An apparatus includes an end effector, a motor, and a processing unit. The processing unit is configured to activate the motor to distally advance a firing member within a body of the end effector. The processing unit is further configured to detect an initiation condition. In response to detecting the initiation condition, the processing unit is configured to activate an algorithmic bumping mode. The bumping mode includes activating the motor to advance the firing member distally with a first plurality starting and stopping motions at a first rate and a first power level. The bumping mode further includes activating the motor to retract the firing member proximally with a second plurality of starting and stopping motions at a second rate and a second power level. The first rate is different than the second rate. The first power level is different than the second power level.

A vapor delivery system is provided that may include any of a number of features. One feature of the vapor delivery system is that it can apply condensable vapor energy to tissue, such as a prostrate, to shrink, damage, or denature the prostate. In some embodiments, the vapor delivery system can include safety features including prostate capsule detection, needle tracking, and treatment tracking. Methods for safe and effective treatment of prostate tissues are presented.

A catheter-based device for determining the radial expansion force required to displace an occlusion in a vessel located in a subject. The device comprises an elongate body defining proximal and distal termini. The body comprises a sheath that encloses a hollow lumen within, which extends along substantially the full length of the body. The proximal terminal region of the body comprises: a user-interfacing hub, the hub comprising a handle for maneuvering the body and configured for handling by an operator; a control interface for controlling the device; and a sensor configured to measure one or more parameters relevant to a force applied to the vessel by the device. The distal terminal region of the body comprises an expandable member movable between a retracted position, in which the expandable member is within the hollow lumen, and a deployed position, in which the expandable member is disposed beyond the distal terminus, and controllable via the control interface to expand radially. The expansion of the expandable member is correlated to a defined radial expansion force value.

A measurement device is disclosed that includes a first component having an outer surface having one or more flexible articular surfaces, and an inner surface having a first area having protrusions defining a polygon with a plurality of vertices. A load plate can be in contact with the first area. A printed circuit board can have a central section and a first lateral section. The first lateral section can have a sensor array having a plurality of sensors. Each sensor can be positioned in alignment with a vertex of the polygon and having a load pad in contact with a lower surface of the rigid load plate. A reference sensor can be spaced from the lower surface of the load plate.

An apparatus includes an end effector and a drive system. The drive system is configured to drive a jaw closure assembly to provide the end effector in a first closed position. The drive system is further configured to operatively disengage the jaw closure assembly and operatively engage a firing assembly, then distally advance a firing member to actuate the end effector. The drive system is further configured to detect an initiation condition; and in response to detecting the initiation condition, operatively disengage the firing assembly and operatively re-engage the jaw closure assembly. The drive system is further configured to drive the jaw closure assembly to provide the end effector in a second closed position, then operatively disengage the jaw closure assembly and operatively re-engage the firing assembly. The drive system is further configured to distally advance the firing member further within the end effector to further actuate the end effector.

The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. An example computer-implemented method for evaluating calibrations of a surgical tool includes fixating a joint of the surgical tool at a first angle, the joint being driven by an actuator, measuring an actuator position corresponding to the first angle, accessing a calibrated offset corresponding to the first angle, determining an expected joint angle based on the measured actuator position and the calibrated offset, and reporting a first difference between the expected joint angle and the first angle.

A manipulator system includes a manipulator configured for guiding an instrument. The system furthermore includes a controller configured to actuate the manipulator such that the instrument is pressed with a pressing force against a human body. A force reduction input device is provided separately from the manipulator and is operable by an operator to reduce the pressing force.

According to some embodiments, a medical instrument comprises an elongate body having a proximal end and a distal end and a pair of electrodes or electrode portions (for example, a split-tip electrode assembly). Systems and methods are described herein that perform contact sensing and/or ablation confirmation based on electrical measurements obtained while energy of different frequencies are applied to the pair of electrodes or electrode portions. The contact sensing systems and methods may calibrate network parameter measurements to compensate for a hardware unit in a network parameter measurement circuit or to account for differences in cables, instrumentation or hardware used.

An end effector assembly for use with an electrosurgical instrument is provided. The end effector assembly has a pair of opposing jaw members. One or more of the jaw members includes a support base, an electrical jaw lead, and a sealing plate coupled to the electrical jaw lead. The sealing plate has a stainless steel layer and one or more piezo electric sensors. The jaw member also includes an insulative plate disposed between the support base and the sealing plate.

A flexible approach to segmenting a resource (e.g., a media resource, such as a media segment, or other resource, such as a resource normally fetched or pushed using general file transfer protocols like HTTP) into a plurality of fragments. By employing such an approach, the delay until the resource can be utilized at the client side is reduced. Certain embodiments are provided which apply the flexible segmentation approach to ISOBMFF media segments for video streaming, such as would be used with Live DASH streaming.