A method of operating a surgical instrument is disclosed. The surgical instrument includes an electronic system comprising an electric motor coupled to the end effector; a motor controller coupled to the motor; a parameter threshold detection module configured to monitor multiple parameter thresholds; a sensing module configured to sense tissue compression; a processor coupled to the parameter threshold detection module and the motor controller; and a memory coupled to the processor. The memory stores executable instructions that when executed by the processor cause the processor to monitor multiple levels of action thresholds and monitor speed of the motor and increment a drive unit of the motor, sense tissue compression, and provide rate and control feedback to the user of the surgical instrument.

[Object] To enable further suppression of the movement amount of an arm section when switching states. [Solution] There is provided a control apparatus configured to execute a current tracking control on a basis of a measurement value of a torque sensor of an actuator provided in at least one of multiple joint sections included in an arm section of a medical support arm apparatus, the current tracking control causing a motor of the actuator to output torque by which a position and an attitude of the arm section are maintained, and switch a first state in which the motor is driven in accordance with a predetermined control method, and a second state in which the joint section is locked using a brake of the actuator.

A transseptal needle or punch is described wherein the distal end of the transseptal needle is able to articulate laterally out of the longitudinal axis of the steerable transseptal needle. The transseptal needle includes a blunted distal end configuration that is minimally traumatic. Under control by the user or a computer, the transseptal needle can be articulated to generate various curves with high bending force. The transseptal needle is configured for use with an introducer which can also include side windows.

A system and method of collision avoidance includes determining first positions of first joints of a first repositionable arm and second positions of second joints of a second repositionable arm. Distal ends of the first and second repositionable arms are configured to support first and second instruments, respectively. The system and method further include determining first and second virtual boundaries around the first and second repositionable arms, determining an overlap between the first and second virtual boundaries, determining an overlap force on the first repositionable arm due to the overlap, mapping the overlap force to virtual torques on the first joints proximal to the overlap, determining a tip force on a distal end of the first instrument, and applying the tip force as feedback on the first instrument.

One embodiment relates to a handheld surgical instrument that comprises a rotary surgical end effector and a coupler configured to cause rotation of the same. The handheld surgical instrument further comprises a motor, which is configured to drive a motor output region. The handheld surgical instrument further comprises a transmission, which defines a transmission input region that interfaces with the motor output region and a transmission output region coupled to the transmission input region. The transmission output region is operably coupled to the coupler, and the transmission is configured to alter the speed of the coupler relative to the motor output region. The motor output region and the transmission input region interface one another at a motor-transmission interface, and the motor-transmission interface comprises a motor-transmission backlash such that drive of the motor output region within the motor-transmission backlash does not cause rotation of the rotary surgical end effector.

A system for determining the torsion of a screw is provided. The system generally comprises a first washer, second washer, spring, radio frequency identification (RFID) tag, and interrogation device. A screw is inserted through the system and provides the compression force necessary to bring the first washer and second washer separated by the spring in contact with one another, thus creating a complete circuit from the first circuit portion and second circuit portion of the signal transmitter. The interrogation device is used to send and receive information to and from the signal transmitter. An encasing may be used to encapsulate the first washer, second washer, spring, and signal transmitter in a way such that they are protected from the environment.

A tool driver for use in robotic surgery includes a base configured to couple to a distal end of a robotic arm, and a tool carriage slidingly engaged with the base and configured to receive a surgical tool. In one variation, the tool carriage may include a plurality of linear axis drives configured to actuate one or more articulated movements of the surgical tool. In another variation, the tool carriage may include a plurality of rotary axis drives configured to actuate one or more articulated movements of the surgical tool. Various sensors, such as a capacitive load cell for measuring axial load, a position sensor for measuring linear position of the guide based on the rotational positions of gears in a gear transmission, and/or a capacitive torque sensor based on differential capacitance, may be included in the tool driver.

A catheter procedure system includes a bedside system having a percutaneous device, at least one drive mechanism coupled to the percutaneous device and at least one motor coupled to the at least one drive mechanism. The system also includes a workstation that is coupled to the bedside system and includes a user interface and a controller coupled to the bedside system and the user interface. The controller is programmed to receive at last one parameter of the motor, determine a quadrature current of the motor based on at least the at least one parameter, determine a load torque on the motor based on at least the quadrature current, an angular velocity and an angular acceleration and control the operation of the motor based on the load torque, wherein the operation of the motor causes the drive mechanism to move the percutaneous device.

The invention provides a dual-purpose handle, comprising a body, wherein mounting holes are provided in the body and are used for connecting to functional members; the mounting holes are provided in the body in both an axial direction and a radial direction; axial and radial mounting holes provided in the body can enable the handle and the functional members to easily and quickly switch between two connection forms, i.e. straight and T-shaped; and torsional torques that are different in magnitude can be output by means of different connection manners under the action of the same operation force. Clamping devices fitted with the functional members are arranged in the mounting holes; and when the functional members are connected to the handle, the clamping devices can fix the functional members and prevent same from rotating in a cavity of the body of the handle. The axial and radial holes of the handle are configured to be through holes, so that the handle can be adapted to guide needles of different sizes passing through same and is suitable for minimally invasive surgery, thereby further expanding the range of use of the handle.

A control device and a control method of a master-slave system and the master-slave system are provided. A control device, which controls an operation of a master-slave system, includes a control unit that applies, to a control system of the master-slave system, a restraint force corresponding to an operation in a desired translational or rotational direction by the master. The control unit applies, to the control system, the restraint force according to a difference between a current position or posture of the master and a reference value of a position or posture to be restrained. The control system controls the master-slave system, for example, by a bilateral control method or a unilateral control method.