The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. A tool driver is coupled to a distal end of a robotic arm and includes a roll drive disk driven by a rotary motor. One or more processors are configured to detect an attachment of a surgical tool to the tool driver. The surgical tool includes a roll tool disk to be engaged with the roll drive disk of the tool driver, actuate of the roll drive disk through the rotary motor, determine that a measured torque of the rotary motor exceeds a preset torque threshold for a preset period of time since the actuation, and report a successful engagement between the roll drive disk and the roll tool disk.

An apparatus includes a body, a shaft assembly, and an end effector. The shaft assembly includes an outer tube, an inner tube, and an acoustic waveguide. The end effector includes an ultrasonic blade and a clamp arm. The ultrasonic blade is acoustically coupled with the acoustic waveguide. A first portion of the clamp arm is pivotably coupled with a distal end of the outer tube. A second portion of the clamp arm is pivotably coupled with a distal end of the inner tube. The outer tube and the inner tube are configured to removably couple with the body such that the outer tube, the inner tube, and the clamp arm are configured to removably couple with the body and the remainder of the shaft assembly and end effector as a unit.

A deployment device for an all suture anchor having a braided anchor and a suture filament extending through the braided anchor. A fork extends longitudinally through the body of the device and is moveable between an extended position and a withdrawn position to position and then release the braided anchor. A ratchet wheel drives a spool coupled to the ratchet wheel by a frangible link to wind up the suture filament to deploy the braided anchor. When sufficient tension is achieved to fully deploy the braided anchor, the frangible link will break, thereby releasing the suture filament to leave the deployed braided anchor in place with the suture filament extending from the pilot hole. All operations are accomplished by one lever that selectively withdraws the fork, rotates the ratchet wheel, and then allows release of the filament with the use of just a single hand.

An orthopaedic driving instrument including a first end portion, a second end portion opposite the first end portion, and a central portion, intermediate the first and second end portions, comprising a central section having an outer diameter representing a maximum outer diameter of the driving instrument. The first end comprises a first driving interface sized and shaped to, in operation of the instrument, engage a screw interface of a screw for applying torque to the screw. The second end comprises a second driving interface sized and shaped as the size and shape of the first driving interface.

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.

Disclosed are aspects of exemplars of torque-limiting devices, methods and mechanisms. Exemplary methods may include placing an actuator in a tool containment interface of a handle, the interface being fluidly connected to an adjustment interface and adjustable via a fixation fastener; movably mounting a tool portion with an actuation catch and a work piece engaging region (WER) in the interface; applying sufficient force to the movable mounting to the handle may be via pins, guides and slots. Said catch may be one of a body catch and a lever catch; and, the actuator terminates on one of a ball shaped end that forms an interface with the body catch and a force lever that forms an interface with the lever catch.

A surgical system is disclosed. The surgical system comprises an end effector configured to move through a grasping motion, a motor configured to drive the grasping motion, an encoder configured to detect rotary positions, a load sensor configured to detect loads delivered, a position sensor configured to detect three-dimensional positions of the end effector, and a control circuit configured to receive a position parameter, a rotary parameter, and a load parameter, store the position parameter at the outset of the grasping motion, calculate an amount of work performed during the grasping motion while the position sensor detects the position of the end effector within a three-dimensional zone around the stored position parameter, transmit a work signal indicative of the amount of work performed, and reset the calculation of the amount of work performed when the position sensor detects a displacement of the end effector out of the three-dimensional zone.

An ultrasound treatment tool includes a handle 6, a vibration transmitting member 13 that is formed in an elongated shape, the vibration transmitting member being configured to transmit an ultrasound vibration generated by a vibration generation source, a holder 112 configured to hold the vibration transmitting portion 13, and a rotary knob 9 configured to rotate about a longitudinal axis Ax1 of the vibration transmitting portion 13 in accordance with a user operation. The holder 112 and the rotary knob 9 are integrally coupled with each other, and are positioned respectively in a radial direction about the longitudinal axis Ax1 with respect to the handle 6. One of the holder 112 and the rotary knob 9 is positioned in a direction along the longitudinal axis Ax1 with respect to the handle 6.

Medical devices such as osteotomes are provided. The medical device may include inner and outer members that form a working end portion. Distal end portions of the inner and outer members can cooperate to allow deflection of the working end portion. Medical devices including indicators are also provided. The indicator may communicate a direction of deflection of the working end portion to a practitioner. Additionally, medical devices including torque release mechanisms are provided. The torque release mechanism may uncouple a first portion of the medical device from a second portion of the medical device when an amount of torque applied to the medical device exceeds a predetermined value. The torque release mechanism may limit damage to components of the medical device during use of the medical device.

Systems and methods for grasp adjustment based on grasp properties include a computer-assisted device. The device includes a two-jawed end effector located at a distal end of the device, a drive unit for operating the two-jawed end effector, and an image processing unit. The image processing unit is configured to receive imaging data of the end effector and recognize the end effector and a material grasped by the end effector in the received imaging data. The device is configured to adjust a force magnitude limit or a torque magnitude limit of the drive unit based on the received imaging data. In some embodiments, the image processing unit is further configured to determine one or more of a position, an orientation, a size, or a shape of the material based on the received imaging data. In some embodiments, at least one jaw of the end effector includes fiducial indicia.