Abstract: Disclosed is a surgical instrument with an elongate body with a longitudinal axis having a distal end and a proximal end. The instrument has a pitch capstan having an axis transversely to the longitudinal axis at one end of the elongate body. At least two pairs of cables extend along the elongate body, along the pitch axis to a respective work member to which they are attached. The cables are guided in sliding contact along a slide bearing situated at or near the pitch axis. Also disclosed is a handle for a medical instrument having a hinging connection with the elongate body situated near an inside hand region of the user.

Abstract: Disclosed herein is a medical device. The medical device includes a blade tube section, a motor, and a lever arm. The blade tube section includes an outer blade tube, an inner blade tube, and a cutting window at a distal end of the blade tube section. The motor is spaced from the blade tube section. The lever arm is between the inner blade tube and the motor.

Abstract: A waveguide rod for an ultrasonic scalpel having a relatively desirable amplitude and frequency comprises a proximal gain structure, a distal gain structure, an intermediate structure, and a frequency adjustment structure. The proximal gain structure and the intermediate structure are connected in a position near an antinode of longitudinal vibration of the waveguide rod through a proximal side gain step. The distal gain structure and the intermediate structure are connected in a position near an antinode of the longitudinal vibration of the waveguide rod through a distal side gain step. The intermediate structure comprises N (N>0, and N is an integer) gain holding structures that are connected two by two in a position near an antinode of the longitudinal vibration of the waveguide rod through an intermediate gain step. X (X>0, and X is an integer) frequency adjustment structures exist on the gain holding structure.

Abstract: An apparatus includes a body, a shaft assembly, and an end effector. The shaft assembly includes an outer tube, a proximal inner tube member, a distal inner tube member, and an acoustic waveguide. The end effector includes an ultrasonic blade and a clamp arm. 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 distal inner tube member. The outer tube is configured to removably couple with the body and the distal inner tube member is configured to removably couple with the proximal inner tube member such that the outer tube, the distal inner tube member, 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.

Abstract: A device for intrabody surgery comprises a cutting arrangement rotatable by a hollow driveshaft, which is formed by a hollow front cutting region and a rear region. The front region includes multiple longitudinal drilling sections interconnected by transversely oriented cutting blade sections. The drilling sections are positioned at an angle to each other defining in combination with the cutting blades a conically shaped grid formation having a hollow internal cavity. The grid formation defines a plurality of ports between the drilling sections and the blades. A low-pressure zone is formed within the hollow internal cavity, wherein cut occlusion materials are aspired by the low-pressure zone through the plurality of ports into the hollow internal cavity for further evacuation from the cutting arrangement.

Abstract: A device for dividing a fibrous structure comprising a catheter; an expandable member positioned near a distal end of the catheter and in fluid communication with a lumen of the catheter; and a cutting element situated on an outer surface of the expandable member. A method for dividing a fibrous structure comprising positioning, proximate the fibrous structure, an expandable member having a cutting element situated thereon; expanding the expandable member outwards to tension the fibrous structure across the cutting element; and activating the cutting element to weaken or cut the fibrous structure. A method for treating carpal tunnel syndrome comprising inserting a needle into the carpal tunnel; directing a guidewire to a position proximate the transverse carpal ligament; advancing, along the guidewire, a device having an expandable member and a cutting element; positioning the cutting element; tensioning the ligament across the cutting element; and weakening or cutting the ligament.

Abstract: A safety scalpel, including a handle, a scalpel blade extending from the handle, a footplate pivotably connected to the handle, a biasing member operationally connected to the footplate for providing a biasing force urging the footplate to pivot away from the scalpel blade, and a slot formed through the footplate and positioned to pass the scalpel blade at least partially therethrough when the footplate is pivoted against the biasing force and towards the scalpel.

Abstract: A safety scalpel has an elongated central body (1) having at each of its opposite ends (2, 3) a retractable lancet system comprising: a protection member (4) having a slot (12) and being connected to the elongated central body (1) and concentric thereto; a prismatic guide concentric to the elongated central body (1) and located inside the protection member (4); and a lancet holding member 20) consisting of a distal part (21) in the form of a prismatic member in which the lancet (24) is frontally inserted, and a proximal part (22) formed by two parallel arms (25, 26) having an end integral with the prismatic member, an arm (25) of them being slidable in contact with the prismatic guide, and the arm (26) carrying on a button (27) protruding from the slot (12) and provided with retaining elements (28) intended to be received into stop recesses (10, 11) of the slot (12).

