A method for obviating spline crash in a surgical stapler that utilizes a motor of the surgical stapler includes oscillating an anvil retainer of the surgical stapler in a first oscillation pattern, oscillating the anvil retainer in a second oscillation pattern that is different from the first oscillation pattern after the first oscillation pattern, and retracting the anvil retainer until an anvil of the surgical stapler is in a clamped position relative to a shell assembly after the second oscillation pattern. Oscillating the anvil retainer in the first oscillation pattern includes oscillating the anvil retainer in a longitudinal direction between extension and retraction with the motor such that the anvil moves towards and away from the shell assembly. Oscillating the anvil retainer in the second oscillation pattern includes moving the anvil towards and away from the shell assembly.

A method of fixing a surgical instrument to a robot arm according to one or more embodiment may include: attaching the surgical instrument to a drive part of the robot arm via an adaptor in a state where a first engagement portion of a drive transmission member of the adaptor is set at a second initial orientation; and rotating the first engagement portion from the second initial orientation so as to engage the first engagement portion of the drive transmission member with an engagement portion of an driven member.

A skeletal fixation apparatus may include two or more bodies that are attached to two or more screws that have been inserted into vertebral bodies associated with a patient. The apparatus may also include two or more cylindrical members that are attached to the bodies to control the movement or alignment of the bodies when the skeletal fixation apparatus is being installed in the patient. The apparatus may further include a rod that includes a first curvature and a second curvature. The first curvature may be different than the second curvature and may be based on a medical diagnosis associated with stabilizing the vertebral bodies. The second curvature may enable the bodies to be immovably fastened to the rod in a manner that precludes the cylindrical members from contacting each other or causing a false torque condition to exist when the skeletal fixation apparatus is installed in the patient.

A system and method of collision avoidance includes determining a position and an orientation, the position and the orientation being of a repositionable arm or of an instrument, the repositionable arm being configured to support the instrument; determining, based on the position and the orientation, a plurality of first virtual boundaries around the repositionable arm or the instrument; determining a second virtual boundary around an object; determining a first overlap force on the repositionable arm due to a first overlap between the second virtual boundary and a virtual boundary of the plurality of first virtual boundaries; determining a tip force on a distal end of the instrument based on the first overlap force; and applying the tip force as a first feedback force on the instrument or the repositionable arm.

An end effector includes first and second jaw members moveable relative to one another. Each of the first and second jaw members including a tissue contacting surface opposing the tissue contacting surface of the other jaw member. The end effector includes a detection assembly that is disposed within the first or second jaw member that is configured to detect an attribute of tissue between the first and second jaw members. The detection assembly may include a light source configured to emit light towards tissue between the first and second jaw members or may include an ultrasound transducer configured to emit ultrasound energy towards tissue between the first and second jaw members.

Disclosed herein are techniques for preparation of a bone structure wherein a robotically controlled cutting bur is utilized for both milling the entry point at the outer cortical region and cannulation of the cancellous bone region for receipt of an implant. A robotic manipulator supports and moves the cutting bur and one or more controllers analyze measurements from sensors and, in response, control the robotic manipulator and/or the cutting bur for purposes such as landmark detection to determine entry point, avoiding tool skiving at entry point, and avoidance of cortical wall breach during cannulation. Also described are techniques for managing feed rate, rotational cutting speed, or mode of operation depending on operational conditions surrounding various stages of cannulation. A control interface is also provided to enable the user to manage or adjust cutting bur operation and feed rate.

An input control device is disclosed. The input control device includes a central portion coupled to a multi-axis force and torque sensor, which is configured to receive input control motions from a surgeon. The central portion is flexibly supported on a base. The input control device also includes a rotary joint coupled to a rotary sensor. The input control device is configured to provide control motions to a robotic arm and/or a robotic tool based on input controls detected by the multi-axis force and torque sensor and the rotary sensor.

A surgical system is disclosed including a surgical tool, a motor operably coupled to the surgical tool, and a control circuit coupled to the motor. The control circuit is configured to receive an instrument motion control signal indicative of a user input, cause the motor to move the surgical tool in response to the instrument motion control signal, receive an input signal indicative of a distance between the surgical tool and tissue, and scale the movement of the surgical tool to the user input in accordance with the input signal.

A robotic surgical system for treating a patient is disclosed including a surgical tool movable relative to the patient and a user input device including a base and a controller movable relative to the base to effect a motion. The robotic surgical system further includes a control circuit configured to receive a user selection signal indicative of a selection between a first motion scaling profile of the motion of the surgical tool and a second motion scaling profile of the motion of the surgical tool, receive a motion control signal from the user input device indicative of a user input force, and cause the surgical tool to be moved in response to the motion control signal in accordance with the first motion scaling profile or the second motion scaling profile based on the user selection signal. The first motion scaling profile is different than the second motion scaling profile.

An impactor mechanism for virtual or telepresence surgery comprises a base. An impactor shaft has a first end and a second end, a handle portion being provided at the second end. A rotational joint(s) is between the first end of the impactor shaft and the base, the joint providing two or more rotational degrees of freedom to the impactor shaft. Sensors are in the impactor mechanism for measuring an orientation of the impactor shaft relative to the base, and for measuring at least an impact force on the impactor shaft, for use in virtual surgery.