A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device including an end effector located at a distal end of the instrument, an actuator, and drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device sets a velocity set point of the actuator to an initial velocity, monitors force or torque applied by the actuator, reduces the velocity set point when the applied force or torque is above a first threshold, increases the velocity set point when the applied force or torque is below a second threshold, decreases the velocity set point to zero when the applied force or torque is above a maximum threshold, and drives the actuator based on the velocity set point. The first and second thresholds are lower than the maximum threshold.

A surgical robotic component comprising an articulated terminal portion, the terminal portion comprising: a distal segment having an attachment connected thereto, an intermediate segment, and a basal segment whereby the terminal portion is attached to the remainder of the surgical robotic component. The terminal portion further comprises a first articulation between the distal segment and the intermediate segment, the first articulation permitting relative rotation of the distal segment and the intermediate segment about a first axis, and a second articulation between the intermediate segment and the basal segment, the second articulation permitting relative rotation of the intermediate segment and the basal segment about a second axis. The intermediate segment comprises: a third articulation permitting relative rotation of the distal segment and the basal segment about third and fourth axes, a first torque sensor configured to sense torque about the third axis, and a second torque sensor configured to sense torque about the fourth axis. The first, second and third articulations are arranged such that in at least one configuration of the third articulation the first and second axes are parallel and the third and fourth axes are transverse to the first axis.

A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device includes a surgical instrument having an end effector located at a distal end of the instrument, an actuator, and one or more drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device is configured to set a velocity set point of the actuator to an initial velocity and monitor force or torque applied by the actuator. When the applied force or torque is above a first force or torque limit it is determined whether a continue condition for the operation is satisfied. When the continue condition is satisfied the operation is paused and when the continue condition is not satisfied it is determined whether forced firing of the actuator should take place.

A method of operating a surgical instrument is disclosed. The surgical instrument includes an electronic system comprising an electric motor coupled to the end effector; a motor controller coupled to the motor; a parameter threshold detection module configured to monitor multiple parameter thresholds; a sensing module configured to sense tissue compression; a processor coupled to the parameter threshold detection module and the motor controller; and a memory coupled to the processor. The memory stores executable instructions that when executed by the processor cause the processor to monitor multiple levels of action thresholds and monitor speed of the motor and increment a drive unit of the motor, sense tissue compression, and provide rate and control feedback to the user of the surgical instrument.

A system including an instrument having a working tool configured to penetrate a tissue; a sensor configured to generate in real-time one or more torque signals related to torque of the working tool; a controller in operative communication with the sensor and configured to receive the one or more torque signals. The controller processes the torque signals into one or more processed signals representative of torque, energy, power or a combination thereof. The system also includes a display providing to the user in real-time the one or more processed signals. Related devices, systems, methods, and articles are provided.

Disclosed herein are suture clip delivery devices that can be loaded with several flat, disk-shaped suture clips and can deploy the suture clips one after another onto respective sutures without reloading the device with additional suture clips. An exemplary device includes a handle portion with an actuation mechanism that is coupled to a shaft portion that holds and deploys the suture clips. The shaft portion includes a mandrel on which the suture clips are mounted and a retainer that restricts the suture clips from moving proximally when the actuation mechanism pulls the mandrel proximally, which causes a distal-most suture clip to slide off the mandrel and be deployed onto one or more suture. The mandrel and remaining suture clips can them move distally to prepare to deploy the next suture clip.

A surgical system provides hands-free control of at least one surgical tool includes a robot having a tool connector, a smart tool attached to the tool connector of the robot, and a feedback control system configured to communicate with the smart tool to provide feedback control of the robot. The smart tool includes a tool that has a tool shaft having a distal end and a proximal end, a strain sensor arranged at a first position along the tool shaft, at least one of a second strain sensor or a torque-force sensor arranged at a second position along the tool shaft, the second position being more towards the proximal end of the tool shaft than the first position, and a signal processor configured to communicate with the strain sensor and the at least one of the second strain sensor or the torque-force sensor to receive detection signals therefrom. The signal processor is configured to process the detection signals to determine a magnitude and position of a lateral component of a force applied to the tool shaft when the position of the applied force is between the first and second positions. The feedback system controls the robot to move in response to at least the magnitude and position of the lateral component of the force applied to the tool shaft when the position of the applied force is between the first and second positions so as to cancel the force applied to the tool shaft to thereby provide hands-free control of the at least one surgical tool.

A medical observation apparatus (10) includes an imaging section (140), an arm section (110), and a control section (210). The imaging section (140) captures an observation target. The arm section (110) includes multiple links and joint sections (130) that join the links to each other, and supports the imaging section (140). The control section (210) controls a torque that drives the joint sections (130). When a surgeon imparts an external force to the arm section (110) or the imaging section (140), a torque (external torque) due to the external force acts on the joint sections (130). When a torque detection section (134) of the joint sections (130) detects the external torque, the control section (210) outputs a torque command value () such that a joint driving section (131) produces a torque in the same direction as the external torque. The torque command value () includes a component that cancels out a torque that a cable (495) twisted inside the joint sections (130) produces due to a restoring force. As a result, the surgeon is able to rotate the joint sections (130) as intended by imparting just a small external torque to the joint sections (130).

A medical-robotic device that has a kinematic chain of movable components with an end effector at one end, with at least one force or torque sensor for the detection of at least one force or torque value on the kinematic chain. A control processor that controls the kinematic chain. An additional mechanical component is attached directly to the end effector or one of the movable components so that the additional component can transmit a force external to the device or a torque external to the device to the end effector or the movable component. The control processor determines the force external to the device or the torque external to the device on the basis of the at least one force or torque value detected, and controls the kinematic chain in dependence on the determined force external to the device or the determined torque external to the device, in order to increase the accuracy of the medical-robotic device.

Various embodiments include a device for driving a fastener into tissue, including a handle having a first and second end. A shank extends from the first end of the handle and terminates in a head. An inertial measurement unit (IMU) is disposed at the second end of the handle. At least one torque sensor is incorporated in the device. At least one of an indicator or a transmitter is operably coupled to the IMU and the torque sensor. A method of driving a fastener into a tissue with a driver includes recording a previous state and a current state, and using the previous state and current state to predict mechanical properties of the tissue and the optimal torque to be applied. In various embodiment the device predicts a future state of the fastener. The driver notifies the user if the optimal torque has been reached or whether another state has been detected.