A medical or dental device for determining a bone's quality by cutting a thread into the bone with a rotating threaded element comprises a control unit having a measurement circuit configured: (i) to determine values of the motor current via a first electrical contact device with which the motor drive is supplied for rotational drive of the threaded element that can be connected to the motor drive, the current values being a measure of the bone's quality; (ii) to monitor and/or to determine the penetration depth of the threaded element into the bone, and (iii) to generate measurement signals which show the relationship between the penetration depth and the determined current values or parameters derived therefrom, and to transmit these signals to a display unit, which displays the relationship between the determined current values or parameters derived therefrom, in particular the bone's quality, and the penetration depth.

A system and method of operating the same are disclosed. The system includes a surgical instrument including an energy applicator and a manipulator including a plurality of links and a plurality of actuators operatively coupled to the plurality of links for moving the energy applicator in one or more degrees of freedom. At least one controller is configured to establish an initial position of the energy applicator. The at least one controller evaluates a plurality of possible final positions for the energy applicator with respect to one or more boundaries within which the energy applicator is allowed to move and beyond which the energy applicator is restricted from moving. Based on the evaluation of the plurality of possible final positions for the energy applicator, a commanded position to which the energy applicator is able to be moved by the manipulator without crossing the one or more boundaries is established.

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 method of verifying torque measurements of a reaction torque transducer of an instrument drive unit includes a controller receiving a verification signal, generating an acceptable range of torques, receiving a torque signal, comparing the torque signal to the acceptable range of torques, and stopping a motor if the torque applied by the motor is outside of the acceptable range of torques. The verification signal is indicative of the current drawn by the motor and the torque signal is indicative of torque applied by the motor.

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.

End effector position set point correction includes an instrument having an end effector and a control unit. In some embodiments, the control unit actuates the end effector to a first position, determines an actuation level, determines an offset based on the actuation level, adjusts a position set point based on the offset, and actuates the end effector to the adjusted position set point. In some embodiments, the control unit actuates the end effector, determines an actuation level, and determines whether the actuation level is above a threshold. In response to determining that the actuation level is above the threshold, the control unit determines a position of the end effector, identifies a nominal position associated with the determined position, determines an offset based on the nominal position and the determined position, adjusts a position set point based on the offset, and actuates the end effector to the adjusted position set point.

A system comprises a robotic manipulator for control of motion of a medical tool. The robotic manipulator including a joint and a link connected to the joint. The link is configured to connect to the medical tool. A processing unit of the system is configured to receive first data from an encoder of the joint. A first tool tip estimate of a first parameter of a tool tip coupled at a distal end of the medical tool is generated using the first data. The first parameter of the tool tip is a position or a velocity of the tool tip. Second data is received from a sensor system located at a sensor portion of the link or the medical tool. The joint is controlled based on a first difference between the first tool tip estimate and a second tool tip estimate generated using the first and second data.

Various systems and methods for controlling an ultrasonic surgical instrument according to the location of tissue grasped within an end effector are disclosed. A control circuit can be configured to apply varying power levels, via a generator, to an ultrasonic transducer driving an ultrasonic electromechanical system to oscillate an ultrasonic blade. Further, the control circuit can measure impedances of the ultrasonic transducer corresponding to the varying power levels and determine a location of tissue positioned within the end effector according to a difference between the impedances of the ultrasonic transducer relative to a threshold.

An ultrasonic electromechanical system for an ultrasonic electromechanical system may include an ultrasonic blade, a clamp arm disposed opposite the ultrasonic blade, an ultrasonic transducer acoustically coupled to the ultrasonic blade, in which the ultrasonic transducer is configured to oscillate the ultrasonic blade in response to a drive signal, and a control circuit coupled to the ultrasonic transducer. The control circuit can be configured to determine a position of a tissue clamped between the ultrasonic blade and the clamp arm, and control an amount of power of the drive signal based at least in part on the position of the tissue.

A method for controlling an output of an energy module of a modular energy system. The energy module can comprise a plurality of amplifiers configured to generate a drive signal at a frequency range and a plurality of ports coupled to the plurality of amplifiers. The method includes determining to which port of the plurality of ports the surgical instrument is connected, selectively coupling an amplifier of the plurality of amplifiers to the port of the plurality of ports to which the surgical instrument is connected, and controlling the amplifier to deliver the drive signal for driving the energy modality to the surgical instrument through the port.