Certain aspects relate to systems and techniques for surgical robotic arm admittance control. In one aspect, there is provided a system including a robotic arm and a processor. The processor may be configured to determine a force at a reference point on the robotic arm based on an output of a torque sensor and receive an indication of a direction of movement of the reference point. The processor may also determine that a component of the force is in the same direction as the direction of movement of the reference point, generate at least one parameter indicative of a target resistance to movement of the robotic arm, and control the motor, based on the at least one parameter, to move the robotic arm in accordance with the target resistance.

Telerobotic, telesurgical, and surgical robotic devices, systems, and methods selectively calibrate end effector jaws by bringing the jaw elements into engagement with each other. Commanded torque signals may bring the end effector elements into engagement while monitoring the resulting position of a drive system, optionally using a second derivative of the torque/position relationship so as to identify an end effector engagement position. Calibration can allow the end effector engagement position to correspond to a nominal closed position of an input handle by compensating for wear on the end effector, the end effector drive system, then manipulator, the manipulator drive system, the manipulator/end effector interfacing, and manufacturing tolerances.

A method of verifying torque measurements of a reaction torque transducer of an instrument drive unit includes a controller receiving a verification signal, generating an acceptable range of torques, receiving a torque signal, comparing the torque signal to the acceptable range of torques, and stopping a motor if the torque applied by the motor is outside of the acceptable range of torques. The verification signal is indicative of the current drawn by the motor and the torque signal is indicative of torque applied by the motor.

Systems and methods for performing robotically-assisted surgical procedures on a patient enable an image display device to provide an operator with auxiliary information related to the surgical procedure, in addition to providing an image of the surgical site itself. The systems and methods allow an operator to selectively access and reference auxiliary information on the image display device during the performance of a surgical procedure.

A surgical instrument is configured to be installed for use on a teleoperated surgical system. A surgeon or other medical person controls the surgical instrument by manipulating one or more control inputs. Computer-assisted teleoperated actuators of the teleoperated surgical system move one or more surgical instrument mechanical degrees of freedom in response to movements of the one or more control inputs. A teleoperated surgical system is provided to enable a surgeon or medical person to manually control one or more surgical instrument mechanical degrees of freedom, while the surgical instrument is installed for use is installed on the teleoperated surgical system.

A manipulator system including a manipulator that includes an insertion part having a main section and a bending section, a bending-section driving portion, and a linear member inserted through a sheath fixed to the main section at one end thereof, the linear member connecting the bending section and the bending-section driving portion through the main section and transmitting a driving force generated by the bending-section driving portion to the bending section; an operation input unit via which an operation instruction to the bending section is input; a sheath-tension detecting portion that detects the tension in the sheath; a compensation-value setting portion that sets a compensation value for a bending control signal on the basis of the tension in the sheath, and a control unit that generates the bending control signal and sends the bending control signal corrected with the compensation value to the bending-section driving portion.

A system and method of operating a minimally invasive cutting instrument includes a surgical cutting instrument. The surgical cutting instrument includes a drive unit, an end effector located at a distal end of the instrument, and a garage for housing the cutting blade when the cutting blade is not in use. The end effector includes gripping jaws and a cutting blade. To perform a cutting operation, the instrument extends the cutting blade from a first position to a second position, retracts the cutting blade from the second position to a third position between the first and second positions, and further retracts the cutting blade to the first position. While the cutting blade is not in use, the cutting blade is maintained in the first position using a restraining mechanism in the drive unit, force or torque applied by a motor or other active actuator to the drive unit, or both.

A force/torque transducer comprises a first member, a second member for receiving a load, and load cells connecting the first and second members. The load cells include sensors for measuring physical deformation of the load cells. Sensor measurements are convertible into force/torque measurements using a transformation matrix configured with M rows and N columns. M and N are respectively defined by a number of degrees of freedom monitored by the transducer and a number of load cells employed by the transducer, or vice-versa. Each row or column that corresponds to each load cell has values relating to that one load cell. Each row or column that corresponds to each degree of freedom has values relating to that one degree of freedom. A sum of the values in each row or column corresponding to each degree of freedom is substantially equal to zero.

A medical or dental device for determining a bone's quality by cutting a thread into the bone with a rotating threaded element comprises a control unit having a measurement circuit configured: (i) to determine values of the motor current via a first electrical contact device with which the motor drive is supplied for rotational drive of the threaded element that can be connected to the motor drive, the current values being a measure of the bone's quality; (ii) to monitor and/or to determine the penetration depth of the threaded element into the bone, and (iii) to generate measurement signals which show the relationship between the penetration depth and the determined current values or parameters derived therefrom, and to transmit these signals to a display unit, which displays the relationship between the determined current values or parameters derived therefrom, in particular the bone's quality, and the penetration depth.

Systems and methods may use a sensor to detect a torque on or from a sawblade. A method may include detecting, using a sensor, a torque on a robotic arm, the torque caused by a sawblade received within a cut guide attached to the robotic arm, generating, in response to receiving a signal from the sensor indicative of the torque on the robotic arm, a visual representation of at least a portion of the torque, and displaying, using a display device, the visual representation of the torque.