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

A compact height torque sensing articulation axis assembly is disclosed herein having a torque sensor, an assembly mounting flange, a motor, a motor gearbox, a gearbox output shaft, an encoder, and a cable. The assembly may sense tension on robotic catheter pullwires in an articulating catheter and/or torque on a robotic output axis using the torque sensor. Disclosed embodiments may advantageously be used to achieve small, lightweight robotic catheter systems.

Devices, systems, and methods for detecting unexpected movement of a surgical instrument during a robot-assisted surgical procedure are provided. The surgical robot system may be configured to measure forces and torques experienced by the surgical instrument during the surgical procedure and determine if the forces and torques are within an acceptable range. The robot system is further configured to notify the user of the presence of the unexpected movement.

The present invention relates to a device and a method for measuring osseous quality.

A computer-assisted surgery system may have a robotic arm including a surgical tool and a processor communicatively connected to the robotic arm. The processor may be configured to receive, from a neural monitor, a signal indicative of a distance between the surgical tool and a portion of a patient's anatomy including nervous tissue. The processor may be further configured to generate a command for altering a degree to which the robotic arm resists movement based on the signal received from the neural monitor; and send the command to the robotic arm.

This application relates to a surgical robot apparatus and a method of driving the surgical robot apparatus. The surgical robot apparatus may include a passive arm, of which a position is set before performing surgery, and an active arm connected to the passive arm, and driven to manipulate a surgical tool while performing surgery. The apparatus may also include a cannula holder which is installed at an end portion of the active arm and in which a cannula for holding the surgical tool is inserted. The apparatus may further include a sensor unit installed between the cannula holder and the end portion of the active arm, and sensing a force and torque applied to the cannula holder and a controller connected to the sensor unit and receiving data about the force and torque.

An intraosseous access system to access a medullary cavity includes a driver including an access assembly, a motor, and an energy source. The intraosseous access system further includes a sensor configured to detect a first input from one of the motor or the energy source. The intraosseous access system further including a processing unit, communicatively coupled with the sensor, configured to receive the first input from the sensor, and determine access to a medullary cavity. The processing unit can then modify operation of one of the motor and the energy source to automatically stop operation of the system and prevent backwalling.

A robotic system and methods are provided. The robotic system includes a tool and a manipulator with links for moving the tool. A controller implements a virtual simulation wherein the tool is represented as a virtual volume interacting with a virtual boundary defined by a mesh of polygonal elements. The controller computes a reactive force responsive to penetration of polygonal elements by the virtual volume. The reactive force is computed based on a penetration factor being a function of a geometry of the virtual volume bound relative to a geometry of the polygonal element. The controller applies the reactive force to the virtual volume to reduce penetration of the polygonal element by the virtual volume. The controller commands the manipulator to move the tool in accordance with application of the reactive force to the virtual volume to constrain movement of the tool relative to the virtual boundary.

A joint distraction lever for use during a distraction procedure is disclosed. The joint distraction lever includes a lever body having a handle portion coupled to a working portion, a fulcrum extending from a bottom surface of the working portion of the lever body, a distal tip, wherein the distal tip is raised above a top surface of the working portion of the lever body, a force measurement device configured to measure a distraction force applied at the distal tip during a distraction procedure for a joint during which a torque is applied at the handle portion of the lever body, and a force value output configured to indicate the distraction force applied at the distal tip.

Disclosed herein are systems, methods, and software for providing a virtual environment with enhanced visual and haptic detail. In some embodiments, the haptic tool and haptic target are assigned affordance and susceptibility values, respectively, that are used to determine visual and haptic feedback.