A system comprises an instrument carriage configured to support an instrument. The instrument comprises a joint output and an input coupling configured to move the joint output. The instrument carriage comprises an actuating element. The actuating element comprises a drive input and an actuator coupled to drive the drive input. The drive input is configured to engage the input coupling. The system also comprises a control system configured to drive the drive input with the actuator and determine whether the drive input has engaged the input coupling based on a determination of whether the actuator experiences a resistance greater than a resistance threshold.

A computer-assisted device includes an actuator and one or more processors. The computer-assisted device is configured to support an instrument having an end effector located at a distal end. To perform an operation with the instrument, the one or more processors are configured to operate the end effector according to a state machine having a first state and a second state. In the first state a velocity set point of the actuator is set to a first velocity. In the second state the velocity set point of the actuator is set to a second velocity lower than the first velocity. The state machine transitions from the first state to the second state when a force or torque applied by the actuator is above a first threshold and transitions from the second state to the first state when the force or torque applied by the actuator is below a second threshold.

A method for adjusting the operation of a surgical instrument using machine learning in a surgical suite is disclosed.

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.

Techniques for instrument control include a manipulator and a controller. The controller is configured to detect installation of an instrument onto the manipulator; identify an instrument input mechanically coupled to a mechanical degree of freedom (DOF) of the instrument; in response to activation of a control input by a user, determine whether a teleoperated actuator mechanically coupled to the instrument input is being operated according to a soft lock state behavior where the teleoperated actuator is maintaining the mechanical DOF at a first position, the control input providing an indication of a request by the user to manually actuate the teleoperated actuator and discontinue the soft lock state behavior; and in response to a determination that the teleoperated actuator is not being operated according to the soft lock state behavior, notify the user that manual actuation of the mechanical DOF using the soft lock state behavior is not permitted.

A computer-assisted system may include a manipulator arm configured to support an instrument, an input device configured to accept user commands to move the instrument, and a damping system coupled to the input device. A controller of the computer assisted system may be configured to determine an instrument power metric and an input device power metric. The controller may also determine a damping to be applied to the input device based on the instrument power metric and the input device power metric and cause the damping system to adjust the damping applied to the input device.

A control system for releasing stored rotational energy and angular momentum in a drive shaft with a distally positioned atherectomy tool, wherein the atherectomy tool is stuck within vasculature. The control system is configured to manage the release of the stored energy and angular momentum of the drive shaft safely and predictably.

Surgical stapling instruments include mechanisms for identifying and/or deactivating stapler cartridge for use with the instruments. The stapling instrument includes a drive member for actuating a staple cartridge and a locking member movable from a disabled position permitting distal translation of the drive member through a staple firing stroke, to a locking position inhibiting distal translation of the drive member through the staple firing stroke. The staple cartridge may include a switch for maintaining the locking member in the disabled position. The switch may be further configured to operate as a reload detection mechanism for determining the type of reload present in the surgical stapling instrument.

Disclosed is a surgical system, comprising an end effector configured to grasp tissue and provide therapeutic treatment to tissue. The surgical system further comprises a motor, a motor drive circuit, and a motor control circuit. The motor control circuit is configured to provide a motor drive signal to the motor drive circuit and adaptively control elements of the motor drive circuit to control deceleration of the motor in the absence of the motor drive signal. When the motor drive signal is present, the motor drive circuit can be configured to pass the motor drive signal through to the motor.

A surgical instrument is disclosed including an end effector, a firing member movable from an unfired position toward a fired position during a firing stroke, a firing system comprising a motor, and a control system. The end effector comprises a first jaw, a second jaw moveable relative to the first jaw, and a staple cartridge. The firing system is configured to drive the firing member through the firing stroke. The control system is configured to drive the firing member from the unfired position toward the fired position with the firing system, detect a force to fire the firing member toward the fired position, predict a future force to fire the firing member, based on the detected force to fire, and dynamically adjust a firing algorithm of the firing system, based on the prediction.