A tubular system is configured to transluminally deliver an implant comprising a tissue anchor having a coupling head and a distal helical tissue-engaging element, into a heart of a subject. The tissue anchor is slidable through a channel of the system, the channel being slidable within a catheter. An anchor driver is configured, while coupled to the coupling head of the tissue anchor, to drive the tissue anchor through the system and out the system's distal end, to anchor the tissue-engaging element to tissue of the heart. While a first electrode is in contact with the subject and a second electrode is inside the heart of the subject, a control unit receives an electrophysiological signal from the electrodes, and based on the electrophysiological signal, indicates a position of the second electrode inside the heart. Other embodiments are also described.

A multi-force sensing instrument 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 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.

Presented herein are devices and systems as well as the methods of using the same for the purpose of reducing and/or ameliorating the sensation of pain, specifically, chronic pain. Particularly, in one aspect, the devices, systems, and their methods of use disclosed herein are effective for reducing peripheral nerve pain, such as resulting from traumatic nerve injury and other types of nerve damage.

A powered stapling device includes a circular stapling head assembly, an anvil, a trocar coupled to the anvil, and a motor also coupled to the trocar. The motor is configured to advance and retract the trocar. The device further includes a control circuit coupled to the motor, in which the control circuit is configured to determine a position of the trocar in one of a plurality of zones, and set an anvil closure rate based on the determined position of the trocar.

[Object] To enable further improvement in user convenience. [Solution] Provided is a robot arm apparatus including: an arm unit made up of a plurality of links joined to each other by one or a plurality of a joint unit, the arm unit being connectable to an imaging unit; and a drive control unit that controls driving of the arm unit by causing each joint unit to be driven cooperatively. The drive control unit uses relative position information of a reference position with respect to the arm unit, the relative position information being based on a state of the arm unit and distance information about a distance between the imaging unit and the reference position, to control the driving of the arm unit in a manner that the reference position is positioned on an optical axis of the imaging unit.

A robotically-controlled drive unit includes a torque sensing mechanism to measure the torque applied to a rotatable body that is configured to tension an actuation tendon to operate robotic surgical tools and catheters. The drive unit includes a motor unit that generates an output torque in response to a robotic control signal. A beam element generates a reactive torque in response to the output torque generated by the rotor, and a force sensor detects the reactive torque and communicates the magnitude of the reactive torque to a robotic controller. The drive unit may further include a mechanism to perform bi-directional torque sensing, examples of which include additional force sensors and compression springs.

Provided is a medical robot arm apparatus including a plurality of joint units configured to connect a plurality of links and implement at least 6 or more degrees of freedom in driving of a multi-link structure configured with the plurality of links, and a drive control unit configured to control driving of the joint units based on states of the joint units. A front edge unit attached to a front edge of the multi-link structure is at least one medical apparatus.

A wrist joint performance measuring device includes a base having a seat and two positioning arms on two sides of the seat. A switching device is pivotably mounted to the base. A forearm support is connected to the switching device. A measurement device includes a pivotal seat, a torque meter, a first handle, and a second handle. The pivotal seat is pivotably connected to the forearm support. The torque meter is mounted to the pivotal seat. The first handle or the second handle is connected to a force receiving end of the torque meter. The forearm support and the measurement device are movable by the switching device to one of the two positioning arms and are positioned by the one of the two positioning arms.

Systems configured for performing atherectomy and pulsatile intravascular lithotripsy are provided. Aspects of the systems include a console; and a handle, wherein the handle is configured to be interchangeably operably connectable to: an atherectomy subsystem, and a pulsatile intravascular lithotripsy subsystem. Also provided are components of the systems that include the same. The systems and assemblies find use in a variety of different applications, including combined atherectomy and pulsatile intravascular lithotripsy procedures as well as balloon angioplasty applications.

Aspects of present disclosures involve systems, methods, and apparatus for a bone mounted robotic-assisted orthopedic surgery system for precise implant position, soft tissue balancing, and guidance of tools during a surgical procedure, particularly partial or total knee replacement procedure. The system features a bone-mounted robotic arm with an end-effector for precise positioning of a surgical tool, positioning of implants, and balancing of soft tissues. The reconfigurable robotic system requires minimal training by surgeons, is intuitive to use similar to conventional instrumented surgery, and has a small footprint. The system works with existing, conventional instruments, patient-specific instruments, sensor-assisted systems, and computer-assisted systems and does not require increased surgical time and safely provides the enhanced precision achievable by robotic-assisted systems and computer-assisted technologies.