Abstract: Systems and methods for depth detection and virtual modeling using surgical robots during a surgical procedure are described. The robotic surgical systems include robotic arms with interchangeable surgical tools. An endoscope at the end of one of the robotic arms includes a depth sensor for detecting a distance from the camera to patient anatomy. The depth data and image data are used to generate a feature model of the patient anatomy for reference by a surgeon. The feature model is displayed to the surgeon in an augmented reality view with preoperative and intraoperative images mapped thereon for reference and guidance of a surgical procedure.

Abstract: Methods, non-transitory computer readable media, tracker devices, central processor devices, and optical tracking systems that facilitate improved optical tracking in surgical environments are disclosed. With this technology, background images are captured within an acquisition sequence. The background images are used to analyze the quality of current images that are captured in the acquisition sequence and to determine an angular position of optical sensor modules of optical tracker devices with respect to light sources coupled to a reference frame that can be integral with an opposing one of the tracker devices. Using multiple tracking devices facilitates a reciprocal angular position determination that is more accurate and can withstand occlusion of an optical sensor module.

Abstract: A robotic system comprises an input device movable by an operator and a processing unit. An operator reference frame is defined relative to the operator. The processing unit is configured to present, to the operator, a first image of a first tool captured by an imaging device, receive, from the operator, a first indication that a first axis of the input device is aligned with a corresponding axis of the first tool in the first image, and in response to the first indication, determine a first alignment relationship between the imaging device and the first tool based on a second alignment relationship between the operator reference frame and the input device.

Abstract: Devices, systems, and methods to improve both the reliability of soft tissue repair procedures and the speed at which the procedures are completed are provided. The devices and systems include one or more structured tissue augmentation constructs, which include constructs that are configured to increase a footprint across which suture applied force to tissue when the suture is tied down onto the tissue. The tissue augmentation constructs can be quickly and easily associated with the repair suture and can be useful in many different tissue repair procedures that are disclosed in the application. The present disclosure includes structured tissue augmentation blocks for tendon repair that have a flexible or semi-flexible skeleton integrated into the block. The skeleton can be bioabsorbable and can create both in-plane and out-of-plane curvature in the block.

Abstract: A surgical instrument includes an end effector having a first jaw, a second jaw movable relative to the first jaw to grasp tissue therebetween, an anvil, a staple cartridge comprising staples deployable into the tissue, wherein the staples are deformable by the anvil, and a sensor configured to provide a sensor signal according to a physiological parameter of the tissue. The surgical instrument further includes a control circuit coupled to the sensor, wherein the control circuit is configured to receive the sensor signal, and assess proximity of the sensor to cancerous tissue based on the sensor signal.

Abstract: An instrument drive unit for use in a robotic surgical system includes a carriage configured to be coupled to a robotic arm, a hub rotationally coupled to the carriage and configured to be non-rotatably coupled to an electromechanical surgical instrument, a plurality of motors, a plurality of motor gears, a plurality of drive shafts, and a plurality of drive gears. Each motor gear is operably coupled to a corresponding motor, and each drive gear is fixed to a corresponding drive shaft. The drive shafts are rotationally supported in the hub and configured for interfacing with a corresponding driven member of the electromechanical surgical instrument. Each motor gear is configured to rotate a corresponding drive gear in response to an activation of a respective motor to actuate a function of the electromechanical surgical instrument.

Abstract: A surgical stapling device (10) includes a tool assembly (16, 116) that is mounted for articulation between a non-articulated position and articulated positions. In order to minimize wobbling of the tool assembly (16, 116) in the non-articulated position of the tool assembly (16, 116), the surgical stapling device (10) includes a mounting assembly (20, 120) that includes retention structure to retain the tool assembly (16, 116) in the non-articulated position until a predetermined force is applied to the tool assembly (16, 116).

Abstract: A surgical collection having a primary surgical kit, the primary surgical kit comprising at least one first surgical implement and a primary wrap, the primary wrap comprising a first visible coding; a secondary surgical kit, the secondary surgical kit comprising at least one second surgical implement and a secondary wrap, the secondary wrap comprising a second visible coding; and an outer wrap, wherein the primary surgical kit and the secondary surgical kit are at least partially contained within the outer wrap.

Abstract: Detachment of an implant from a delivery assembly can be electrolytic and provide an electrical current pathway through a fluid within a portion of a delivery system containing the delivery assembly. After the implant is located at a target location within a patient, a voltage potential is applied between (i) a delivery electrode electrically connected to an electrolytic detachment zone and (ii) an infusion electrode disposed outside of the patient and electrically connected to the electrolytic detachment zone via a fluid from a fluid source disposed outside of the patient. While applying the voltage potential, the fluid can be flushed from the fluid source past the detachment zone.

