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.

Examples of a probe for microwave ablation are disclosed. The probe comprises a feed coaxial cable and an antenna that has a cylindrical outer housing with a predetermined diameter and a predetermined length defining a cavity therein and a radiating conductor positioned within the cavity with a matching stepped portion. The antenna further comprises a dielectric material placed in the cavity between the radiating conductor and the outer housing of the antenna to increase the mechanical strength of the probe as well as to improve the power coupling to the tissue to be ablated. The design of the coaxial cavity of the antenna with radiating conductor with a stepped portion fitted into dielectric materials increases antenna's mechanical strength to withstand higher temperatures and reduces an energy reflected back to the feed coaxial cable due to a good impedance match between the antenna and the feed cable such that antennas with smaller length can be used to fit curved paths.

A microwave ablation device including a cable assembly configured to connect a microwave ablation device to an energy source and a feedline in electrical communication with the cable assembly. The microwave ablation device further includes a balun on an outer conductor of the feedline, and a temperature sensor on the balun sensing the temperature of the balun.

Electromagnetic (EM) tissue ablation device comprising an EM field generator unit, at least two coaxial elongated elements (i.e. an external one and an internal one) and a mechanism for varying the EM field, wherein said internal element is a part of said generator and said mechanism being adapted to vary the EM field for a specific tissue area.

An electrosurgical generator for generating radiofrequency (RF) electromagnetic (EM) energy and microwave EM energy comprises: a microwave source for generating a microwave signal; a microwave channel for conveying the microwave signal from the microwave source to be output from the generator; an RF channel for conveying an RF signal to be output from the generator; and a microwave-to-RF converter connectable to receive the microwave signal, the microwave-to-RF converter being arranged to: generate the RF signal from the microwave signal, and deliver the RF signal to the RF channel.

Energy delivery devices with a flexible circuit. The energy delivery devices may be used in the treatment of human tissue, and the flexible circuit move or flex during use. The flexible circuit may include an electronic component and a trace connected with the electronic component. The trace may have a plurality of sections that provide parallel current paths over a portion of the trace. Alternatively, the flexible circuit may include a plurality of traces that are connected with the terminal of the electronic component to provide parallel current paths over their entire length to the terminal of the electronic component. These redundant parallel current paths improve device reliability.

An introducer set for a microwave ablation probe is disclosed. The introducer set includes a cannula that is at least partially transparent to microwave energy, and a stylet sized to be received by the lumen of the cannula. Other examples provide a microwave ablation system including a microwave ablation probe having a radiating portion and a cannula that is at least partially transparent to microwave energy. The radiating portion of the probe aligns with the transparent portion of the cannula when the probe is inserted into the cannula lumen. The technology provides a method including introducing a microwave ablation probe into the lumen of a cannula having a cannula body that is at least partially transparent to microwave energy, aligning the transparent portion of the cannula with the radiating portion of the probe, and causing microwave energy to be emitted from the radiating portion of the probe.

An electrosurgical instrument for delivering microwave energy having a predetermined frequency into biological tissue in contact with the instrument, wherein the instrument comprises a first coaxial transmission line having a second coaxial transmission line connected to the distal end thereof, the second coaxial transmission line having a length and a characteristic impedance that are configured to match the impedance of the first coaxial transmission line to the load impedance at the distal end of the distal coaxial transmission line when the instrument is in contact with the tissue, at the operating frequency.

An electrosurgical instrument for delivering microwave energy having a predetermined frequency into biological tissue in contact with the instrument, wherein the instrument comprises a first coaxial transmission line having a second coaxial transmission line connected to the distal end thereof, the second coaxial transmission line having a length and a characteristic impedance that are configured to match the impedance of the first coaxial transmission line to the load impedance at the distal end of the distal coaxial transmission line when the instrument is in contact with the tissue, at the operating frequency.

A microwave ablation system includes a microwave ablation antenna assembly, a generator, a first fluid supply source, and a second fluid supply source. The microwave ablation antenna assembly includes a fluid port for receiving fluid. The generator is coupled to the microwave ablation antenna assembly. The first fluid supply source is configured to be selectively in fluid communication with the fluid port to supply a first fluid to the microwave ablation antenna assembly. The second fluid supply source is configured to be selectively in fluid communication with the fluid port to supply a second fluid to the microwave ablation antenna assembly.