an instrument having a first portion configured to define a trajectory into the body of a patient, a marker device and a user-interface component. A sensing device receives electromagnetic signals that are reflected or emitted from the marker device, and a processing system, coupled to the sensing device, includes at least one processor configured with processor-executable instructions to perform operations that include tracking the position and orientation of the instrument relative to the patient based on the signals received at the sensing device, receiving a signal from the user-interface component of the instrument indicating a user-input event, and saving the trajectory into the body of the patient defined by the first portion of the instrument in response to receiving the signal.

Systems, instruments, and methods for surgical navigation with verification feedback are provided. The systems, instruments, and methods may be used to verify a trajectory of a surgical tool during a procedure. The systems, instruments, and methods may receive one or more captured images of an anatomical portion of a patient; execute a surgical plan to insert the surgical tool into the anatomical portion; receive sensor data collected from one or more sensors being inserted into the anatomical portion; determine whether the sensor data corresponds to the surgical plan; and send, in response to determining that the sensor data does not correspond to the surgical plan, an alert indicating that the surgical tool is not being inserted according to the surgical plan. The one or more sensors may be attached to the surgical tool.

An apparatus and method that uses shape sensing and imaging to record, display and enable return to an imaging probe location or to predetermined imaging parameters. The apparatus includes an ultrasound probe (104, 304, 404, 750); a shape-sensing-device (SSD) (102, 302, 602, 740) associated with the ultrasound probe; and a controller (122, 710). The controller may be configured to: determine at least one of location and orientation of the ultrasound probe based upon position sensor information (PSI) received from the SSD; select a view of a plurality of views of a workflow that are stored in the memory; obtain view setting information (VSI) including parameters and a position and/or orientation of the ultrasound probe for each of the views; determine guidance information; and render the determined guidance information on the rendering device and set ultrasound probe parameters based on the parameters of the VSI for the selected view.

A tracking system and a tracking method using the same are disclosed. The tracking system includes a marker, a camera unit, a first inertial measuring unit, a second inertial measuring unit and a tracking processing unit. The marker is fixed on the measurement object, and the camera unit outputs a marker image by photographing the marker. The first inertial measuring unit is fixed on the camera unit, and measures and outputs first inertia comprising first accelerated velocity and first angular velocity. The second inertial measuring unit is fixed to one of the measurement object and the marker, and measures and outputs second inertia comprising second accelerated velocity and second angular velocity. The tracking processing unit primarily extracts the position and the posture of the measurement object using the marker image, and secondarily extracts the position and the posture of the measurement object using the first and second inertias.