Abstract: Systems and methods for detecting physical characteristics of a multilayered tissue of a subject, such as a tear film including analyzing received detector-output indicative of optical properties of light reflected or deflected from the respective multilayered tissue, to determine spectral properties of the multilayered tissue; and determining physical characteristics of the multilayered tissue by using multiple spectral models of the of the multilayered tissue, each model being associated with spectral properties indicative of different tissue characteristics, wherein physical characteristics of the multilayered tissue are determined by hierarchal determination of a best-fit model from the multiple spectral models.

Abstract: An example rotational joint assembly for a robotic medical system, the rotational joint assembly comprising at least one arm segment and a rotational joint provided at one end of the arm segment. The rotational joint is to allow the arm segment to rotate about a rotational axis. The rotational joint comprising a brake to lock rotation of the arm segment at the rotational joint and an actuator to selectively engage or disengage the brake. The actuator comprising a cam having two stable regions separated by two transition regions, the two stable regions comprising a first stable region corresponding to engagement of the brake and a second stable region corresponding to disengagement of the brake.

Abstract: Embodiments described herein provide various techniques and systems for building machine-learning surgical tool presence/absence detection models for processing surgical videos and predicting whether a surgical tool is present or absent in each video frame of a surgical video. In one aspect, a process for ensuring patient safety during a laparoscopic or robotic surgery involving an energy tool is disclosed. The process can begin receiving a real-time control signal indicating an operating state of an energy tool during the surgery. Next, the process receives real-time endoscope video images of the surgery. The process simultaneously applies a machine-learning surgical tool presence/absence detection model to the real-time endoscope video images to generate real-time decisions on a location of the energy tool in the real-time endoscope video images.

Abstract: A surgical system comprises a control circuit, a surgical instrument and a user interface is disclosed. The end effector assembly may comprise a sensor configured to detect a parameter associated with a function of the end effector, and transmit the detected parameter to the control circuit. Further, the control circuit may be configured to analyze the detected parameter based on a system-defined constraint and prevent at least one function of the surgical instrument based on a result of the analysis. The user interface may be configured to provide a current status regarding at least one prevented function of the surgical instrument.

Abstract: In one embodiment, a method of repairing a heart valve accesses an interior of a patient's beating heart minimally invasively and inserts one or more sutures into each of a plurality of heart valve leaflets with a suturing instrument. The suture ends of the sutures are divided into suture pairs, with each pair including one suture end from a suture inserted into a first valve leaflet and one suture end from a suture inserted into a second valve leaflet. One or more tourniquet tubes is advanced over the suture pairs to the leaflets to draw the sutures together to coapt the leaflets and then the sutures are secured in that position.

Abstract: A system comprises a plurality of sensors adapted to identify and track items, e.g., tools, instruments and consumables, placed on worksurfaces. Each worksurface may contain one or more of these items and is used in an operating room. It is first determined if all the necessary items are available for a task at hand, then as items are removed, added or consumed a tally is updated to ensure that each is accounted for. When the task ends all items have to be accounted for by having the sensors review the content of the worksurfaces and identifying any discrepancy. In one embodiment, the system learns a process, e.g., a surgical process, such that in future cases it provides alerts of missing items before and after the task, provide instructions to equipment such as robots to assist in the task performance, and the like.

Abstract: A device for treating a diseased native valve in a patient is provided, the device including a frame structure and a plurality of leaflets. The device can further include a spiral anchor configured to extend around an outer circumference of the frame structure. The anchor can be configured to deliver a contrast agent into or near a target tissue. Other embodiments and methods of use are also provided.

Abstract: The invention relates to systems and methods for the operation of three-dimensional imaging systems. Systems and methods of the invention are operable to display an image of tissue, receive a selection of points from within the image, establish a boundary corresponding to the selected points, and capture a three-dimensional image of the tissue within the designated boundary.

Abstract: Mitral valve prolapse and mitral regurgitation can be treating by implanting in the mitral annulus a transvalvular intraannular band. The band has a first end, a first anchoring portion located proximate the first end, a second end, a second anchoring portion located proximate the second end, and a central portion. The central portion is positioned so that it extends transversely across a coaptive edge formed by the closure of the mitral valve leaflets. The band may be implanted via translumenal access or via thoracotomy.

