A robotic surgical system employs a surgical instrument (20), a robot (40) for navigating the surgical instrument (20) relative to an anatomical region (10) within a coordinate system (42) of the robot (40), and a robot controller (43) for defining a remote center of motion for a spherical rotation of the surgical instrument (20) within the coordinate system (42) of the robot (40) based on a physical location within the coordinate system (42) of the robot (40) of a port (12) into the anatomical region (10). The definition of the remote center of rotation is used by the robot controller (43) to command the robot (40) to align the remote center of motion of the surgical instrument (20) with the port (12) into the anatomical region (10) for spherically rotating the surgical instrument (20) relative to the port (12) into the anatomical region (10).

A surgical instrument comprising an end effector, which comprises a sensor configured to measure a parameter associated with a tissue grasped between the first jaw member and the second jaw member of the end effector. The surgical instrument further comprises a firing member to effect motion at the end effector, which is driven by a motor. Instructions stored in the memory of the surgical instrument cause the motor to driven the firing member at a firing rate that is a function of a measurement of the parameter. The parameter can, for example, include a thickness of the tissue grasped by the end effector.

Embodiments provide a method and device for plate osteosynthesis of a bone fracture that allows angle-stable fixation of the bone fracture, while permitting elastic axial motion at the fracture site in a controlled, symmetric manner to stimulate fracture healing. Embodiments pertain to a bone plate having an outer surface and a bone-facing surface. The bone plate incorporating internal sliding elements containing a threaded receiving hole for bone screws that have a correspondingly threaded screw head. The sliding elements undergo controlled displacement parallel to the longitudinal axis of the plate but are substantially constrained against displacement perpendicular to the longitudinal axis of the plate. The bone screws with threaded heads may be rigidly fixed to the threaded receiving holes in the sliding elements without compressing the bone plate onto the bone surface. Sliding elements are elastically suspended inside the bone plate and undergo dynamic motion.

An orthopedic trauma drill is provided that includes an automatic measuring component to ensure that the proper drill depth is achieved for the length of the appropriate screw that is required. The drill may include a stationary sleeve over a drill bit which determines the distance that the drill bit has drilled through a bone, and may provide a real-time numerical readout of the distance measurement. The drill may also include torque sensor to determine the rotation of the drill in revolutions per minute during operation of the drill.

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 for torque compensation of a motor associated with a medical instrument includes determining a torque profile for a motor, the torque profile defining torque output as a function of rotor angle and during operation of the motor, compensating for deviations in the torque profile by adjusting an input signal to the motor, the compensating being based on the torque profile and rotor position.

A method comprises receiving an input coupling adjacent to a drive input, the drive input being driven by an actuating element, the input coupling being coupled to a joint output, the joint output being connected to a movable object. The method further comprises rotating the actuating element until a resistance torque is experienced by the actuating element and determining, based upon the resistance torque, whether the drive input has engaged the input coupling.

Robotic system and method for positioning an energy applicator extending from a surgical instrument. The robotic system includes a surgical manipulator operable in a manual mode or a semi-autonomous mode. The surgical manipulator moves the energy applicator along a tool path in the semi-autonomous mode, monitors output of a force/torque sensor as the energy applicator moves along the tool path, and reorients the surgical instrument based on the output in response to a user applying reorienting forces and torques to the surgical instrument.

A robotic surgical instrument comprising: a shaft; an articulation at a distal end of the shaft configured to articulate an end effector, the articulation driveable by a pair of driving elements; and an instrument interface at a proximal end of the shaft, the instrument interface comprising: an instrument interface element configured to drive the pair of driving elements, the instrument interface element displaceable over a displacement range, the pair of driving elements fast with the instrument interface element such that a displacement of the instrument interface element is transferred to the pair of driving elements; a tensioning mechanism configured to tension the pair of driving elements; and an alignment mechanism configured to set the displacement position of the instrument interface element to a predetermined alignment position when the end effector has a predetermined configuration, the alignment mechanism being independent of the tensioning mechanism.

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.