Abstract: Described herein are methods and apparatuses for characterizing a material at a distal end of an aspiration catheter using one or more sensors. The methods and apparatuses described herein may include a plurality of sensing electrodes at a distal end region of the apparatus, and a controller configured to sense contact and/or close proximity to the sensing electrodes. These methods and apparatuses may determine or detect vessel size. These methods and apparatuses may include distal contrast ports for applying contrast material distal to the aspiration catheter. In some examples these apparatuses include one or more reference electrodes near the sensing electrodes that may enhance detection of material (e.g., clot, blood vessel wall). These methods and apparatuses may include a steerable distal end region. In some cases the apparatuses and methods may include a retriever probe to assist in capturing clot material.

Abstract: A robotic system may include an electrical ground line and a protective earth line electrically coupled to the electrical ground line. The robotic system may also include a testing circuit coupled to the protective-earth line via an isolation capacitor. The testing circuit may include a lock-in amplifier and may be configured to measure an impedance for the protective-earth line through the isolation capacitor. Methods for testing or monitoring protective-earth lines are also disclosed herein.

Abstract: A medical robotic system can include a secondary brake release to allow a user to more easily move the arms of the robotic system when the system is in a power-off or fault state. The robotic system can include a joint and a brake mechanism that can limit motion of the joint. The brake mechanism can include a braking material, a first electromagnetic assembly, and a user-commanded release mechanism. The first electromagnetic assembly can disengage the braking material from an engaged configuration to a disengaged configuration. Further, the user-commanded release device can disengage the braking material from the engaged configuration to the disengaged configuration independent of the first electromagnetic assembly.

Abstract: Methods for removing clot material by directional aspiration may include removing clot material from a side vessel while the suction catheter remains in the main vessel. These methods may include a steerable distal end region. In some cases the apparatuses and methods may include the use of a guide catheter and/or a guidewire in orienting the suction catheter to laterally capture clot material from a side vessel without having to enter the side vessel. Any of these methods may include optionally sensing and confirming clot material (e.g., electrically sensing).

Abstract: A surgical instrument includes an end effector having first and second jaws that cooperate to clamp in vivo material of a patient, and a first electrode that delivers an electrical signal to the in vivo material. The instrument further includes a second electrode that receives the electrical signal from the first electrode, and an electrical circuit housed within the end effector. The electrical circuit includes a microcontroller that controls delivery of the electrical signal to the first electrode, where the electrical signal passes through the in vivo material to the second electrode. The electrical circuit also determines an electrical impedance of the in vivo material and determines at least one of a presence or absence of tissue in the in vivo material, or a characteristic of tissue in the in vivo material.

Abstract: A robotic medical system can include a first node, a second node, and a first pair of electrical conductors for differential communication between the first node and the second node so that data signals are communicated between the first node and the second node as differential signals. The first node can include a first electrical circuit electrically coupled with the first pair of electrical conductors. The first electrical circuit can communicate emergency stop signals between the first node and the second node as non-differential signals over the first pair of electrical conductors.