Abstract: The present disclosure provides systems and methods for discretizing a movement or a motion of one or more robotic arms. The system may comprise a robotic arm, an end effector coupled to a distal portion of the robotic arm, and a trocar through which the end effector may be inserted. The trocar may comprise a trocar reference point. The system may further comprise a processor configured to (i) determine a starting position and a destination position of a distal end of the end effector, (ii) determine a path between the starting position and the destination position, (iii) determine a plurality of points along the path, and (iv) determine a set of motions to move the distal end of the end effector from the starting position to the destination position, based at least in part on the trocar reference point.

Abstract: An elastic band ligation device for treatment of hemorrhoids including an inner tubular member for retaining a stretched elastic band over the front end thereof, a plunger in the tubular member with a handle extending away from the front end of the inner tubular member, the handle for sliding the plunger away from the rear end of the inner tubular member to provide a suction for drawing hemorrhoidal tissue into the inner tubular member through the opening at the front end. An obturator is disposed within the inner tubular member having a rounded end, the end of the obturator and the inner surface of the inner tubular member defining an anti-pinch structure. An outer tubular pusher sleeve is configured to provide a limited friction fit over the inner tubular member, with an external end of the outer tubular pusher sleeve adjacent the stretched elastic band.

Abstract: A system, method, and apparatus for guiding a needle into a target location of a patient's body are provided. The system includes a planned needle guide trajectory and a guide for removable attachment to a smartphone. The guide includes at least one needle guiding aperture extending substantially perpendicularly to a screen of the smartphone. The needle guiding aperture defines an actual needle guide trajectory. An inclinometer application is running on the smartphone. The inclinometer application indicates to a user conformance of the actual needle guide trajectory to the planned needle guide trajectory.

Abstract: Surgical instruments and control systems therefor are disclosed. A surgical instrument can comprise: a power circuit comprising a power source and a switch, a microcontroller coupled to the power circuit, a handle comprising an attachment portion, and a control circuit in signal communication with the microcontroller. The attachment portion can comprise a first electrical contact in signal communication with the microcontroller. The control circuit can comprise a sensor configured to detect an attachment state of the attachment portion. The control circuit can communicate the detected attachment state to the microcontroller, and the microcontroller can ignore signals from the first electrical contact when the control circuit communicates a detached state. The attachment portion can comprise a second electrical contact coupled to a second power circuit, and the second power circuit can decouple the second electrical contact and the second power source when the sensor detects the detached state.

Abstract: A software for driving a motor in a powered surgical stapler can include a pausing monitoring process that may be effective to improve staple form and/or increase localized compression of tissue. The pausing monitoring process monitors firing speed of a firing bar driving by the motor and pauses the motor when the firing speed passes a speed error threshold. Before pausing the motor, the pausing monitoring process may also require that a pulse width modulated (PWM) electrical signal driving the motor has a duty cycle over a duty cycle threshold while the firing speed is beyond the speed error. The pausing monitoring process may force the firing bar through a predetermined distance immediately after pausing. The pausing monitoring process may be limited in the number of pauses that can be taken during a firing stroke.

Abstract: An interface structure for detachably interfacing a surgical robot arm to a surgical instrument, the interface structure comprising: a base portion comprising a first surface for facing the surgical instrument and a second surface for facing the surgical robot arm; and a plurality of first fasteners supported by the base portion and protruding from the first surface, the plurality of first fasteners configured to engage the surgical instrument so as to retain the interface structure to the surgical instrument. The interface structure engages the surgical robot arm so as to retain the interface structure to the surgical robot arm, wherein the plurality of first fasteners and the remainder of the interface structure are shaped such that when the surgical instrument is detached from the surgical robot arm the interface structure is retained to the surgical robot arm.

Abstract: Described herein are methods and systems for tracking surgical items. The methods may be performed by one or more processors, and may include receiving a first count of surgical items, receiving one or more images, wherein each image is a field of view comprising one or more surgical items, determining a second count of surgical items based at least in part on the one or more received images, and providing a notification based on the comparison between the first count of surgical items and the second count of surgical items.

Abstract: Catheter-based delivery systems for delivery and retrieval of a leadless pacemaker include features to facilitate improved manipulation of the catheter and improved capture and docking functionality of leadless pacemakers. Such functionality includes mechanisms directed to deflecting and locking a deflectable catheter, maintaining tension on a retrieval feature, protection from anti-rotation, and improved docking cap and drive gear assemblies.

