An atherectomy system includes a drive mechanism that is adapted to rotatably actuate an atherectomy burr and a controller that is adapted to regulate operation of the drive mechanism. In some cases, the drive mechanism includes a drive cable that is coupled with the atherectomy burr and an electric drive motor that is adapted to rotate the drive cable. The controller is adapted to regulate operation of the electric drive motor such that the drive mechanism emulates one or more performance parameters of an air turbine.

Certain aspects relate to systems and techniques for detection of undesirable forces on one or more surgical robotic arms. In one aspect, there is provided a system including a robotic arm, including: two linkages, a joint, a torque sensor, and an instrument device manipulator (IDM). The system may further include a processor configured to measure a first torque value at the joint based on an output of the torque sensor and determine a second torque value at the joint based on a position of the robotic arm. The second torque value may be indicative of a gravitational component of the torque between the two linkages. The processor may be further configured to determine a force at the IDM based a difference between the first and second torque values and determine whether the robotic arm has collided with an object or misaligned based on the force at the IDM.

A method includes receiving a torque limit for a motor, monitoring a torque output of the motor, determining an amplitude and a phase of a torque ripple of the torque output, and determining a compensated torque limit for the motor, the compensated torque limit including a first component at the torque limit and a second component at an adjusted torque limit.

Various exemplary methods, systems, and devices for robotic surgical instrument communication are provided. In general, a surgical tool includes a sensor configured to sense a parameter related to the surgical tool and to wirelessly communicate the sensed data to another device, e.g., another surgical tool. Each of the surgical tool and the other device are configured to be operatively connected to a robotic surgical system and to be controlled by the robotic surgical system. The other device is configured to transmit the data received from the surgical tool to the robotic surgical system.

A surgical instrument includes an end effector, a motor for opening and closing the jaws, a sensor configured to detect a tissue compression parameter associated with a tissue between the jaws, and a control circuit. The control circuit is configured to determine a value of the tissue compression parameter via the sensor as the jaws transition from the open configuration to the closed configuration, cause the motor to increase a time to transition the jaws to the closed configuration according to whether the value of the tissue compression parameter is above a first threshold, and provide feedback according to whether the value of the tissue compression parameter is below a second threshold.

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 harmonized operation of a plurality of medical support arms is controlled more accurately. There is provided a medical system including an operation control unit configured to control, on the basis of information regarding a movable range (300a) of a first medical support arm (10a) being a control target, information regarding the movable range (300b) of a second medical support arm (10b) to be used together with the first medical support arm (10a), and a space position of a working point (Pa) in the first medical support arm (10a), an operation of the working point (Pa).

The disclosed technology relates to robotic surgical systems for improving surgical procedures. In certain embodiments, the disclosed technology relates to robotic surgical systems for use in osteotomy procedures in which bone is cut to shorten, lengthen, or change alignment of a bone structure. The osteotome, an instrument for removing parts of the vertabra, is guided by the surgical instrument guide which is held by the robot. In certain embodiments, the robot moves only in the locked plane (one of the two which create the wedgei.e., the portion of the bone resected during the osteotomy). In certain embodiments, the robot shall prevent the osteotome (or other surgical instrument) from getting too deep/beyond the tip of the wedge. In certain embodiments, the robotic surgical system is integrated with neuromonitoring to prevent damage to the nervous system.

An orthopedic surgery assistant system includes: a multi-axis mechanical arm module; at least one end effector, including: two linear actuating elements, two actuating element encoders, a central annular structure, a connector, and a power/torque sensing element; a guide and positioning module; and a surgery remote control module, so that a user pulls the multi-axis mechanical arm and the end effector according to a real-time three-dimensional model, so that the multi-axis mechanical arm performs translation and rotation motions in a plurality of axial directions on an applied end, and the end effector performs a rotation motion of two degrees of freedom on the applied end.

An orthopedic surgery assistant system includes: a multi-axis mechanical arm module; at least one end effector, including: two linear actuating elements, two actuating element encoders, a central annular structure, a connector, and a power/torque sensing element; a guide and positioning module; and a surgery remote control module, so that a user pulls the multi-axis mechanical arm and the end effector according to a real-time three-dimensional model, so that the multi-axis mechanical arm performs translation and rotation motions in a plurality of axial directions on an applied end, and the end effector performs a rotation motion of two degrees of freedom on the applied end.