A strain gauge (10, 40, 50), a pressure sensor (20, 60), and an interventional medical catheter. The strain gauge (10, 40, 50) comprises a substrate (11) and at least two sensitive gages (1, 2) provided on the substrate (11), the at least two sensitive gages (1, 2) being arranged along two mutually perpendicular directions and sharing one ground port (3). The pressure sensor (20, 60) comprises an elastomer (21, 61) and the strain gauge (10, 40, 50) provided on the elastomer (21, 61). The interventional medical catheter comprises a catheter distal end and the pressure sensor (20, 60) provided at the catheter distal end. The present application not only saves the trace space for mounting and using the strain gauge (10, 40, 50) on the interventional medical catheter, facilitating the successful mounting and use of the strain gauge (10, 40, 50) on the interventional medical catheter, improving the adaptability of the strain gauge (10, 40, 50), but also reduces the size of the strain gauge (10, 40, 50), thereby shortening the length of the elastomer (21, 61) of the pressure sensor (20, 60) and reducing the size of the interventional medical catheter.

Systems, methods and devices for use in tracking are described, using optical modalities to detect spatial attributes or natural features of objects, such as, tools and patient anatomy. Spatial attributes or natural features may be known or may be detected by the tracking system. The system, methods and devices can further be used to verify a calibration of a tool either by a computing unit or by a user. Further, the disclosure relates to detection of spatial attributes, including depth information, of the anatomy for purposes of registration or to create a 3D surface profile of the anatomy.

A force measuring apparatus is described. The apparatus includes a force concentrator. The force concentrator is configured to attach to a loadbearing medical device and to produce a transverse force related to an eccentric axial force applied to the loadbearing medical device. A bending stiffness of the force concentrator is different from a bending stiffness of the loadbearing medical device.

The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. An end effector of the surgical tool is coupled to a tool driver. An actuator is driven by a motor of the tool driver and configured to drive a degree of freedom of the end effector. One or more processors are configured to receive a position command describing a desired position for the end effector, translate the desired position to a command for a joint associated with the end effector, calculate a compensation term to compensate for a source of hysteresis for backlash and/or compliance, and send a motor command for the motor coupled with the actuator based on the compensation term and the command for the end effector.

A method for performing percutaneous spinal interbody fusion on a spine of a patient can include inserting without direct visualization a neuro-monitoring dilating probe into the patient, performing neuro-monitoring via the neuro-monitoring dilating probe, advancing the neuro-monitoring dilating probe into a disc space, passing a second dilator over the neuro-monitoring dilating probe, and advancing the second dilator into the disc space. A kit for performing percutaneous spinal interbody fusion can include a neuro-monitoring dilating probe, a second dilator, a tissue removal tool, an access portal comprising an adjustable depth stop, and a discectomy verification device.

Systems and methods of controlling instruments include first and second actuators configured to actuate a degree of freedom (DOF) in first and second directions using respective transmission mechanisms and a control unit. The control unit is configured to determine positions of the first and second actuators; determine an actuation command based on the positions of the first and second actuators, and a desired state of the DOF; determine respective actuation levels of the first and second actuators so as to maintain tensions in the transmission mechanisms above respective minimum tensions by: using a model based on the force or torque command, the minimum tensions, and the first and second actuator positions; and command actuation of the first and second actuators at the respective actuation levels. The model compensates for an external disturbance on the DOF and for dynamics of the first and second actuators.

Apparatus for use with an electroanatomical mapping system, an elongated needle assembly having a distal energy emitter configured to be detectable by the electroanatomical mapping system, an energy-delivery assembly having at least one sensor configured to receive, at least in part, the distal energy emitter of the elongated needle assembly in such a way that the distal energy emitter and said at least one sensor are movable relative to each other. The apparatus includes a signal-interface assembly. The signal-interface assembly includes a signal-input section configured to be signal connectable to said at least one sensor of the energy-delivery assembly. A signal-output section is configured to be signal connectable to an input section of the electroanatomical mapping system.

An apparatus for measuring an eyelid tension according to an embodiment of the present disclosure includes: an eyelid speculum configured to widen an interval between an upper eyelid and an lower eyelid; an eyelid tension measuring sensor attached to one side of the eyelid speculum and configured to measure the eyelid tension of a person to be measured and output eyelid tension data; a position sensor configured to measure the interval between the upper eyelid and the lower eyelid; and a communication module configured to transmit the eyelid tension data to an analysis device.

An example catheter caliper according to the present disclosure includes a tube having a plurality of markers at predetermined intervals and a wire extending from the tube, wherein the catheter caliper is configured to be received into the vasculature of a patient. Other example catheter calipers and example methods of using the catheter caliper is also disclosed.

A robotic surgical system includes a robotic arm and a force detection system coupled to the robotic arm. The force detection system includes a sensor configured to detect a force being applied on a patient as the robotic arm is translated to a position relative to a patient.