Abstract: A delivery system for implanting a medical device comprises a delivery catheter having an inner lumen, a mandrel received in the inner lumen of the delivery catheter and movable with respect to the delivery catheter, and an adapter piece connected to the mandrel, wherein the adapter piece, by moving the mandrel with respect to the delivery catheter, is displaceable between a first position in which the adapter piece is received within the inner lumen of the delivery catheter and a second position in which the adapter piece is arranged outside of the inner lumen of the delivery catheter. A tethering member comprises a positive-locking member adjoining a tether portion, wherein the positive-locking member in a connection state is received on the adapter piece, but is releasable from the adapter piece by displacing the adapter piece from the first position towards the second position.

Abstract: An energy treatment device includes: a base having electrical conductivity and including a treatment surface for applying a high-frequency current to a treatment target when being supplied with electrical energy. A coating, including a silane coupling agent having a coupling structure, is formed over at least the treatment surface of the base by a bond due to the coupling structure; and an organic layer is disposed between the treatment surface of the base and the coating, and is bonded to the surface of the base. The coupling structure of the coupling agent of the coating is bonded to the organic layer.

Abstract: Disclosed are various real-time robotic-assisted dimension measurement systems and techniques based on the collected kinematic data from one or more surgical tools within a robotic surgical system. In some embodiments, the collected kinematic data can include positions and orientations of each joint of the one or more surgical tools which are derived from positions and orientations of a set of arm joints of one or more robotic arms which the one or more surgical tools are attached to. The disclosed dimension measurement systems allow a surgeon to perform real-time length measurements of both straight-lines and curved-lines, as well as area and volume measurements on specified portions of tissues or organs by strategically placing the tips of the one or more surgical tools over the tissues or organs, while viewing the distal ends of the surgical tools in a user display.

Abstract: A method of tracking usage of a robotic surgical instrument includes capturing an image of a surgical instrument with an imager during a robotic surgical procedure, identifying a type of the surgical instrument based on the image of the surgical instrument, determining a degree of usage of the surgical instrument based on data acquired by at least one sensor, and determining a stage in a life cycle of the surgical instrument based on the type of surgical instrument identified and the degree of usage determined.

Abstract: An embodiment in accordance with the present invention provides a method for accurate and objective quantification of stone fragment size. The method includes intraoperative measurement of objects during URS. The method analyzes URS procedures for ureteral and renal stones during basket extraction of fragments. An instrument is passed through an instrument channel of the ureteroscope and advanced until it is adjacent to the stone fragment to be measured. The measurement of stone fragment size is based on the known distance of a tip of the instrument in the ureteroscope's visual field.

Abstract: A locating system for a surgical suite includes optical markers coupled to a medical device. A sensor is configured to obtain an initial position data of the optical markers. A laser device is configured to obtain subsequent position data of the optical markers. A controller receives the initial position data from the sensor and the subsequent position data from the laser device. The controller is configured to determine a position of the medical device within the surgical suite and recognize a type of the medical device in response to the optical markers.

Abstract: An apparatus for use during robotic surgery, where the apparatus includes a robotic arm; a tool driver connected to the robotic arm; a cannula including a proximal portion and a distal portion wherein the proximal portion is coupled to the tool driver; and a damping element connected to one of the robotic arm, the tool driver and the cannula. Also, a method including guiding a surgical tool coupled to a robotic arm into a patient, wherein the surgical tool is disposed through a cannula and coupled to a tool driver coupled to a distal portion of the robotic arm; and maneuvering the tool driver by way of the robotic arm, wherein vibrations generated by the maneuvering are inhibited by a damping element coupled to one of the robotic arm, the tool driver and the cannula.

Abstract: A patient-side apparatus of a surgical system according to an embodiment may include: manipulator arms with multi-degree of freedom, each of which includes a distal end portion provided with a tool holding part configured to hold an elongated surgical tool; an arm base to which base end portions of the manipulator arms are attached; a base; and a positioner that includes links and joints to connect the base and the arm base such that the positioner movably holds the arm base. The links include a first link that is connected to a central portion of the arm base in a longitudinal direction of the arm base with a first roll joint arranged between the first link and the arm base. The positioner holds the arm base such that a first rotation axis of the first roll joint is inclined with respect to both a vertical direction and a horizontal plane.

Abstract: An injection system for an intraocular lens (IOL) utilizes a folding device for the IOL. The folding device comprises a pair of co-acting winglets pivotable between an open position and a closed position, and together defining a hinge axis and a receptacle for the IOL. Each winglet has an outwardly extending, unitary leg portion defining a base plane that includes the hinge axis and a motion limiting protuberance on each said leg portion extending from the base plane. The base planes are situated at an angle relative to one another and the protuberances abut one another when the winglets are in the open position. The base planes merge into a single plane when the winglets are in the closed position.