Abstract: A non-coring needle for use in accessing an implanted medical device is disclosed. The non-coring needle is configured to include a compact bevel face relative to standard non-coring needles. In one embodiment, the non-coring needle comprises a hollow cannula that defines a lumen and terminates at a sharpened distal tip. The cannula includes a proximal portion and a bent distal portion. The distal portion defines a bevel face extending proximally from the distal tip, and the bevel face includes the lumen distal opening. The bevel face defines an open angle of at least about one degree with respect to a longitudinal axis of the proximal portion of the cannula. The bevel face is also laterally offset from the proximal portion of the cannula by an offset distance of no more than about 0.010 inch. A portion of the bevel face is dulled to prevent access port septum coring.

Abstract: A medical overtube device has a main body formed by articulating a plurality of nested units into a first group of nested units and a second group of nested units and is bendable in a longitudinal direction thereof; a first shape-fixation mechanism configured to fix a shape of the first group which has a first wire, both end of the first wire coupled to the first group of nested units and a first pulley configured to be wound by the first wire; and a second shape-fixation mechanism configured to fix a shape of the second group which has a second wire, both end of the second wire coupled to the second group of nested units; and a second pulley configured to be wound by the second wire, wherein the first shape-fixation mechanism is configured to release the fixed shape of the first group independently from the second shape-fixation mechanism.

Abstract: A surgical access assembly includes a surgical syringe and a balloon trocar. The balloon trocar has a collar in fluid communication with a balloon. The collar has a check valve configured to control the passage of inflation medium to and from the balloon. The syringe has a barrel and a plunger. The barrel of the syringe has a tip configured for engaging the check valve to discharge the inflation medium into the balloon. The syringe has a lateral extension configured for receipt in the check valve for opening the check valve to rapidly discharge inflation medium from the balloon.

Abstract: Percutaneous access systems, including trocars, for accessing desired locations within a subject's body through the subject's skin or other tissues that are configured to minimize incision sizes are disclosed. Such a percutaneous access system includes a cannula and an obturator. The cannula includes a passageway with a tapered section and an expandable section at its distal end. The expandable section may include leaves that are configured to extend radially outward as an elongated instrument that has an outer diameter that exceeds a minimum relaxed inner diameter of the tapered section of the passageway is forced through the tapered section. Methods for using such a percutaneous access system, including medical procedures, are also disclosed.

Abstract: Embodiments of pelvic floor muscle incising tool of this disclosure include a housing that provides an effective way to shoe-horn the tool and its surgical cutting blade into a precise location between a baby's head and the mother's pelvic floor muscles. The housing provides a duckbill shape that allows for precise placement of the blade to create the incision, protects the baby from the cutting blade (creating only a posterior incision in the vaginal canal), distributes forces applied by and to the baby's head, and allows for concealed extraction of the blade after the incision has been made.

Abstract: The uterine hemostatic balloon unit includes a tube, a hemostatic balloon, a connector disposed in the tube, and a cap to be detachably attached to a proximal end portion of the tube. The tube has a drain channel for draining uterine blood outward and a water supply channel communicating with the hemostatic balloon. The connector has a drain terminal communicating with the drain channel and disposed in a proximal end portion of the tube, a flexible water supply tube communicating with the water supply channel and extending by being bifurcated outward of the tube, and a water supply terminal communicating with the water supply tube. The cap has an accommodating portion capable of accommodating the water supply terminal along a length direction of the drain terminal. The accommodating portion is open in a direction orthogonal to the length direction of the drain terminal.

Abstract: Embodiments disclose uterine manipulators, dye delivery systems and fornix delineators that address several issues, such as minimizing surgical error, minimizing loss of parts inside a patients, enabling easy manipulation of a patient's anatomy, securing and removing the device into and from the patient atraumatically, preventing loss of pnuemoperitoneum, and securing the device fastener and components efficiently and atraumatically. An embodiment includes a uterine manipulator having a fornix delineator, uterine shaft, outer tube, fastener, handle, inlet, tip, ring and connecting string, and/or occluder.

Abstract: Disclosed herein are external fixation frames for correcting bone deformities. The external fixation frames include a top fixation ring and a bottom fixation ring coupled to one another by at least two struts. A half ring is coupled to bottom fixation ring. The bottom fixation ring is u-shaped. One or more rocker members may be coupled to the bottom fixation ring. The half ring may be hingedly coupled to the bottom fixation ring such that it can rotate with respect to the bottom fixation ring from a first position to a second position.

