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).

An irrigation system for a surgical instrument includes an irrigation tube arranged to convey an irrigation fluid and an irrigation clip structurally arranged to receive a portion of the irrigation tube. The irrigation clip includes a proximal portion, a distal portion, a body portion, and an arm portion. The arm portion is structurally configured to selectively attach the irrigation clip to the surgical instrument and to bias the irrigation clip toward the surgical instrument with a biasing force. The irrigation clip includes a tube locking portion structurally arranged to cooperate with the surgical instrument to engage the outer surface portion of the irrigation tube to inhibit rotation and axial displacement of the irrigation tube relative to the irrigation clip in response to the biasing force.

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).

Various aspects of a generator, ultrasonic device, and method for estimating and controlling a state of an end effector of an ultrasonic device are disclosed. The ultrasonic device includes an electromechanical ultrasonic system defined by a predetermined resonant frequency, including an ultrasonic transducer coupled to an ultrasonic blade. A control circuit measures a complex impedance of an ultrasonic transducer, wherein the complex impedance as defined as

[00001]$Z_g\left(t\right)=\frac{V_g\left(t\right)}{I_g\left(t\right)};$

The control circuit receives a complex impedance measurement data point and compares the complex impedance measurement data point to a data point in a reference complex impedance characteristic pattern. The control circuit then classifies the complex impedance measurement data point based on a result of the comparison analysis and assigns a state or condition of the end effector based on the result of the comparison analysis. The control circuit estimates the state of the end effector of the ultrasonic device and controls the state of the end effector of the ultrasonic device based on the estimated state.

An irrigated high density electrode catheter can comprise a catheter shaft. The catheter shaft can include a proximal end and a distal end and can define a catheter shaft longitudinal axis. A flexible tip portion can be located adjacent to the distal end of the catheter shaft. An irrigated coupler can be disposed on the distal end of the catheter shaft and can be configured to discharge fluid over the flexible tip portion.

Electrosurgical coagulation devices. At least some of the example embodiment are methods including: applying RF energy between a first electrode and a second electrode, the first and second electrodes define an interstice; flowing an electrically conductive fluid through a first nozzle and a second nozzle of the first electrode, the first nozzle defines a first spray direction, the second nozzle defines a second spray direction, and a first angle between the first spray direction and the second spray direction is 180 angular degrees or less measured through the interstice; flowing an electrically conductive fluid through a third nozzle and a fourth nozzle of the second electrode, the third nozzle defines a third spray direction, the fourth nozzle defines a fourth spray direction, and a second angle between the third spray direction and the fourth spray direction is 180 angular degrees or less measured through the interstice.

An electrosurgical device including an elongated body extending from a proximal end to a distal end and defining an evacuation lumen. The elongated body including an irrigation channel carried by the elongate body, the irrigation channel configured to deliver a fluid to a target tissue adjacent to the distal end, a coring electrode at the distal end of the elongated body, where the coring electrode defines an opening to the evacuation lumen, and where the coring electrode is configured to operate in a monopolar configuration to deliver radio frequency (RF) plasma energy to adjacent tissue to cut a volume of the target tissue, and a dielectric coating on at least a distal portion of the elongated body, the dielectric coating electrically insulating the elongated body from target tissue and the volume of cut target tissue, where the dielectric coating comprises a ceramic material.

An apparatus includes a shaft assembly, first and second electrode assemblies, and a controller. The shaft assembly is configured to fit in a nasal cavity of a patient. The first and second electrode assemblies are at the distal end of the shaft assembly. The second electrode assembly includes a stimulus electrode and a sensing electrode. The stimulus and sensing electrodes are positioned on opposing lateral sides in relation to the longitudinal axis of the shaft assembly. The controller is operable to generate an electrical signal to perform one or both of tissue ablation or denervation of a targeted nerve via the first electrode assembly, generate an electrical stimulus signal to stimulate the targeted nerve via the stimulus electrode of the second electrode assembly, and process a response signal received from the targeted nerve via the sensing electrode of the second electrode assembly.

An electrosurgical device including the disclosure describes an electrosurgical device including an elongated body having a tubular section extending from a proximal end to a distal end and defining an evacuation channel configured to evacuate tissue from the distal end to the proximal end, a curette at the distal end of the tubular section, wherein the curette defines a perimeter cutting edge that forms a distal opening to the evacuation channel, a plasma cutting electrode defined by the perimeter cutting edge of the curette, where the plasma cutting electrode is configured to operate in a monopolar configuration to deliver radio frequency (RF) plasma energy to adjacent tissue to cut a volume of the target tissue, and a dielectric coating on at least a portion of the curette, the dielectric coating electrically insulating the curette from target tissue and the volume of cut target tissue, wherein the dielectric coating comprises a ceramic material.