A communication device for a control loop is provided having a control device and an actuator that is connected to the control device via a connection line and that has a sensor for determining a control variable. In this respect, the communication device has a first interface for connecting to the control line for a connection to the control device, a second interface for a connection to the actuator, and a third interface for a connection to a third system to transfer at least some of a communication on the connection line or data acquired therefrom to the third system.

An atherectomy system includes a drive mechanism adapted to rotatably actuate an atherectomy burr and a controller that is adapted to regulate operation of the drive mechanism. The controller is adapted to calculate an estimated load torque at the atherectomy burr based upon at least one of an angular velocity of the atherectomy system and an angular acceleration of the atherectomy system. The controller is further adapted to stop or reverse the drive mechanism when the estimated load torque at the atherectomy burr exceeds a torque threshold.

A method for controlling a robot movement of a robot on the basis of a second trajectory is provided, wherein the second trajectory is calculated on the basis of a viscosity volume model.

A method for controlling a robot movement of a robot on the basis of a second trajectory is provided, wherein the second trajectory is calculated on the basis of a viscosity volume model.