A system for controlling a robotic end-effector is disclosed. The system includes a robotic arm, a surgical tool including an end-effector with articulatable arm and a clamp jaw. A tool driver is coupled to the surgical tool and a motor is coupled to the tool driver and is configured to drive the surgical tool. A sensor is configured to sense external forces applied to the end-effector. A central control circuit is configured to control the tool driver. The central control circuit is configured to receive a sensed parameter from the sensor, receive a sensed motor current (I) from the motor, and control the tool driver based on the sensed parameter and the motor current (I).

A surgical visualization system is disclosed including an imaging device including an imaging lens, a lens cleaning system, a user interface, and a control circuit. The control circuit is configured to monitor a parameter indicative of lens transparency of the imaging lens and present, through the user interface, a lens transparency level based on the parameter.

A robotic surgical system includes a first automated surgical system with a first user control console; a first robotic actuator; and a first surgical system controller comprising a first processor and a first memory component configured to store a first set of processor instructions and a first set of processor data. The robotic surgical system further includes a first surgical system communication interface; and a second automated surgical system that has a second user control console; a second robotic actuator; a second surgical system controller comprising a second processor and a second memory component configured to store a second set of processor instructions and a second set of processor data; and a second surgical system communication interface in data communication with the first surgical system communication interface. The second automated surgical system is controllable through the first user control console.

Various connection detection assemblies for a robotic surgical assembly are disclosed. The robotic surgical assembly can include a carriage, a carriage housing releasably connectable to the carriage, a motor housing configured to house a motor pack for driving the surgical instrument, wherein the motor housing is releasable connectable to the carriage housing, and an interface module configured to releasably secure the robotic surgical assembly to the surgical instrument. The robotic surgical assembly can also include a series of interconnections defined by mating portions of the carriage, the carriage housing, the motor housing, and the interface module. A control circuit configured to detect a fully engaged configuration of the mating portions based on the interconnections.

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.

A robotic surgical system for treating a patient comprises a first robotic arm configured to remotely control a surgical instrument that is positionable within a cavity of the patient; a second robotic arm configured to remotely control a device that is passable through an orifice of the patient; and a control circuit communicatively couplable to the first and second robotic arm. The first and second robotic are each attached to a surgical platform. The control circuit is configured to determine a position of the arms; cause each of the first and second robotic arm to change their respective position and orientation based on an adjustment of a platform position of the surgical platform; and control the first robotic arm and the second robotic arm to cooperatively interact to perform a surgical operation.

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.

A system and method of operating a minimally invasive cutting instrument includes a surgical cutting instrument. The surgical cutting instrument includes a drive unit, an end effector located at a distal end of the instrument, and a garage for housing the cutting blade when the cutting blade is not in use. The end effector includes gripping jaws and a cutting blade. To perform a cutting operation, the instrument extends the cutting blade from a first position to a second position, retracts the cutting blade from the second position to a third position between the first and second positions, and further retracts the cutting blade to the first position. While the cutting blade is not in use, the cutting blade is maintained in the first position using a restraining mechanism in the drive unit, force or torque applied by a motor or other active actuator to the drive unit, or both.

An atherectomy system includes a drive mechanism adapted to rotatably actuate an atherectomy burr and a controller that is adapted to regulate operation of the drive mechanism. A guidewire motion detector is adapted to detect movement of the guidewire. The controller is further adapted to take action when the guidewire motion detector detects movement of the guidewire relative to the drive mechanism while the drive mechanism is operating.

An atherectomy system includes a drive mechanism adapted to rotatably actuate an atherectomy burr and a controller that is adapted to operate the drive mechanism in a first operating mode in which the atherectomy burr is operated at a speed reference and with a predetermined torque limit. The controller is adapted to determine when the atherectomy burr becomes stuck while in the first operating mode and is further adapted to, when the atherectomy burr becomes stuck, operate the drive mechanism in a second operating mode that is different from the first operating mode.