Surgical systems and methods are provided for controlling actuation and movement of various surgical devices.

Surgical stapling systems and methods for stapling tissue during a surgical procedure are provided. In an exemplary embodiment, a control system is provided for controlling at least one motor coupled to a drive system on a surgical stapling device for driving one or more drive assemblies. The control system can be configured to communicate with the drive system of the stapling tool and to control and modify movement of one or more drive assemblies based on certain feedback.

Surgical stapling systems and methods for stapling tissue during a surgical procedure are provided. In an exemplary embodiment, a control system is provided for controlling at least one motor coupled to a drive system on a surgical stapling device for driving one or more drive assemblies. The control system can be configured to communicate with the drive system of the stapling tool and to control and modify movement of one or more drive assemblies based on certain feedback.

Devices, systems, and methods for suturing are provided. In an exemplary embodiment, a surgical suturing system can generally include a shaft with an end effector on a distal end thereof. The end effector can be configured to receive a suture needle driving cartridge. The end effector can selectively drive a suturing needle into tissue to suture tissue or retract the suturing needle out of the tissue. The system can further include a control system configured to operably couple to the at least one motor. The control system can be configured to monitor load as the suturing needle is driven into tissue and to reverse a direction of needle travel in the event that the load exceeds a predetermined threshold.

Various exemplary methods, systems, and devices for controlling electrosurgical tools are provided.

Surgical systems and methods are provided for controlling actuation and movement of various surgical devices.

This disclosure covers various concepts to use for obtaining measurement of tension in catheter pullwires to improve controllability of a robotic surgical system.

A torque applying tool suited for torquing small surgical fasteners. The tool includes a torque limiting clutch accessible when a housing of the tool is removed, so that torque limits can be sensed without subjecting the blade or working shaft to deforming forces. Torque can be adjusted by turning a nut threaded to the blade or working shaft. The torque limiting clutch is formed in interacting cam members bearing interacting ratchet surfaces, the cam members urged together by a spring located between the clutch and the housing, away from interference with torque sensing when first establishing a predetermined maximum torque of the tool. The tool is small and disposable, and includes a rubber grip coating.

A torque transducer for mounting a motor includes a mounting flange, a motor flange, a body, and a strain gauge. The mounting flange is configured to secure the torque transducer to a fixed structure. The motor flange is configured to secure to a motor. The body interconnects the mounting and motor flanges. The body defines a channel about a longitudinal axis of the body and is configured to flex in response to the mounting flange and the motor flange rotating relative to one another in response to torque of the motor. The strain gauge is positioned on the body to measure flexation of the body.

A system and method of collision avoidance includes determining first positions of first joints of a first repositionable arm and second positions of second joints of a second repositionable arm. Distal ends of the first and second repositionable arms are configured to support first and second instruments, respectively. The system and method further include determining first and second virtual boundaries around the first and second repositionable arms, determining an overlap between the first and second virtual boundaries, determining an overlap force on the first repositionable arm due to the overlap, mapping the overlap force to virtual torques on the first joints proximal to the overlap, determining a tip force on a distal end of the first instrument, and applying the tip force as feedback on the first instrument.