Systems and methods for controlling an irrigation flow rate during a lithotripsy procedure are provided. The system includes a laser configured for lithotripsy procedure, a lithotripsy irrigation system, and a temperature sensor configured to provide input to enable control of a flow of the lithotripsy irrigation system in response to a change in temperature from the operation of the laser.

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 distraction system can include a distraction implant comprising a magnetic element and a distraction mechanism configured to expand the distraction implant in response to rotation of the magnetic element. The distraction system can include an external device comprising a motor configured to rotate a driver magnet while in a powered state, the driver magnet configured to rotate the magnetic element, a computing device configured. The computing device can be configured to measure an electrical current drawn by the motor during rotation of the driver magnet. The computing device can be configured to maintain the motor in the powered state in response to a mean value of the electrical current being greater than or equal to a mean value threshold, and a standard deviation value of the electrical current being less than or equal to a standard deviation threshold.

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.

A system and related methods for performing nerve detection during surgical access using ultrasound testing during surgery.

A method includes providing electrical energy to a transducer for sealing a vessel, where a frequency of the electrical energy is in an ultrasound range, controlling the electrical energy to achieve a predetermined velocity of an end effector coupled to the transducer, when the end effector is grasping the vessel, sensing parameters of the electrical energy when the end effector achieves the predetermined velocity, calculating power of the electrical energy based on the sensed parameters and estimating a size range of the vessel based on the power, and controlling the electrical energy to achieve a target velocity, which is determined based on the estimated size range of the vessel, to seal the vessel.

Described here are methods and apparatuses for tracking a clot material within a lumen of a suction catheter. For example, an apparatus as described herein may include a flexible elongate body having a suction lumen, a first pair of electrodes within the suction lumen, a second pair of electrodes proximal to the first pair of electrodes, and a controller configured to track a clot material within the suction lumen based on signals from the first pair of electrodes and the second pair of electrodes.

The disclosure is directed to an implant tool and cannula used to facilitate the implantation of a medical device into a patient. The implant tool includes a housing that is held by a user and a needle attached to the housing. The cannula may be positioned over the needle and delivered to a target tissue within the patient. The cannula includes an electrode at a distal portion to deliver test stimulation to confirm the location of the target site or placement of the implant tool relative to the target site before removing the needle of the implant tool. In this manner, the cannula may be repositioned within the patient until the position of the implant tool and cannula relative to the target site is verified with the test stimulation.

A medical puncture device system includes a puncture device, a sensor, and an indicator system. The puncture device is configured to create a puncture through patient tissue and into an internal patient cavity to enable a medical tool to be inserted through the puncture into the cavity. The sensor is configured to generate a signal indicative of motion of the puncture device through the tissue into the cavity. The indicator system is operable by a controller to produce human-perceptible feedback in response to the signal generated by the sensor.

A retractor apparatus for a surgical robotic system includes a frame defining a central open region, a connecting member that connects the frame to a robotic arm, a plurality of coupling mechanisms for attaching a set of retractor blades within the central open region of the frame such that blades define a working channel interior of the blades, and a plurality of actuators extending between the frame and each of the coupling mechanisms and configured to move the blades with respect to the frame to vary a dimension of the working channel. Further embodiments include a surgical robotic system that includes a robotic arm and a retractor apparatus attached to the robotic arm, and methods for performing a robot-assisted surgical procedure using a retractor apparatus attached to a robotic arm.