The present invention relates to a method of treating a hip joint of a human patient, the hip joint comprising an acetabulum, the acetabulum being a part of the pelvic bone, and a caput femur, the caput femur being the proximal part of the femoral bone, said method comprising the steps of: cutting the skin of the human patient, dissecting an area of the pelvic bone on the opposite side from the acetabulum, creating a hole in said dissected area, said hole passing through the pelvic bone and into the hip joint of the human patient, and performing an action in the hip joint, through said hole in the pelvic bone.

A method for controlling an output of an energy module of a modular energy system is disclosed. The modular energy system includes a header module, the energy module, and a secondary module communicably coupled together. The energy module configured to provide an output driving an energy modality deliverable by a surgical instrument connected thereto. The method includes causing the energy module to provide the output driving the energy modality delivered by the surgical instrument; sensing a parameter associated with the secondary module; receiving the parameter as sensed by the secondary module at the energy module; and adjusting the output of the energy module from a first state to a second state according to the received parameter.

A method for constructing a modular surgical system is disclosed. The method comprises providing a header module comprising a first power backplane segment, providing a surgical module comprising a second power backplane segment, assembling the header module and the surgical module to electrically couple the first power backplane segment and the second power backplane segment to each other to form a power backplane, and applying power to the surgical module through the power backplane.

Certain aspects relate to systems and techniques for docking medical instruments. For example, a medical system can include an instrument drive mechanism having a drive output that rotates and engages a corresponding drive input on a robotic medical instrument, a motor configured to rotate the drive output, and a torque sensor configured to measure torque imparted on the drive output. The robotic medical instrument can include a pre-tensioned pull wire actuated by the drive input. The system can activate the motor associated with the drive output to rotate the drive output in response to a torque signal from the torque sensor associated with the drive output in order to align the drive output with the drive input.

A medical manipulator having: a first rotatable body configured to be rotated about a rotation axis to exert a driving force transmitted by a wire to drive at least one of an elongated portion and an end effector; and a second rotatable body configured to be detachably coupled to the first rotatable body, wherein the second rotatable body is operatively connected to an actuator to be rotated by the actuator, wherein a shape of the first rotatable body corresponds to a shape of the second rotatable body such that as the first rotatable body and the second rotatable body are brought into contact with each other, a pressing force with which the first rotatable body is pressed against the second rotatable body is converted into a rotational force of the second rotatable body to rotate the second rotatable body into a predetermined alignment with the first rotatable body.

A method for recording image data of a moving, (e.g., cyclically moving), region of interest of a patient by a medical imaging system with an X-ray source and an X-ray detector, wherein a robotic device with a kinematic chain of moving components has a tactile connection with the patient, and wherein, the tactile connection is maintained at least for a prespecified period. The method includes acquiring measured values by sensors of the robotic device, evaluating the measured values and forwarding to the medical imaging system, wherein the evaluated measured values include information on the movement and/or position of the region of interest, and irradiation of the region of interest by the radiation source and recording of image data of the irradiated region of interest by the X-ray detector, and wherein the evaluated measured values are used to actuate the imaging system.

A medical holding device includes: an arm configured by coupling a plurality of links to each other by joints, the arm having at least seven or more degrees of freedom by rotational operations on rotation axes, and being configured to support a medical instrument; and an arm controller configured to control an operation of the arm. The arm has six degrees of freedom realized by rotational operations of six passive rotation axes that passively rotate and one or more degrees of freedom realized by rotational operations of one or more active rotation axes that actively rotate, and the arm controller is configured to rotate the active rotation axis so as to avoid a predetermined state of a posture of the arm.

Telerobotic, telesurgical, and surgical robotic devices, systems, and methods selectively calibrate end effector jaws by bringing the jaw elements into engagement with each other. Commanded torque signals may bring the end effector elements into engagement while monitoring the resulting position of a drive system, optionally using a second derivative of the torque/position relationship so as to identify an end effector engagement position. Calibration can allow the end effector engagement position to correspond to a nominal closed position of an input handle by compensating for wear on the end effector, the end effector drive system, then manipulator, the manipulator drive system, the manipulator/end effector interfacing, and manufacturing tolerances.

A method comprising receiving an input coupling adjacent to a drive input driven by an actuating element, the input coupling being coupled to a joint output and the joint output being connected to a movable object. The method further comprising rotating the actuating element to drive the drive input and determining, by a control system, whether a resistance torque greater than an inherent drivetrain resistance torque is experienced by the actuating element. The inherent drivetrain resistance torque is for a drivetrain including the input coupling, the drive input, and the joint output. The method also includes determining, by the control system, whether the drive input has engaged the input coupling based on the determination that the resistance torque greater than the inherent drivetrain resistance torque has been experienced by the actuating element.

A surgical system includes a surgical instrument, an end effector, a control circuit, and a sensor configured to transmit a sensor signal indicative of a closure parameter of the end effector. The control circuit is configured to adjust a closure rate of change parameter and the closure threshold parameter based on perioperative information received from one or more data sources and a sensor signal received from the sensor.