A robotic surgical system configured to control movement of a first instrument and a second instrument, each of which is on a robotic manipulator. In described modes of operation, movement of the first instrument is surgeon controlled based on surgeon input to the robotic system. Movement of the second instrument is also surgeon controlled, but its motion is defined by the chosen mode of operation which sets the amplitude and direction of the second instrument's motion relative to the actual or instructed motion of the first instrument. In this way, two instruments are simultaneously moved based on input from a single surgeon input device.

An instrument manipulator for a robotic surgery system can include a housing configured to support a surgical instrument. The instrument manipulator can include an actuator configured to move the housing forward and backward. The instrument manipulator can include a release connected to the housing and configured to engage with the actuator in a first configuration to allow the housing and the at least one surgical instrument to move forward responsive to activation of the actuator. The release can be configured to disengage from the actuator in a second configuration to allow a user to manually retract the housing and the at least one surgical instrument. The instrument manipulator can include a user interface positioned at least partially on an exterior surface of the housing and configured to permit the user to transition the release from the first configuration to the second configuration.

User interface devices for manipulating a robotic surgical tool in a surgical robotic system are described. A user interface device can include a device housing having a gripping surface symmetrically disposed about a central axis. The gripping surface can include a surface of revolution about the central axis. A tracking sensor can be mounted within the device housing to generate spatial state signals in response to movement of the device housing. The spatial state signals can be used to control motion of robotic system actuators. A finger clutch can be disposed at an end of the device housing, and can generate a clutch signal in response to a touch by a user. The clutch signal can be used to pause the motion of the robotic system actuators. Other embodiments are also described and claimed.

In accordance with one embodiment, an automated probe system includes a probe configured to be reversibly inserted into a live body part, a robotic arm attached to the probe and configured to manipulate the probe, a first sensor configured to track movement of the probe during an insertion and a reinsertion of the probe in the live body part, a second sensor configured to track movement of the live body part, and a controller configured to calculate an insertion path of the probe in the live body part based on the tracked movement of the probe during the insertion, and calculate a reinsertion path of the probe based on the calculated insertion path while compensating for the tracked movement of the live body part, and send control commands to the robotic arm to reinsert the probe in the live body part according to the calculated reinsertion path.

User interface devices for manipulating a robotic surgical tool in a surgical robotic system are described. A user interface device can include a device body containing a tracking sensor to generate a spatial state signal in response to movement of the device body. The spatial state signal can be used to control a spatial motion of a surgical robotic system actuator. Several grip linkages can be pivotally coupled to the device body. A grip linkage displacement sensor may monitor movement of the grip linkages relative to the device body, and generate a grip signal in response to the movement. The grip signal can be used to control a grip motion of a robotic surgical tool mounted on the surgical robotic system actuator. Other embodiments are also described and claimed.

A cutting device is provided that includes an expandable tube having a base and a hollow interior for receiving the implant therein. The expandable tube includes cutting segments extending from the base and terminating to form a distal end of the expandable tube. At least one of the cutting segments has a cutting end with cutting teeth at the distal end of the expandable tube. Spring shaped sections are provided that extend the cutting segments. A method for removing an implant from a target bone is also provided based on the cutting device. A system for removing material directly surrounding an outer surface of an implant in an intramedullary canal of a target bone is also provided based on the cutting device and a sheath. A retractable opening is formed of leaflets at a distal end of the sheath, and a proximal end opposite the distal end.

Apparatus, including a guidewire, having a distal end dimensioned to penetrate into a nasal sinus and a balloon, which is fitted over the guidewire in proximity to the distal end. There is an inflation channel, which runs along the guidewire and is coupled to convey a pressurized fluid into the balloon so as to inflate the balloon. The apparatus also includes a first electrode, fixedly attached to a distal tip of the guidewire, and a second electrode, fixedly attached to the guidewire at a location proximal to the distal tip. There are conductive leads running along the guidewire and coupled to apply an electrical potential between the first and second electrodes.

A surgical system includes a first detector that includes a first array of pixels configured to detect light reflected by a surgical instrument and generate a first signal comprising a first dataset representative of a visible image of the surgical instrument. The surgical system also includes a second detector, comprising a second array of pixels configured to detect infrared radiation produced by the surgical instrument during a procedure using the surgical instrument and generate a second signal comprising a second dataset representative of an infrared image of the surgical instrument. The surgical system further includes a processor configured to receive the first and second signals, identify from the first dataset data representative of the surgical instrument, and identify from the second dataset data representative of one or more regions of the surgical instrument above a predetermined threshold temperature. The processor is also configured to generate a modified image of the surgical instrument based on data identified from the first and second dataset. The modified image includes visible indicia in the one or more region of the surgical instrument at or above the predetermined temperature.

A system and method for intra-operatively measuring or verifying the placement of an implant within a bone in joint arthroplasty procedures are described herein. Pre-operative bone data of the patient is collected. A user plans the position of one or more implants relative to the pre-operative bone data. Intra-operatively, the patients bone is registered to the pre-operative bone data and to a computer-assist device. The bone is prepared and a physical implant is installed with the bone. A plurality of points are digitized on at least one of the physical implant or an apparatus associated with the physical implant. The computer-assist device calculates any errors between the planned position and orientation (POSE) of the implant relative to the actual POSE of the physical implant using the digitized points. The system may further notify a user of any errors and provide instructions to minimize the errors.

A method for a robotic surgical system includes displaying a graphical user interface on a display to a user, wherein the graphical user interface includes a plurality of reconfigurable display panels, receiving a user input at one or more user input devices, wherein the user input indicates a selection of at least one software application relating to the robotic surgical system, and rendering content from the at least one selected software application among the plurality of reconfigurable display panels.