A system for controlling a robotic end-effector is disclosed. The system includes a robotic arm, a surgical tool including an end-effector with articulatable arm and a clamp jaw. A tool driver is coupled to the surgical tool and a motor is coupled to the tool driver and is configured to drive the surgical tool. A sensor is configured to sense external forces applied to the end-effector. A central control circuit is configured to control the tool driver. The central control circuit is configured to receive a sensed parameter from the sensor, receive a sensed motor current (I) from the motor, and control the tool driver based on the sensed parameter and the motor current (I).

An ultrasonic surgical instrument includes a handpiece casing and an electromechanical transducer assembly disposed inside the handpiece casing, where the transducer assembly includes a front driver and the transducer assembly has a longitudinal axis. A probe is operatively connected to the front driver at an acute angle to the longitudinal axis of the transducer assembly. A sheath surrounds the probe and is connected at a proximal end to the handpiece casing. The sheath is attached to the casing by a twist quick release coupling. A diaphragm seal inside the proximal end of the sheath blocks liquid irrigant in a cylindrical space between the sheath and the probe from penetrating proximally of a port feeding irrigant to the space. The front driver is geometrically configured to enable an angled connection of probe to handpiece proximate a nodal plane.

A method and system for controlling an ultrasonically driven handpiece employable in an ocular surgical procedure is provided. The method includes operating the ultrasonically driven handpiece in a first tip displacement mode, such as a longitudinal mode according to a first set of operational parameters, and enabling a user to alter the ultrasonically driven handpiece to employ a second tip displacement mode, such as a transversal or torsional mode, using a second set of operational parameters. Enabling the user to alter performance of the handpiece comprises the user being enabled to dynamically select operational parameters for the first tip displacement mode relative to the second tip displacement mode by using, for example, a switching apparatus such as a footpedal.

An irrigation system for a surgical instrument includes an irrigation tube arranged to convey an irrigation fluid and an irrigation clip structurally arranged to receive a portion of the irrigation tube. The irrigation clip includes a proximal portion, a distal portion, a body portion, and an arm portion. The arm portion is structurally configured to selectively attach the irrigation clip to the surgical instrument and to bias the irrigation clip toward the surgical instrument with a biasing force. The irrigation clip includes a tube locking portion structurally arranged to cooperate with the surgical instrument to engage the outer surface portion of the irrigation tube to inhibit rotation and axial displacement of the irrigation tube relative to the irrigation clip in response to the biasing force.

A phacoemulsification handpiece is provided for ophthalmic surgery. The phacoemulsification handpiece includes a housing having a cavity positioned at a distal end of the housing. The phacoemulsification handpiece further includes a horn positioned within the cavity. An irrigation line is coupled to the housing and is exterior to the housing. A port is coupled between the irrigation line and the cavity and the port is configured to direct fluid into the cavity to a side of the horn (e.g., without directly impinging on the horn, etc.).

Various aspects of a generator, ultrasonic device, and method for estimating and controlling a state of an end effector of an ultrasonic device are disclosed. The ultrasonic device includes an electromechanical ultrasonic system defined by a predetermined resonant frequency, including an ultrasonic transducer coupled to an ultrasonic blade. A control circuit measures a complex impedance of an ultrasonic transducer, wherein the complex impedance as defined as

[00001]$Z_g\left(t\right)=\frac{V_g\left(t\right)}{I_g\left(t\right)};$

The control circuit receives a complex impedance measurement data point and compares the complex impedance measurement data point to a data point in a reference complex impedance characteristic pattern. The control circuit then classifies the complex impedance measurement data point based on a result of the comparison analysis and assigns a state or condition of the end effector based on the result of the comparison analysis. The control circuit estimates the state of the end effector of the ultrasonic device and controls the state of the end effector of the ultrasonic device based on the estimated state.

Various systems and methods for selectively controlling the activation of an ultrasonic surgical instrument according to the presence of tissue within an end effector are disclosed. A control circuit can be configured to determine whether tissue is present within the end effector and permit activation of the ultrasonic transducer at a power level according to whether tissue is present within the end effector. In some aspects, the control circuit can be configured to automatically activate the ultrasonic transducer in response to tissue being detected within the end effector.

A microcavitation system, device, and ultrasonic probe assembly for generating directional microcavitation includes a cannula and an ultrasonic transmission member. The ultrasonic transmission member has a first end portion and a second end spaced apart from the first end portion. The cannula has a tubular side wall, a cannula lumen, a fluid input port, a proximal end, a distal end, and a distal end portion. The ultrasonic transmission member is located in the cannula lumen. The fluid input port of the cannula is connected in fluid communication with the cannula lumen. The distal end portion of the cannula is configured to define a cavitation generation chamber. The cavitation generation chamber has a distal end wall at the distal end of the cannula that is configured as a sieve to define a plurality of apertures.

An elongate ultrasonic dissector-shaver probe has a laterally enlarged head extending distally and transversely from a distal end of a shaft and provided with sets of spiraling ribs. In a disc space preparation procedure, the probe is inserted into a spinal disc between two vertebral endplates, ultrasonic vibratory energy is conducted into the probe, and the probe is manipulated to move the laterally enlarged head in three spatial directions within the spinal disc to thereby disrupt and shred the spinal disc material into fragments extracted from the space, in part by suction and in part by using forceps to pull spinal disc fragments from the operative space or surgical site between the vertebral endplates.

A surgical apparatus comprises a body, a user input feature, a shaft assembly, an end effector, and a blade cooling system. The end effector comprises a clamp arm and an ultrasonic blade that may be coupled with an ultrasonic transducer. The clamp arm is configured to pivot toward and away from the ultrasonic blade. The cooling system is operable to deliver liquid coolant to the ultrasonic blade to thereby cool the ultrasonic blade. The user input feature is operable to both actuate the clamp arm and actuate the cooling system.