A method of displaying an operational parameter of a surgical system is disclosed. The method includes receiving, by a cloud computing system of the surgical system, first usage data, from a first subset of surgical hubs of the surgical system; receiving, by the cloud computing system, second usage data, from a second subset of surgical hubs of the surgical system; analyzing, by the cloud computing system, the first and the second usage data to correlate the first and the second usage data with surgical outcome data; determining, by the cloud computing system, based on the correlation, a recommended medical resource usage configuration; and displaying, on respective displays on the first and the second subset of surgical hubs, indications of the recommended medical resource usage configuration.

A surgical instrument comprising a surgical end effector that comprises a first jaw and a second jaw that is movably supported relative to the first jaw for selective movement between an open position and closed positions. The surgical instrument further comprises a closure member that is axially movable in response to closing and opening motions. The closure member comprises at least one opening cam that protrudes therefrom to movably engage a corresponding cam surface on the second jaw such that upon application of the opening motion, the at least one opening cam movably engages the corresponding cam surface to move the second jaw to an open position, even when the jaws are under a load.

Provided are a bending structure and a flexible tube for a medical manipulator, which comprise a main body that is composed of the wave washers stacked in an axial direction and kept a stacked state, the main body being bendable according to the expansion and contraction in the axial direction. Accordingly, linearity of load characteristics based on load and a bending angle is made high to make it possible to obtain the flexible tube having superior load bearing and bendability while conducting size reduction.

Exemplary methods and systems that provide a curved path trajectory that can be used with a bendable medical device. The curved pathway can comprise straight and curved concatenated arc segments. The methods and systems can provide planning, visualizing and treatment of, for example, temporal lobe epilepsy (TLE) using laser interstitial thermal therapy (LITT) or tumors using ablation therapy. With curved pathway, the physician can create plan for intervention to avoid critical structure and to cover more target volume for treatment/diagnosis than straight pathway

A medical manipulator system that includes a joint, a first sensor that detects an amount of rotational motion of the joint, an actuator that drives the joint via a wire, a second sensor that detects an amount of operation of the actuator based on a rotation angle of the actuator, an input device, and a controller. The controller generates a control signal based on: an operation mode in which the control signal is generated by a transfer function that receives an input target value of the rotation angle of the joint and the amount of operation of the actuator, and a calibration mode in which the transfer function is adjusted based on comparing to a predetermined threshold value the amount of rotational motion of the joint and the amount of operation of the actuator. The controller then transmits the generated control signal to the actuator to drive the joint.

An end effector includes first and second jaws movable between open and closed positions, a guide track defined in the second jaw, and a cutting element extendable into the guide track and longitudinally movable within the guide track. A retention feature is positioned within the guide track and operatively couples the cutting element to a drive rod. The drive rod is actuatable to move the cutting element within the guide track, and the retention feature is larger than a width of an opening to the guide track such that the retention feature is retained within the guide track as the cutting element moves.

A stopper according to one or more embodiments may include: a stopper body; and a rotation restriction portion provided at the stopper body and configured to restrict rotations of the drive transmission member. The stopper may be configured such that the rotation restriction portion restricts the rotations of the drive transmission member in a state where the stopper body is attached to the adaptor main body and the rotation restriction portion releases the restriction of the rotations of the drive transmission member in a state where the stopper body is detached from the adaptor main body.

An instrument system comprising a flexible shaft having proximal and distal portions, a backend mechanism coupled to the proximal portion, and a plurality of tendons including first and second tendons. The backend mechanism comprises a plurality of capstans including first and second capstans. Each capstan includes a bore for engagement with a drive shaft, and a capstan coupling member adapted to engage a drive shaft coupling member such that rotation of the drive shaft causes rotation of the capstan, and adapted to disengage from the drive shaft coupling member so rotation of the drive shaft does not cause rotation of the capstan. The first tendon is configured to wrap around the first capstan and the second tendon is configured to wrap around the second capstan. The first and second tendons are coupled to a member disposed at the distal portion and are configured to move the member in opposing directions.

For control about a remote center of motion (RCM) of a surgical robotic system, possible configurations of a robotic manipulator are searched to find the configuration providing a greatest overlap of the workspace of the surgical instrument with the target anatomy. The force at the RCM may be measured, such as with one or more sensors on the cannula or in an adaptor connecting the robotic manipulator to the cannula. The measured force is used to determine a change in the RCM to minimize the force exerted on the patient at the RCM. Given this change, the configuration of the robotic manipulator may be dynamically updated. Various aspects of this RCM control may be used alone or in combination, such as to optimize the alignment of workspace to the target anatomy, to minimize force at the RCM, and/or to dynamically control the robotic manipulator configuration based on workspace alignment and force measurement.

A force sensor apparatus is provided including a tube portion having a plurality of radial ribs and at least one fiber optic strain gauge positioned over each rib of the plurality of radial ribs. A proximal end of the tube portion is operably couplable to a shaft of a surgical instrument that is operably couplable to a manipulator arm of a robotic surgical system, and a distal end of the tube portion is proximally couplable to a wrist joint coupled to an end effector. A thermal shunt shell is over an outer surface of the tube portion.