A surgical instrument connectable to a surgical energy module that is configured to provide a first drive signal at a first frequency range for driving a first energy modality and a second drive signal at a second frequency range for driving a second energy modality is provided. The surgical instrument can comprise a surgical instrument component configured to receive power from a direct current (DC) power source, an end effector, and a circuit. The circuit can be configured to convert the first electrical signal to a DC voltage, apply the DC voltage to the surgical instrument component, and deliver the second energy modality to the end effector according to the second drive signal. Alternatively, the circuit can be disposed within a cable assembly configured to connect the surgical instrument to the surgical energy module.

A surgical instrument is described that includes a surgical effector moving with N degrees of freedom for manipulation of objects at a surgical site during surgical procedures. The surgical effector can be manipulated by actuating a first input controller to control a length of a first cable segment to move the surgical effector in at least one degree of freedom of movement and actuating a second input controller to control a length of a second cable segment to move the surgical effector in the at least one degree of freedom of movement. The surgical effector can be manipulated by moving a differential that couples the first and second input controllers together to conserve a length of cable between the first input controller and the second input controller.

Embodiments are directed to a medical robot system including a robot coupled to an end-effectuator element with the robot configured to control movement and positioning of the end-effectuator in relation to the patient. One embodiment is a method for removing bone with a robot system comprising: taking a two-dimensional slice through a computed tomography scan volume of target anatomy; placing a perimeter on a pathway to the target anatomy; and controlling a drill assembly with the robot system to remove bone along the pathway in the intersection of the perimeter and the two-dimensional slice.

Certain aspects relate to systems and techniques for articulating medical instruments. In one aspect, the instrument includes a wrist having at least two degrees of freedom of movement, and an end effector coupled to the wrist. The end effector can include an upper jaw, a lower jaw, and a firing mechanism configured to form staples in tissue. Actuation of the firing mechanism can be decoupled from the movement of the wrist in the at least two degrees of freedom.

A surgical virtual reality user interface generating system comprising a sensor and tracking unit for sensing and tracking a position a user and generating position data based on movement of the user, a computing unit for receiving the position data and processing the position data and generating control signals. The system also includes a surgical robot system for receiving the control signals and having a camera assembly for generating image data, and a virtual reality computing unit for generating a virtual reality world. The virtual reality computing unit includes a virtual reality rendering unit for generating an output rendering signal for rendering the image data for display, and a virtual reality object generating unit for generating virtual reality informational objects and for emplacing the informational objects in the virtual reality world. A display unit is provided for displaying the virtual reality world and the informational objects to the user.

A system according to at least one embodiment of the present disclosure includes an imaging source; an imaging detector; a depth sensor; and a controller, where the controller receives image information from the depth sensor, determines a gesture in relation to a working volume, and moves the imaging source and the imaging detector relative to the working volume based on the gesture.

An input control device can be configured to operate in different modes depending on proximity data provided by a proximity detection system. The input control device can include a feedback generator configured to generate feedback in response to the input control device switching between operational modes, the proximity data provided by the proximity detection system, and/or other conditions of the surgical procedure, robotic surgical tool, surgical site, and/or patient. The input control device can include a variable resistance assembly for resisting input control motions applied to an actuator thereof. Additionally or alternatively, the input control device can include an end effector actuator assembly for repositioning the end effector actuator based on feedback from a paired robotic surgical tool.

A device sized and shaped for insertion into a body comprising: at least one mechanical limb comprising: a support segment; a first flexible section extending from the support segment and terminating in a coupling section; and a second flexible section extending from the coupling section and terminating in a tool or a connector for a tool; wherein a long axis of one or more of the flexible sections is bendable in a single bending plane; wherein a long axis length of the first flexible section is at least double a maximum extent of the first flexible section perpendicular to a flexible section long axis; wherein a long axis length of the second flexible section is at least double a maximum extent of the second flexible section perpendicular to a flexible section long axis.

A robotic arm control system including a medical instrument to be inserted into a body-part, a force sensor to detect force applied by the instrument to the body-part, a robotic arm attached to the instrument, a first position sensor to track an instrument position of the instrument in the body-part, a second position sensor to track a body position of the body-part, and a controller to compute, responsively to the instrument position and the body position, a location of the instrument relative to the body-part, compare the detected force applied by the instrument to a permitted force level for application to an anatomical feature at the computed location and send a control command to, or cut power of, the robotic arm to loosen a rigidity of at least one robotic joint in response to the detected force applied by the instrument being greater than the permitted force level.

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.