A lead removal system includes a lead removal device comprising a sheath. The sheath includes a distal separating member configured to separate an implanted lead from adjacent tissue. The sheath also includes a sheath lumen configured to receive a lead engagement device and the implanted lead. A traction applying device is coupled to the lead removal device. The traction applying device is configured to be secured to the lead engagement device and apply traction to the lead engagement device and the implanted lead as the distal separating member of the sheath separates the implanted lead from adjacent tissue.

A surgical stapling system includes a motor, a gear reducer assembly, a drive train, and a motor controller. A method of controlling the motor includes applying a first signal to the motor, receiving drive train operational data, comparing the drive train data to baseline data, and applying a signal having a different shape than the first signal to the motor. A method of characterizing the motor includes transmitting a perturbation signal, receiving motor function parameters, determining stapler system characteristics, and adjusting a controller function. A method of controlling a stepper motor includes applying a signal to the stepper motor, receiving stepper motor operational data, comparing the data to baseline data, and adjusting the signal. Another method of controlling the motor includes receiving motor rotational data, receiving gear rotation data, calculating a mechanical transfer function, determining non-idealities of the stapling system, and modifying a control signal based on the non-idealities.

A surgical tool includes a drive housing removably coupled to a tool driver of a robotic surgical system, a shaft extending from the drive housing, an end effector arranged at an end of the shaft, and a computer system. The computer system is programmed to send a command signal to a motor of the tool driver to drive rotation of a drive shaft mounted within the drive housing, monitor torque and rotational motion of the motor with a torque sensor and a rotary encoder, respectively, in communication with the computer system, measure an unexpected change in the torque or the rotational motion of the motor with the torque sensor or the rotary encoder when the surgical tool is manually bailed out by manually rotating the drive shaft and backdriving the motor, report the unexpected change as a bailout signal, and disable the surgical tool once the bailout signal is received.

The present teachings provide for a hand-held robotic instrument for use with a surgical tool. In one configuration, the instrument comprises a housing configured to be held by a user, the housing defining a remote axis of motion. Control systems for controlling the hand-held robotic instrument are also contemplated, which are capable of switching control modes based on fixation, boundaries, and/or frames.

A tissue-removing catheter includes a torque sensor that senses torque from a motor acting on a component of the catheter. A linear force sensor senses a linear force from the advancer acting on a component of the catheter. A controller is in operative communication with the motor, the torque sensor, and the linear force sensor. The controller controls a speed of the motor based on the sensed torque and the sensed linear force during operation of the tissue-removing catheter. The linear force sensor may sense linear force imparted on a liner of the catheter.

To achieve in vivo repair of severed mammalian nerve tissue, a system can be employed to induce distraction neurogenesis. At least a portion of the system can be anchored at an injury site, such as between distal and proximal nerve ends. The system can be attached to the proximal nerve end and can place the nerve under micro-tension for an extended period of treatment. The system may also deliver medication or treatment to encourage neurogenesis and to reduce pain in the subject receiving treatment. After the course of treatment, the device can be removed from the injury site, and the nerve ends rejoined.

A system and method for creating a cavity with a drill assembly provides a powered drill shaft assembly having an articulating tip and a position sensor along the drill shaft; a drill motor assembly with a rotational motor, linear actuator, torque sensor, rotation sensor, electrical resistance sensor and a controller unit having a plurality of programs providing user interface and controlling the operation of the powered drill arrangement; a shroud for the drill shaft with a water port; and a computer software package that combines user specifications with sensor data to control activation and displacement of the drill with a user interface, controls the motor for rotational speed and drilling depth, and gives sensor status, and a display displaying status of a drilling procedure and an image from an imaging device, and that is programmable for a set of parameters for a drilling procedure.

A method for evacuating particulates from a surgical site is disclosed. The method comprises communicatively connecting a particulate evacuation module and a surgical hub, wherein the surgical hub comprises a surgical hub enclosure, and wherein the particulate evacuation module is configured to be received within the surgical hub enclosure. The method further comprises removing a particulate from the surgical site and into the particulate evacuation module, analyzing the removed particulate, and modifying an operation of the particulate evacuation module based on the analysis of the removed particulate.

Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.

A generator, ultrasonic device, and method for controlling a temperature of an ultrasonic blade are disclosed. A control circuit coupled to a memory determines an actual resonant frequency of an ultrasonic electromechanical system comprising an ultrasonic transducer coupled to an ultrasonic blade by an ultrasonic waveguide. The actual resonant frequency is correlated to an actual temperature of the ultrasonic blade. The control circuit retrieves from the memory a reference resonant frequency of the ultrasonic electromechanical system. The reference resonant frequency is correlated to a reference temperature of the ultrasonic blade. The control circuit then infers the temperature of the ultrasonic blade based on the difference between the actual resonant frequency and the reference resonant frequency. The control circuit controls the temperature of the ultrasonic blade based on the inferred temperature