A system for performing robotic laser surgery is disclosed. The system comprises at least one surgery equipment, a surgeon terminal, and a communication module. Further, the system includes a surgical computer communicatively coupled to the at least one surgery equipment via the communication module. The surgical computer is configured to transfer data between the surgeon terminal and the at least one surgery equipment. The surgeon terminal is configured to modulate the tunable laser to conduct the surgical procedure in fully autonomous mode or semi-autonomous mode using robot controls. Further, a plurality of sensors is used to real-time data while performing surgical procedure and transmit the real-time data to the surgeon terminal.

A method for controlling a user interface of a modular energy system. The modular energy system comprises a header module and a display screen on which the user interface is displayed. The modular energy system can detect attachment of a first module thereto, control the user interface to display one or more first user interface elements corresponding to the first module, detect attachment of a second module to the modular energy system, control the user interface to resize the one or more first user interface elements to accommodate display of one or more second user interface elements corresponding to the second module, and control the user interface to display the one or more second user interface elements. The various UI elements can correspond to the particular module type that is being connected to the modular energy system.

Devices, systems, and methods to verify a magnetic field phase drift and to check for proper function of a laser fiber cooling system during laser ablation therapy are disclosed. The laser fiber cooling system includes a cooling catheter insertable into laser ablation target tissue, a coupling assembly to define fluid channels, inflow and outflow ports, a fluid pump to pump fluid through the laser fiber cooling system, a fluid source, a first sensor to measure an inflow fluid parameter, a second sensor to measure an outflow fluid parameter, and a processor. Methods of verifying and checking include measuring the fluid parameter, comparing the inflow and outflow parameter measurements to determine a comparison value, comparing the comparison value to a tolerance range, and signaling a user when the comparison value is outside of the tolerance range.

A method of operating a modular surgical system including a control module, a first surgical module, and a second surgical module is disclosed. The method includes detachably connecting the first surgical module to the control module by stacking the first surgical module with the control module in a stack configuration, detachably connecting the second surgical module to the first surgical module by stacking the second surgical module with the control module and the first surgical module in the stack configuration, powering up the modular surgical system, and monitoring distribution of power from a power supply of the control module to the first surgical module and the second surgical module.

A system and method of breakaway clutching in a device includes an arm including a first joint and a control unit coupled to the arm. The control unit includes one or more processors. The control unit switches the first joint from a first state of the first joint to a second state of the first joint in response to an external stimulus applied to the arm exceeding a first threshold, wherein movement of the first joint is more restricted in the first state of the first joint than in the second state of the first joint, switches the first joint from the second state to the first state in response to a speed associated with the first joint falling below a speed threshold, and prevents the switching of the first joint from the first state to the second state when the arm is in a predetermined mode.

A catheter system (100) includes an inflatable balloon (104), an optical fiber (122), and a laser (124). The optical fiber (122) has a distal end positioned within the inflatable balloon (104). The optical fiber (122) receives an energy pulse (431) to emit light energy in a direction away from the optical fiber (122) to generate a plasma pulse (134) within the inflatable balloon (104). The laser (124) includes a seed source (126) that emits a seed pulse (342) and an amplifier (128) that increases energy of the seed pulse (342) so that the laser (124) generates the energy pulse (431) that is received by the optical fiber (122), the energy pulse (431) having a waveform with a duration T, a minimum power PO, a peak power PP, and a time from PO to PP equal to TP.

The invention provides for a system for estimating a 3-dimensional treatment volume for a device that applies treatment energy through a plurality of electrodes defining a treatment area, the system comprising a memory, a display device, a processor coupled to the memory and the display device, and a treatment planning module stored in the memory and executable by the processor. In one embodiment, the treatment planning module is adapted to generate an estimated first 3-dimensional treatment volume for display in the display device based on the ratio of a maximum conductivity of the treatment area to a baseline conductivity of the treatment area. The invention also provides for a method for estimating 3-dimensional treatment volume, the steps of which are executable through the processor. In embodiments, the system and method are based on a numerical model which may be implemented in computer readable code which is executable through a processor.

An articulating, steerable surgical probe includes an elongated, flexible transfer tube adapted for insertion into a surgical region for endoscopic laryngeal laser surgery. A lumen is defined by an interior of the transfer tube, and a laser fiber extends through the lumen for delivering a therapeutic laser signal to a distal end of the laser fiber. An articulating tip at the distal end of the transfer tube is responsive to articulating forces from a retractable tether for directing the treatment probe in a direction of the articulation, and a linkage to the tether from a control module effects controlled retraction of the tether for articulating the tip towards a surgical target, such that the articulating tip imposing a bend radius based on a signal loss through the laser fiber.

Systems and methods of dithering to maintain grasp force include a computer-assisted device. The computer-assisted device includes an instrument having a first jaw and a second jaw configured to grasp a material, one or more actuators configured to actuate the first and second jaws to apply force to the grasped material, and a controller coupled to the one or more actuators. The controller is configured to determine that actuation of the one or more actuators should be dithered and in response to the determination, dither one or more control signals to the one or more actuators so as to cause variations in a force or torque applied by the one or more actuators. In some embodiments, the one or more control signals correspond to a force setpoint, a torque setpoint, a current setpoint, or a position setpoint for the one or more actuators.

Systems and methods for dynamically modulating aspiration in response to sensed conditions. An aspiration system can include a catheter configured to be inserted within a vasculature of the subject, a canister coupled to the catheter, a pressure source that generates a vacuum pressure through the catheter for aspirating the fluid, a sensor configured to sense a parameter associated with at least one of the catheter, the canister, or the pressure source, and a computer system coupled to the sensor. The computer can cause the pressure source to initiate the vacuum pressure throughout the catheter, receive a measurement of the parameter from the sensor, determine whether the measurement violates a threshold associated with the parameter, and modulate the vacuum pressure at the catheter tip in response to a determination that the measurement violates the threshold.