Abstract: A polyaxial external fixation strut including a strut member and a first ball joint coupled to an end portion of the strut member. The first ball joint includes a first ball joint body and a first ball member. The first ball member is rotatably coupled to the first ball joint body to allow for variable angle adjustable positioning of the first ball member within the first ball joint body. The first ball joint additionally includes a friction member. The friction member is configured to create friction between the first ball member and the first ball joint body.

Abstract: Coupling device for connecting an annular fixation member to a bone pin, wherein the coupling device comprises pin connecting means arranged for connecting the bone pin to the coupling device and ring connecting means arranged for removably connecting the annular fixation member to the coupling device, wherein the coupling device further comprises fixator connecting means arranged for removably connecting a fixator to the coupling device, wherein the ring connecting means and the fixator connecting means are arranged for simultaneously connecting the annular fixation member and the fixator while the pin connecting means are connected to the bone pin.

Abstract: A pedicle screw fastening system that consists of an anchoring bone screw having a first diameter with threads on one end for use in anchoring the screw to the bone and a spherical ball connector member having a second diameter on the other end, with the second diameter smaller than the first diameter; the spherical ball connector member operating as a pivot point about which a connecting assembly moves in a polyaxial fashion. The connecting assembly has a lower connector member with an attachment ring to secure the spherical ball connector member, allowing the use of the small diameter spherical ball connector member with a large shank anchoring bone screw. A biased retainer member maintains a positive tension between the connecting assembly and the anchored screw. The system allows for large shank screws with small connecting assemblies.

Abstract: Provided is a spinal fixation device, which includes a cage which is placed between adjacent vertebrae to form a gap between the vertebrae, a middle plate which is detachably coupled to the cage, and deployment plates which are hinge-pivotably coupled to the middle plate at one side end, thereby stably fixing the cage in a correct position between the vertebrae.

Abstract: An interspinous stabilization device configured to fit interlaminarly between adjacent vertebrae and their spinous processes, while also cooperating with a bone graft, or bone substitute, component to facilitate fusion at that segment of the spine is disclosed. Also provided is a method for using such a device and bone graft, or bone substitute, component to stabilize a spinal segment.

Abstract: A method to secure and stabilize an intramedullary nail in the medullary canal of a fractured hip including the steps of positioning the intramedullary nail within the medullary canal, positioning an alignment tool including a plurality of alignment bores on the intramedullary nail to align drill bits to drill holes or channels in the femur neck, femur cortex and upper and lower portions of the intramedullary nail, threading a femur neck screw through the corresponding alignment bore into a channel in the femur neck, through the hole in the upper portion of the intramedullary nail and into the head, threading a locking screw through the corresponding alignment bore and a hole in the proximal cortex and channel in the lower portion of the intramedullary nail and into the distal cortex, threading a stabilizer member through the corresponding alignment bore until the distal end portion engages the proximal surface of the intramedullary nail to limit lateral movement of the intramedullary nail thereby stabilizing

Abstract: A device for fixation of bone fragments (4, 8) comprises a locking plate (1) for fixation on the outside of an outer bone fragment (4). The locking plate has a distal portion (1 a) with at least one first hole (6), extending through the locking plate, for a distal fixing means (2) and a proximal portion (1 b) with a second hole (7), extending through the locking plate, for a proximal fixing means (3). The locking plate (1) is configured also with a third hole (9) which is located between said at least one first hole (6) in the distal portion (1 a) of the locking plate and said second hole (7) in the proximal portion (1 b) of the locking plate and this third hole extends as the other holes through the locking plate.

Abstract: Devices, systems, and methods for bone stabilization, especially ulna head stabilization. The stabilization system may include a bone plate having an elongated portion extending along a longitudinal axis between a proximal end and a distal end. The bone plate defines a plurality of through holes extending through the elongated portion. A plurality of fasteners are configured to extend through one or more of the plurality of through holes in the bone plate and configured to secure the bone plate to the bone. The proximal end of the elongate portion has an arcuate configuration.

Abstract: A device that allows for the predictable/guided anatomic drilling of claviclular tunnels for graft, suture, or combined graft/suture reconstruction of the AC joint is provided. The device simultaneously allows for larger clavicle tunnels which permit graft passage while providing protection, via stress shielding, of the bone between and adjacent to the bone tunnels. In this way, the surgeon is able to utilize anatomically placed clavicular tunnels large enough for graft passage (which reduces the mechanical failure rate of the reconstruction and most closely replicates normal anatomy) while reducing the risk of clavicle fracture, which has plagued other “anatomic reconstruction” techniques.

