A surgical robotic arm includes a first link; a second link coupled to the first link at a first joint such that at least one of the first link or the second link is movable relative to each other; and a first actuator configured to move at least one of the first link or the second link. The surgical robotic arm also includes a joint torque sensor disposed within the first joint and configured to measure torque imparted on at least one of the first link or the second link to obtain a measured torque value. The surgical robotic arm further includes a controller configured to: determine an estimated joint torque value; compare the estimated joint torque value to the measured torque value; and determine an environmental torque value based on a comparison of the estimated joint torque value and the measured torque value.

Disclosed herein are systems and methods for using a robotic surgical system comprising a GUI and a robotic arm.

A surgical hub is disclosed. The surgical hub includes a processor and a memory coupled to the processor. The memory stores instructions executable by the processor to receive first image data from a first image sensor, the first image data represents a first field of view, receive second image data from a second image sensor, wherein the second image data represents a second field of view, and display, on a display coupled to the processor, a first image rendered from the first image data corresponding to the first field of view and a second image rendered from the second image data corresponding to the second field of view.

Devices, systems, and methods for providing a degree of freedom to a guide tube associated with a robotic surgical system. The surgical robot system may be configured to have six degrees of freedom associated with a vertical lift, rotation about a shoulder, rotation about an elbow, roll of a forearm, pitch of the end-effector, and rotation of a guide tube independent from the end-effector. The robotic surgical system allows for the proper orientation of an instrument in the guide tube along a trajectory to the operational site of a patient.

A tissue-removing catheter may be configured to remove tissue in a body lumen. The tissue-removing catheter may include an elongate body sized and shaped to be received in the body lumen. The tissue-removing catheter also may include a tissue-removing element mounted on a distal end portion of the elongate body. The tissue-removing element may be configured to remove the tissue as the tissue-removing element is rotated by the elongate body within the body lumen. The tissue-removing catheter may further include a motor operatively engaging the elongate body for driving rotation of the elongate body and the tissue-removing element. The tissue-removing catheter additionally may include a controller operatively connected to the motor and configured to perform a torque response routine to control a speed of the motor based on a set PWM value of the motor and a detected current applied to the motor during rotation of the elongate body and tissue-removing element.

Surgical instrument (1) comprising a longitudinal shaft (2) with a tip portion (3), a rear portion (4) and a longitudinal axis (5) and rotatable in the clock-wise and in the counter-clockwise direction around the longitudinal axis (5), said surgical instrument (1) further comprising: A) first means (6) for drilling a hole in a bone by rotation of the shaft (2) in one of the two directions; B) second means (7) for crushing bone tissue when the shaft (2) rotates in the other of the two directions; and C) a torque sensor (10) coupled to the shaft (2). Method for measuring the local mechanical resistance of a porous body comprising the steps of: a) drilling a hole to a desired depth into a porous body by advancing and rotating the shaft (2) in a first sense of rotation, preferably clockwise so that said first means (6) are active; b) hammering the shaft (2) gently further into the porous body as far as the tip portion (3) of the shaft (2) has reached a desired measuring position; and c) performing the torque measurement by rotating the shaft (2) in the opposite second sense of rotation, preferably counter-clockwise so that said second means (7) are active.

Featured is a closed loop surgical system including one or more control units that are configured to form a fluid control subsystem for fluid control and a device control subsystem for controlling a surgical device. The two control subsystems in combination provide an automatic self-managed closed loop system for the control of fluid into and out of the surgical site by means of intelligent communication and for maintaining a preselected pressure desired by the surgeon. In particular embodiments, this is accomplished by utilizing empirically correlated motor speed and load measurements, based on supplied current, from the surgical resection device when using its specific resection capability. For example, automatically adjusting fluid flow responsive to changes in loading of a surgical device or automatically sensing a load change for the surgical device during a surgical procedure and automatically changing (increasing or decreasing) fluid flow responsive to the load change.

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 robotic system includes a surgical manipulator and a force/torque sensor. The surgical manipulator operates in a first operating mode in which a user applies forces and torques to the surgical instrument to cause movement of the energy applicator. The surgical manipulator also operates in a second operating mode in which the surgical manipulator moves the energy applicator along a tool path. A controller monitors the output of the force/torque sensor as the energy applicator is being moved along the tool path in the second operating mode and transitions from the second operating mode to the first operating mode in response to the output exceeding associated limits.

The present invention provides a handheld robot for orthopedic surgery and a control method thereof. The handheld robot of the present invention includes a main body, a grip, a kinematic mechanism, a tool connector, a tool, a force sensor and a positioning unit. The handheld robot of the present invention combines the position/orientation information of the tool acquired by the positioning unit with the force/torque information acquired by the force sensor, and utilizes the combined information to adjust the position of the tool so as to keep the tool within the range/path of a predetermined operation plan. In this way, the precision of the orthopedic surgery can be enhanced, and the error occurred during the surgery can be minimized.