Systems and methods for instrument control include first and second actuators and a controller configured to command the first actuator to maintain a first degree of freedom (DOF) of an instrument at a first position; command the second actuator to maintain a second DOF of the instrument at a second position; detect, while the first actuator is maintaining the first DOF at the first position, a first manual actuation of the first actuator that exceeds a first threshold; detect, while the second actuator is maintaining the second DOF at the second position, a second manual actuation of the second actuator that does not exceed a second threshold; and in response to detecting that the first manual actuation exceeds the first threshold and the second manual actuation does not exceed the second threshold, terminate the command to the first actuator to maintain the first DOF at the first position.

Described herein are systems, apparatus, and methods for precise placement and guidance of tools during a surgical procedure, particularly a spinal surgical procedure. The system features a portable robot arm with end effector for precise positioning of a surgical tool. The system requires only minimal training by surgeons/operators, is intuitive to use, and has a small footprint with significantly reduced obstruction of the operating table. The system works with existing, standard surgical tools, does not required increased surgical time or preparatory time, and safely provides the enhanced precision achievable by robotic-assisted systems.

A surgical port manipulator includes a body housing a motion source, an arm coupled to the body, a load sensor associated with the arm, and a controller in communication with the load sensor and the motion source. The arm has an end configured to rotatably couple a surgical port thereto such that the surgical port is rotatable relative to the arm in at least two degrees of freedom in response to a supply of power from the motion source. The load sensor is configured to sense a load exerted on the surgical port. The controller is configured to direct the motion source to move the surgical port in a direction in response to the load sensor sensing a threshold load oriented in the direction.

A catheter, advanced toward an anatomical site, has a proximal end and a steerable distal end. An anchor is advanced through the catheter. An anchor driver drives the anchor out of the catheter's distal end, anchoring the anchor at the site. A first constraining member engages tissue, and inhibits, after the anchor has been driven out of the catheter and before the anchoring, movement of at least the anchor driver's distal end, on a first axis between the anchor driver's distal end and a site at which the first constraining member engages the tissue. A second constraining member inhibits, after the anchor has been driven out of the catheter and before the anchoring, movement of at least the anchor driver's distal end, on a second axis. Other embodiments are also described.

A spinal construct includes a first member having a first thread form and an implant cavity configured for disposal of the spinal implant. A second member is engageable with a spinal implant and includes a second thread form configured for engagement with the first thread form. A gauge is coupled to the second member. The gauge is configured to measure a force between the second member and the spinal implant when the second member is engaged with the first member. The second thread form is timed with the first thread form to position the gauge in a selected orientation relative to the spinal implant. Systems and methods are disclosed.

An atherectomy system includes a handle and a drive motor that is adapted to rotate a drive cable extending through the handle and operably coupled to an atherectomy burr. A control system is adapted to regulate operation of the drive motor, including providing the drive motor with a high frequency pulse width modulation (PWM) drive signal in order to operate the drive motor. The control system monitors a motor performance parameter such as motor speed or motor torque, and when the motor performance parameter approaches a limit of a performance range, the control system adds a low frequency PWM signal to the high frequency PWM drive signal, thereby causing the drive motor to produce a tactile signal that signals to the user that the motor performance parameter is approaching the limit of the performance range.

Systems and methods for an effective solution to MR safe actuation in all MRI-guided (robot-assisted) procedures are provided. The present integrated hydraulic transmission method or system uses piston-based cylinders (101,102,201,308(C1), 309(C2), 310(C3), 402, 501) to provide continuous bi-lateral rotation with unlimited range in an MRI environment. Positional and torque control can also be achieved. The system includes a master unit and a slave unit each comprising: a plurality of cylinders (101,102,201,308(C1), 309(C2), 310(C3), 402, 501), a piston (105,301,302,303,401,502) inserted within the bottom surface of each cylinder (101,102,201,308(C1), 309(C2), 310(C3), 402, 501), a seal positioned with each cylinder (101,102,201,308(C1), 309(C2), 310(C3), 402, 501) between the piston (105,301,302,303,401,502) and the top surface of the cylinder (101,102,201,308(C1), 309(C2), 310(C3), 402, 501) to inhibit a fluid from passing across the seal, and a plurality of tubes (103) connecting the master unit cylinders and slave unit cylinders (402).

A robotic system includes a base with a manipulator is attached to the base. At least one sensor is associated with the manipulator. The at least one sensor detects a trajectory of an external disturbance on the manipulator or an external cue from a user. A controller is provided that converts the trajectory detected by the at least one sensor to an input signal or the external cue detected by the at least one sensor to an input signal. A drive system receives the input signal, and in response to the input signal powers the base or to power the base in a trajectory corresponding to the external cue. A method for intuitive motion control of the robotic system is also provided.

A method for adjusting the operation of a clip applier using machine learning in a surgical suite is disclosed. The method comprises gathering data during surgical procedures, wherein the surgical procedures include the use of a clip applier comprising a crimping drive configured to be mechanically advanced through a crimping stroke. The method further comprises analyzing the gathered data to determine an appropriate operational adjustment of the clip applier and adjusting the operation of the clip applier to improve the operation of the clip applier.

Surgical stapling systems and methods for stapling tissue during a surgical procedure are provided. In an exemplary embodiment, a control system is provided for controlling at least one motor coupled to a drive system on a surgical stapling device for driving one or more drive assemblies. The control system can be configured to communicate with the drive system of the stapling tool and to control and modify movement of one or more drive assemblies based on certain feedback.