Abstract: The invention relates to the field of bioresorbable or non-bioresorbable bone substitutes to be implanted in humans in order to reconstitute the bone supply by replacing lost bone substance. More particularly, the invention concerns a device that is simple to manufacture and use and comprises a syringe provided with a single-use dose of a polymer which is fluid at the injection temperature while being solid and durable at body temperature.

Abstract: Photodynamic devices for replacement of an articular head of a bone are provided. In an embodiment, a photodynamic device includes a photodynamic support member and an articular member attachable, either fixedly or removably, to the photodynamic support member and having a bearing surface. In an embodiment, the articular member includes a recess designed to receive the photodynamic support member. In an embodiment, the photodynamic support member includes an opening into which a shaft of the articular member can be inserted to attach the articular member to the photodynamic support member.

Abstract: An expandable support device for tissue repair is disclosed. The device can be used to repair hard or soft tissue, such as bone. The expandable support device can have interconnected struts. A method of repairing tissue is also disclosed. The expandable support device can be inserted into a damaged bone and radial expanded. The radial expansion of the expandable support device struts can cause the struts to cut mechanically support and/or the bone.

Abstract: A method and system for providing lesion depth feedback during an ablation procedure. In particular, the method and system provide feedback data or information relating to lesion depth in myocardial tissue during a cryoablation procedure. A plurality of tissue temperature measurements may be transmitted from a plurality of thermocouples disposed on a cryotreatment element, which measurements may be used to determine a slope of change in temperature sensed by each thermocouple over time. The circulation of coolant through the treatment element may be adjusted when the slope changes. A change in slope may indicate that the cryoablation temperatures have passed through target myocardial tissue into non-target, non-myocardial tissue, which may result in collateral damage to structures near the heart.

Abstract: An instrument and method for tissue thermotherapy including an inductive heating means to generate a vapor phase media that is used for interstitial, intraluminal, intracavity or topical tissue treatment. In one method, the vapor phase media is propagated from a probe outlet to provide a controlled vapor-to-liquid phase change in an interface with tissue to thereby apply ablative thermal energy delivery.

Abstract: A surgical instrument for bonding body tissue includes an instrument shank or shaft, a first tool element, a second tool element axially movable relative to the first tool element, and an annular sleeve-like cutting element. The second tool element includes a plurality of tool element members that are radially deflectable. The first and second tool elements are each equipped with at least one electrode. The second tool element includes a biasing member that biases the tool element members in a radially inward direction. A stop member is operable in a first position to hold the tool element members against the biasing force of the biasing member in which the tool element members assume a maximum outer diameter. The stop member is further operable in a second position to release the tool element members such that the tool element members can deflect radially inwardly and cut body tissue.

Abstract: A surgical operation system includes a US signal output section, an HV signal output section, a probe having a treatment section which has an HV signal applied thereto and vibrates by ultrasound, an HV signal main controller that performs feedback control of the HV signal output section based on the HV signal, a US signal main controller that performs feedback control of the US signal output section based on a US signal, and an HV signal auxiliary controller that controls the HV signal output section based on the US signal, and has a response time shorter than that of the HV signal main controller.

Abstract: A method for coagulating and dissecting tissue. The method includes measuring a tissue property and delivering multiple energy modalities to the tissue based on the tissue property. The energy modalities being delivered from a generator either alone or in combination.

Abstract: A method and apparatus for treatment of pulmonary conditions, including a device having an end effector sized and shaped to contact a nerve component on the exterior of a bronchial segment and apply energy to that nerve component.

Abstract: An energy treatment instrument includes a first grasping piece, and a second grasping piece which opens or closes relative to the first grasping piece and which grasps a blood vessel between the first grasping piece and the second grasping piece. In accordance with the kind of blood vessel grasped between the first grasping piece and the second grasping piece, an actuation state of the energy treatment instrument is switched between a first mode to coagulate a blood vessel of a circulatory system, and a second mode to coagulate a blood vessel of a pulmonary circulation in contrast to the first mode.

