The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. An actuator or a motor of a tool driver is configured to operate a joint of a tool. One or more processors are configured to receive an initial joint command for the joint of the tool, determine a joint torque based on motor torque of the motor or actuator as well as motor to joint torque mapping, calculate a tip force based on an effective length associated with the joint and based on the joint torque, compare the tip force to a predetermined threshold, calculate an admittance control compensation term in response to the tip force exceeding the predetermined threshold, and generate a command for the motor or actuator based on the admittance control compensation term and the initial joint command.

A surgical device for clipping tissue is disclosed. The surgical device comprises a housing comprising an electric motor, a shaft defining a central shaft axis, a clip magazine, and a clip crimping system. The clip magazine comprises a plurality of clips removably stored therein. The clip crimping system comprises a first jaw, a second jaw, and a distal portion comprising a clip receiving chamber defined between said first jaw and said second jaw. The distal portion is offset from said central shaft axis. The clip crimping system further comprises a proximal connection portion connecting said first jaw and said second jaw. The proximal connection portion is positioned along said central shaft axis. The clip crimping system further comprises a clamp operably coupled with said electric motor. The clamp is movable distally by said electric motor to perform a crimping stroke and engage said first jaw and said second jaw.

A single-use handle is configured to attach to a working shaft that can support a sounder for measuring the medullary canal of a proximal radius, and a planarizer that is configured to planarize a proximal edge of the proximal radius after the proximal radius has been resected. The handle can further include a plurality of sizing cavities that are configured to receive the resected bone so as to determine the size of the resected bone. The handle can further include an ejector that is configured to decouple the planarizer from the working shaft.

A hip/shoulder prosthesis includes: a head component; a metaphyseal component; a diaphyseal nail, and a locking device. The head component includes: a front face and rear face; with a bore, and first and second shaped recesses in the rear face. The metaphyseal component includes: a central transverse aperture at an angle to the metaphyseal component's axis; a first end configured for threaded engagement within the bore of the head component; and a longitudinal hole that begins at the second end, transects the transverse aperture and reaches the first end, to receive the locking device. The diaphyseal nail is inserted in the femoral or humeral canal, and includes: fastening apertures that receive corresponding screws for fastening the diaphyseal nail to the femur or humerus; a portion configured to he received within, and engage, the transverse aperture of the metaphyseal component, and a transverse hole configured to receive the locking device.

A medical device support system including a shaft, an extension arm, and a hub mounted to the shaft for pivotable movement of the extension arm about a rotation axis of the shaft. The hub includes a cavity including first and second contact faces, and at least one floating stop movably disposed in the cavity. The hub is pivotably mounted for a range of at least 360-degrees rotation about the rotation axis. The at least 360-degrees rotation range is based on a compound of a first rotation range and a second rotation range. The first rotation range is defined by a first movable amount of the at least one floating stop between first and second stop surfaces fixed relative to the shaft. The second rotation range is defined by a second movable amount of the at least one floating stop between the first and second contact faces of the hub.

A surgical clip of branch-crossed design has two Z-shaped clip branches connected to each other at a proximal end of each of the clip branches by a spring-elastic connection piece. Each of the clip branches has a jaw part at a distal section with a gripping surface. In an assembled position of the clip, the clip branches cross and the gripping surfaces are opposite each other and are held in contact on one another by a closing force of the spring-elastic connection piece. At least one first clip branch has a groove in which the second clip branch is held and/or guided, at least in sections, such that a displacement of the clip branches in a transverse direction of the clip branches is prevented.

An ultrasonic end effector includes a substantially cylindrical blade and a jaw including a structural body and a jaw liner. The jaw is movable from an open to a clamping position, wherein the blade-facing surface of the jaw liner opposes the blade with the first and second blade-facing surfaces of the structural body disposed on either side of the jaw liner and the blade. The blade defines a first longitudinal axis and a first radius, the first and second blade-facing surfaces of the structural body cooperate to define a second radius centered on a second longitudinal axis, and the blade-facing surface of the jaw liner defines a third radius centered on a third longitudinal axis. The first radius and the second radius of curvature are different from one another.

An adapter for an electrosurgical instrument includes a socket and a stabilizer extending from the socket. The socket includes a mounting surface having a geometry arranged and disposed to accept a distal end of the electrosurgical instrument, and at least one retaining surface, which arranged and disposed to interact with a conformation of the electrosurgical instrument when the socket is mounted onto the electrosurgical instrument such that the socket mounts non-rotatably.

An instrument drive unit includes a hub, a motor pack, and an annular member disposed between the hub and the motor pack. The hub and motor pack each have a surface feature. The motor pack is rotatably coupled to the hub. The annular member defines an upper annular channel, and a lower annular channel. The annular member has a stop formed in each of the upper and lower annular channels. Upon the motor pack achieving a threshold amount of rotation relative to the hub, the surface feature of the motor pack abuts the stop of the lower annular channel to rotate the annular member. Upon the annular member achieving a threshold amount of rotation relative to the hub, the stop of the upper annular channel abuts the surface feature of the hub stopping further rotation of the motor pack.

A surgical instrument system comprising a first motor, a second motor, and a third motor is disclosed. The surgical instrument system comprises a first handle comprising a first number of controls, a second handle comprising a second number of controls, and a shaft assembly. The shaft assembly is attachable to the first handle in a first orientation in order to engage one of the motors. The shaft assembly is attachable to the second handle in a second orientation to engage a different motor. The surgical instrument system is configured to perform a different function of an end effector in the first orientation and the second orientation.