A robotic control system for a surgical system includes a control system, a control circuit, and a proportional, integral, derivative (PID) feedback control system. The control circuit determines actual closure force of a closure member, compares the actual closure force to a threshold, determines a set point velocity to displace the closure member based on the comparison, and controls the actual velocity of the closure member based on the set point velocity. A force sensor measures the closure force. A threshold closure force includes upper and lower thresholds. The set point velocity is configured to advance the closure member distally when the actual closure force is less than the lower threshold. The set point velocity is configured to retract the closure member proximally when the actual closure force is greater than the lower threshold.

[Object] To more simply configure a joint driving actuator having a function of a brake. [Solution] A joint driving actuator according to the present disclosure includes: an ultrasonic motor configured to generate driving force for driving a joint; a torque sensor configured to detect external force applied to the joint; and an encoder configured to detect a rotational angle of the ultrasonic motor. This configuration makes it possible to more simply configure a joint driving actuator having a function of a brake.

An atherectomy system includes a drive mechanism that is adapted to rotatably actuate an atherectomy burr and a controller that is adapted to regulate operation of the drive mechanism. In some cases, the drive mechanism includes a drive cable that is coupled with the atherectomy burr and a drive motor that is adapted to rotate the drive cable. The controller is adapted to receive an indication of an increase in torque experienced at the atherectomy burr and is further adapted to, in response, regulate operation of the drive mechanism such that the increase in torque results in a noticeable reduction in speed of the drive mechanism such that a user of the atherectomy system notices the reduction in speed and is alerted to the increase in torque.

An atherectomy system includes a handle and a drive motor that is adapted to rotate a drive cable extending through the handle and operably coupled to an atherectomy burr. A control system is adapted to regulate operation of the drive motor, including providing the drive motor with a high frequency pulse width modulation (PWM) drive signal in order to operate the drive motor. The control system monitors a motor performance parameter such as motor speed or motor torque, and when the motor performance parameter approaches a limit of a performance range, the control system adds a low frequency PWM signal to the high frequency PWM drive signal, thereby causing the drive motor to produce a tactile signal that signals to the user that the motor performance parameter is approaching the limit of the performance range.

An atherectomy system includes a drive mechanism adapted to rotatably actuate an atherectomy burr and a control system that is adapted to regulate operation of the drive mechanism. The drive mechanism may include a drive cable that is coupled with the atherectomy burr and a drive motor that is adapted to rotate the drive cable. The control system includes a drive module adapted to provide an operational signal to operate the drive mechanism, a monitoring module adapted to monitor operation of the drive mechanism and to determine if the drive mechanism is operating within a predetermined range and an excitation module that is operably coupled to the drive mechanism and is adapted to provide haptic feedback to a user of the drive mechanism if the monitoring module determines that the drive mechanism is not operating within a predetermined range.

A surgical instrument includes an end effector configured to clamp, staple or cut tissue tissue, a motor configured to drive the end effector, and a control system. The control system is configured to receive information about at least one tissue property and select a tissue management mode based on the at least one tissue property. The control system controls the motor based on the selected tissue management mode.

An apparatus includes an elongate member having proximal and distal portions; a rotatable drive cable disposed within the elongate member, the drive cable being connectable to a mechanism to which torque can be applied; and a control assembly mechanically coupled to the drive cable, and configured to disengage the mechanism from the drive cable when the applied torque exceeds a predetermined level, wherein disengagement of the mechanism from the drive cable causes rotation of the drive cable to stop or withdrawal of the drive cable.

Various exemplary methods, systems, and devices for robotic surgical instrument communication are provided. In general, a surgical tool includes a sensor configured to sense a parameter related to the surgical tool and to wirelessly communicate the sensed data to another device, e.g., another surgical tool. Each of the surgical tool and the other device are configured to be operatively connected to a robotic surgical system and to be controlled by the robotic surgical system. The other device is configured to transmit the data received from the surgical tool to the robotic surgical system.

An apparatus and method for establishing a global coordinate system to facilitate robotic assisted surgery. The coordinate system may be established using a combination of the robotic data, i.e., kinematics, and optical coherence tomographic images generated by an overhead optical assembly and a tool-based sensor. Using these components, the system may generate a computer-registered three-dimensional model of the patient's eye. In some embodiments, the system may also generate a virtual boundary within the coordinate system to prevent inadvertent injury to the patient.

A method comprises obtaining rotational data and translational data for a joint. The rotational and translational data is indicative of rotational and translational movement of the joint during rotational and translational joint testing, respectively. The rotational and translational joint testing is implemented by a robotic testing apparatus. Respective zero torque points are determined for the rotational and translational movement based on the rotational data and the translational data. The respective zero torque points are combined for the rotational and translational movement to determine an equilibrium position for the joint. A biomechanical characteristic of the joint is ascertained based on an analysis of the equilibrium position.