A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.

A fluid management system includes a pump connectable to a fluid source. An inflow line removably connects to a cannula for delivering a fluid flow from the pump into a surgical site, such as a joint cavity. A flow pressure sensor is coupled to measure flow pressure in the inflow line and produce a measured pressure value, A controller is connected to the pump and the flow pressure sensor, and the controller maintains a pressure set point by controlling a pump speed based on a backpressure-adjusted pressure value calculated by subtracting a backpressure value selected from a backpressure table from the measured pressure value. The BAPV is monitored to determine whether the BAPV deviates outside an initial BAPV range, and corrective measure are taken should such deviations occur.

The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. A coupling device driven by a plurality of drive disks corresponds to a first motor and a second motor. One or more processors are configured to send a low torque command to a first motor, send the low torque command to a second motor, determine whether the first motor and the second motor meet one or more hold engagement criteria, send a high torque command to the first motor in response to the first motor and the second motor meeting the one or more hold engagement criteria, and send the high torque command to the second motor in response to the first motor and the second motor meeting the one or more hold engagement criteria.

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 surgical access assembly comprises a trocar and a surgical instrument. The trocar comprises a housing and an access tube extending distally from the housing. The housing comprises a hollow light emitter. The housing and the access tube define a lumen extending through the housing and the access tube. The hollow light emitter is configured to project light in the lumen. The surgical instrument comprises an end effector and a shaft extending proximally from the end effector. The shaft comprises an optical receiver positioned within reach of the light from the hollow light emitter. The shaft further comprises a light guide extending from the optical receiver along at least a portion of the shaft toward the end effector.

A surgical stapling assembly that includes a surgical stapling device that has a lockout that is movable between a locked position and an unlocked position. The assembly further includes a staple cartridge with a first cam surface configured to cammingly engage a primary portion of the lockout to move the lockout laterally from the locked position and a second cam surface configured cammingly engage a secondary portion of the lockout to further move the lockout laterally into the locked position when the cartridge is operably seated in the device.

A system of robotic surgery includes components capable of drilling a bore in the cranium of a patient in connection with craniotomy and other cranial surgeries. A perforator associated with such system is controlled by suitable computer-implemented instructions to maintain the perforator tip along a desired trajectory line while moving the perforator bit at locations proximal to such perforator tip in a circular motion, thereby imparting a conical oscillation to the perforator bit relative to the trajectory line. The angle at which the perforator bit is oscillated relative to such trajectory line results in the bore formed in the cranium having a diameter larger than the bit diameter, and the larger diameter and related conical oscillation is selected so as to reduce frictional force opposing withdrawal of the bit from the situs of the bore, thereby reducing the risk of jamming of the bit during its associated operations.

A method of initializing the layout of one or more robotic arms controllable by an input object, comprising: entering a paused mode, in which control of movement of the robotic arms by the input object is paused; measuring an input object initialization layout, defined by the layout of at least one segment of the input object; actuating at least a portion of the robotic arms to match the input object initialization layout; and entering a controlled mode, in which movements of the input object control the robotic arms.

A surgical clip applier is disclosed which is configured to automatically feed a clip from a clip cartridge once the surgical clip applier is positioned in the patient.

A tissue closure system includes a sheath and a tissue closure device. The sheath includes a tensioner assembly. The tissue closure device is insertable through and connected to the sheath, and includes an expandable member positionable distal of a distal end of the sheath. Operating the tensioner assembly applies a biasing force to the tissue closure device that withdraws the expandable member.