Abstract: An imaging, guidance, planning and treatment system integrated into a single unit or assembly of components, and a method for using same, that can be safely and effectively deployed to treat prostate cancer in all medical settings, including in a physician's office or in an outpatient setting. The system utilizes the novel process of Radio-Frequency Electrical Membrane Breakdown (“EMB” or “RFEMB”) to destroy the cellular membranes of unwanted or cancerous tissue without denaturing the intra-cellular contents of the cells comprising the tissue, thereby exposing tumor antigens and other intra-cellular components which can have an immunologic effect on local or distant cancerous tissue, with or without the addition of immunologic adjutant drugs. The system preferably comprises at least one EMB treatment probe 20, at least one trackable biopsy needle 200, at least one trackable anesthesia needle 300, and at least one controller unit for at least partially automating the treatment process.

Abstract: According to the invention, there is provided a probe applicator (10) disposed for receiving flexible probes (11) that are intended for endoscopic use and can be made accessible with the probe applicator for laparoscopic use. The control of the device supplying the probes (11) occurs via control elements (32, 33) of the probe applicator (10). Preferably, the probe (11) is supplied via a connecting device (38) provided on the probe applicator (10).

Abstract: A bipolar resectoscope (1) has a shaft (2, 2?) with an insulating insert (8) at its distal end (7). A working element (3) is mountable in the shaft (2, 2?) and a cutting electrode (4) is longitudinally displaceable in the shaft (2, 2?). The insulating insert (8) has an exposed conductive area of a neutral electrode (5, 5?). The area of the passive neutral electrode (5, 5?) exposed transverse to the longitudinal axis (34) forms an electrically conductive roof of the insulating insert (8, 8?). An inlet area (26) of the insulating insert (8, 8?) has an inner wall (38, 38?) with two opposing electrically conductive contact surfaces (39, 39?) of the neutral electrode (5, 5?) that are parallel to the longitudinal axis (33) and contact two parallel electrically conductive contact tubes (24) of a fork (26) and opening a cutting loop (25) of the cutting electrode (4).

Abstract: A method of treating tissue of a patient uses a device including a mother case, a belt, at least one treatment unit and at least two applicators. The treatment method may include attaching first and second applicators to the belt at a working distance to the patient's surface, and providing different treatment energy to the first applicator and the second applicator. A treatment pattern is created by the applicators providing the different treatment energies. The hardware pattern or positions of the applicators on the belt may be changed before and/or during the treatment. The hardware pattern may be based on selected treatment effect and body part.

Abstract: A method and system for determining a measure of a risk of a patient developing cardiac conduction abnormalities as a result of transcatheter cardiac treatment. The method includes providing a patient-specific anatomical model representing cardiac region and an implant model representing a finite element representation of a cardiac implant. The method includes virtually placing said implant model into said patient-specific anatomical model. A measure of mechanical interaction between the implant model and the patient-specific anatomical model is determined and a measure of risk of the patient developing cardiac conduction abnormalities is determined on the basis of the determined mechanical interaction.

Abstract: This invention relates to a method of preoperative planning to correct spine misalignment of a patient, comprising a step of making a translation and a rotation, in a sagittal plane, of each vertebra of a set of several cervical and/or thoracic and/or lumbar imaged spine vertebrae, so that said set of imaged vertebrae presents afterwards, in the sagittal plane, the same cervical lordosis and/or the same thoracic kyphosis and/or the same lumbar lordosis as a model adapted for said patient, wherein it also comprises, before said step of making said translation and said rotation in a sagittal plane: a step of making a translation and a rotation, in a coronal plane, of each vertebra of said set of several cervical and/or thoracic and/or lumbar imaged spine vertebrae, so that said set of imaged vertebrae becomes straight in said coronal plane, and of making a rotation, in an axial plane, of each vertebra of said set of several cervical and/or thoracic and/or lumbar imaged spine vertebrae, so that said set of image

Abstract: A universal FORS insert (20-22) for a plurality of different surgical instruments with each surgical instrument (50) including a lumen (51). Universal FORS insert (20-22) employs a FORS sensor (30) for generating sensing data indicative of a reconstructed shape of a tracking segment (30T) of FORS sensor (30). Universal FORS insert (20-22) further employs a protective sleeve (40) permanent encircling a portion or an entirety of tracking segment (30T) for inserting tracking segment (30T) into and retracting FORS insert (20-22) from within the lumen (51) of each surgical instrument (50). The plurality of surgical instruments may be a same version or different versions of a same instrument type of surgical instrument (e.g., same sized k-wires and/or different sized k-wires), or different instrument types of surgical instruments (e.g., a j-needle and an awl).

