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.

Tool assemblies, system, and methods for manipulating tissue and methods for performing a surgical procedure on a vertebral body adjacent soft tissue. A dilator probe is configured to be attached to a robotic manipulator. A sleeve is disposed coaxially around the dilator probe and releasably engaged with the dilator probe. A navigation system tracks the vertebral body and defines an insertion trajectory with respect to the vertebral body. Controller(s) control the robotic manipulator to align the dilator probe and the sleeve to the insertion trajectory and advance the dilator probe and the sleeve along the insertion trajectory to penetrate the soft tissue. After penetration of the soft tissue, the sleeve remains embedded in the soft tissue and the dilator probe is robotically or manually retracted to disengage from the sleeve to enable the sleeve to create a working channel through the soft tissue.

Robotic surgical systems and methods for controlling movement of a surgical tool involve a manipulator, a force/torque sensor to measure forces and torques applied to the surgical tool, and a control system. The control system obtains a virtual boundary for the tool that is a three-dimensional and elongated virtual tube to predefine a tool path for the tool. The control system defines virtual constraints to constrain movement of the surgical tool to be along the tool path defined by the virtual tube. An input is received from the force/torque sensor in response to user forces and torques manually applied to the tool by a user. The control system simulates dynamics of the tool in a virtual simulation based on the virtual constraints and the input from the force/torque sensor and commands the manipulator to advance the tool along the tool path based on the virtual simulation.

A surgical robot system includes a surgical robot having a robot base and a robot arm connected to the robot base. The surgical robot system further includes a joint manipulation arm configured to be attached to the robot arm and to be connected to an appendage of a patient and moved to apply force and/or torque to a joint connecting the appendage through movement of the robot arm. The surgical robot system further includes force and/or torque sensor apparatus configured to output a feedback signal providing an indication of an amount of force and/or torque that is being applied to the robot arm and/or the joint manipulation arm. At least one controller is configured to determine ligaments balancing at the joint based on a plurality of measurements of the feedback signal, and to output information characterizing the ligaments balancing.

Techniques for motion mode management include a computer-assisted device having an input control, a repositionable structure, and a controller coupled to the input control and the repositionable structure. The controller is configured to detect motion of the input control for teleoperating the repositionable structure and in response to determining that the motion of the input control includes a component of motion used to change a mode of operation of the computer-assisted device, temporarily disable changes in the mode of operation of the computer-assisted device based on motion of the input control.

Certain aspects relate to systems and techniques for docking medical instruments. For example, a medical system can include an instrument drive mechanism having a drive output that rotates and engages a corresponding drive input on a robotic medical instrument, a motor configured to rotate the drive output, and a torque sensor configured to measure torque imparted on the drive output. The robotic medical instrument can include a pre-tensioned pull wire actuated by the drive input. The system can activate the motor associated with the drive output to rotate the drive output in response to a torque signal from the torque sensor associated with the drive output in order to align the drive output with the drive input.

A return pad of an electrosurgical system is disclosed. The return pad includes a plurality of conductive members and a plurality of sensing devices. The conductive members are configured to receive radio frequency current applied to a patient. The sensing devices are configured to detect at least one of the following: a nerve control signal applied to the patient; and a movement of an anatomical feature of the patient resulting from application of the nerve control signal.

A medical device for implantation in a hip joint of a patient is provided. The medical device comprises a first and second piece and a releasing member adapted to, in a first state hold the first piece attached to the second piece, and in a second state release the first piece from the second piece. The releasing member is adapted to change from the first state to the second state when a pre-determined strain is placed on the releasing member.

An interbody tool may include an upper portion with an upper contact surface and a plurality of upper legs; a lower portion with a lower contact surface and a plurality of lower legs, each of the lower legs moveably connected to one of the upper legs; a plurality of gauges, each gauge configured to measure a position of one of the plurality of upper legs relative to a corresponding one of the plurality of lower legs; at least one actuator configured to selectively push the upper portion away from the lower portion; and at least one sensor for measuring a force exerted by the at least one actuator.

A surgical robotic system for use in a minimally invasive surgical procedure includes an instrument drive unit having five degrees of rotational freedom.