Abstract: Described is an apparatus for calibrating or measuring target points (1) for cerebral neuro-navigators, comprising a processor (2) comprising a video output (3) on which can be displayed a preloaded three-dimensional or two-dimensional map (4) of a brain of a patient, a rigid body (5) comprising a plurality of optical markers (6) and a supporting tip (7) designed to be rested on the head of the patient and a stereoscopic video camera (8) configured to detect a position of the optical markers (6) relative to the head of the patient at a preset point (9) of the head of the patient and sending the position to the processor (2) to allow the acquisition of the preset point (9). The stereoscopic video camera (8) is configured for detecting and sending to the processor (2) static positions and movements of the optical markers (6).

Abstract: Certain aspects relate to systems and techniques for navigation-assisted medical devices. Some aspects relate to correlating features of depth information generated based on captured images of an anatomical luminal network with virtual features of depth information generated based on virtual images of a virtual representation of the anatomical luminal network in order to automatically determine aspects of a roll of a medical device within the luminal network.

Abstract: The present disclosure provides an image matching device. The image matching device according to the present disclosure includes a 3D scanner configured to three-dimensionally scan a dorsal surface of a patient to obtain a first dorsal surface scan image, a tracking sensor configured to obtain position and posture information of a reference marker and position and posture information of a scanner marker, and a processor configured to generate a virtual first vertebrae measurement image for estimation of a position of the vertebrae of the patient based on a human body correlation model and the first dorsal surface scan image and match a coordinate system of the virtual first vertebrae measurement image with a coordinate system of the patient based on the position and posture information of the reference marker and the position and posture information of the scanner marker.

Abstract: A system and method for augmenting an endoscopic display during a medical procedure including capturing a real-time image of a working space within a body cavity during a medical procedure. A feature of interest in the image is identified and an overlay is displayed on the image marking the feature. Computer vision is used to detect in real time changes in the image that are indicative of the feature of interest being at least partially obscured. In response to such detected changes, a quality of the overlay is altered, e.g. to make it more bright or opaque, based on the change in visibility of the feature of interest in the image.

Abstract: A surgical robot system whose robotic arm is divided into two parts, and is connected to the patient at the junction of the two parts, by means of a bone connector. The section between the bone connector and the robotic base has a predetermined level of flexibility, enabling the bone connector limited movement. Consequently, the patient's body can also move without the bone connector exerting excess forces on the patient, and without detachment from the patient. The arm section between the bone connection link and the end actuator has high rigidity, such that the pose of the end actuator relative to the patient is accurately maintained. As the patient undergoes small movements, such as in breathing or coughing, the bone connector and base connection arm section, move together with motion of the patient's bone, while the pose of the end actuator relative to the patient is accurately maintained.

Abstract: A robot arm comprising a joint mechanism for articulating one limb relative to another limb about two non-parallel rotation axes, the mechanism comprising: an intermediate carrier attached to a first one of the limbs by a first revolute joint having a first rotation axis and to a second one of the limbs by a second revolute joint having a second rotation axis; a first drive gear disposed about the first rotation axis and fast with the carrier, whereby rotation of the carrier relative to the first limb about the first rotation axis can be driven; a second drive gear disposed about the second rotation axis and fast with the second one of the limbs, whereby rotation of the second one of the limbs about the second rotation axis relative to the carrier can be driven; at least one of the first and second drive gears being a sector gear.

Abstract: An end effector of a robotic surgery system that includes a fixed plate for attaching an end of a robotic arm, a shaft extending from the fixed plate, a sliding plate moveable relative to the fixed plate along an axial direction of the shaft, a hub assembly mounted to the sliding plate and operatively engaged with the shaft. The hub assembly includes an idler hub, and an inner bearing moveable relative to the idler hub and operatively engaged with the shaft, whereby rotation of the inner bearing moves the sliding plate along the axial direction of the shaft. The end effector further includes a pulley that includes a driven wheel connected to the inner bearing operatively engaged with a motor, whereby rotation of the driven wheel drives rotation of the inner bearing.

Abstract: A robotic surgical system includes at least one robotic arm comprising at least one movable joint and an actuator configured to drive the at least one movable joint, and a controller configured to generate a first signal, the first signal comprising a first oscillating waveform having a first frequency and being modulated by a second oscillating waveform having a second frequency, wherein the second frequency is higher than the first frequency. The actuator is configured to drive the at least one movable joint based on the first signal to at least partially compensate for friction in the at least one movable joint.