Abstract: A segmented skirted surgical mesh for use in reconstructing a soft tissue defect, the segmented skirted surgical mesh comprising: a base layer of surgical mesh, the base layer of surgical mesh comprising an outer edge; and a segmented continuous skirt of surgical mesh comprising an outer edge and an inner edge which defines a central opening, the segmented continuous skirt of surgical mesh being secured to the base layer of surgical mesh at the outer edge of the continuous skirt of surgical mesh, and the segmented continuous skirt of surgical mesh comprising a plurality of slits formed in the segmented continuous skirt of surgical mesh, wherein the plurality of slits extend outwardly from the inner edge of the segmented continuous skirt of surgical mesh, whereby to form a plurality of flaps of surgical mesh in the segmented continuous skirt of surgical mesh, such that at least one of the flaps of surgical mesh can be lifted away from the base layer of surgical mesh and secured to soft tissue without causin

Abstract: Provided are surgical instruments, and more particularly, surgical instruments that may be manually operated to perform laparoscopic operations or various surgical operations.

Abstract: A surgery assisting device holds a surgical instrument having an end to be inserted into a body cavity of a patient, and controls one or more of a position or an orientation of the surgical instrument. The surgery assisting device includes a first arm and second arms. The first arm has a first end supported by a base and includes a first movable part having movement with one or more degrees of freedom. The second arms are arranged at a second end of the first arm and hold the surgical instrument. Each of the second arms includes second movable parts having movement with five or more degrees of freedom.

Abstract: An articulating joint comprising a multi-cluster joint where every consecutive pair of links is interfaced by a gimbal, which offers rotation about two orthogonal axes within the same plane. Thus, the articulating joint comprises an alternating sequence of links and gimbals. Furthermore, there may be multiple cables attached to one or more of the links. As these cables are selectively pulled and released, one can achieve any desired articulation of the articulating joint. There may be a transmission member extending through the links and gimbals, parallel to the central longitudinal axis of the joint in its nominal non-articulated condition. This transmission member may be either a tension member that is pulled on (e.g. a cable or flexible pull rod) and that loads the articulating joint in compression, or the transmission member may be a flexible push rod that loads the articulating joint in tension.

Abstract: This disclosure provides an enhanced operating table and room, an insulated conductor, and a filtration system. The table includes an attachment, controlling parameters during surgery, a control, and a console. The attachment is moveable relative to at least one reference point. The console allows monitoring parameters during surgery. The room includes sensors integrated throughout and a data module in communication with the sensors. The data module receives data from the plurality of sensors, stores the received data in memory, and analyzes and processes the stored data. The insulated conductor includes an electrical conductor and an insulator. The insulator partially electrically or thermally insulates the electrical conductor. The filtration system removes particles within a fluid A transducer generates a pressure gradient to promote the particles to flow. Alternatively, the filtration system can include a robotic system. The robotic system charges particles such that the particles within the fluid adhere.

Abstract: This application relates to a robot arm structure and a manipulator of a surgical robot including the robot arm structure. The robot arm structure includes a first robot arm unit and a second robot arm unit. The first robot arm unit includes a plurality of first link arms, a first joint unit mounted on one of the first link arms and rotating the one of the first link arms about a first axis and a second joint unit installed on at least one of the plurality of first link arms to adjust a length of the at least one link arm. The second robot arm unit includes a second link arm connected to one of the first link arms and a third joint unit using a lengthwise direction of the second link arm as a first rotary shaft and rotating the second link arm.

Abstract: A method of controlling a medical tool includes determining an insertion path and pose for the tool based on a target and deploying first and second articulated arms of a computer-assisted medical device based on a size and shape of a tool guide. The arms include respective pluralities of moveable links actuated by at least one respective actuator and forming respective kinematic chains extending from a base. The method further includes receiving the tool guide for coupling with the arms using respective mounting arms of the tool guide such that the tool guide functions as a link in a closed kinematic loop formed by joining the kinematic chains, orienting a guide hole of the tool guide to align with the insertion path, positioning the guide hole a desired distance away from the target, receiving the tool in the guide hole, and advancing the tool along the insertion path.

Abstract: Occlusive implants are provided with various embodiments of active and/or passive release structures. Systems for delivering the occlusive implants as well as methods for making and delivering the implants are also provided.

Abstract: An ablation system comprises: an ablation catheter and a console. The ablation catheter comprises: a shaft including a proximal end, a distal portion and a distal end; an ablation element configured to deliver energy to tissue; and a force maintenance assembly comprising a force maintenance element and configured to control and/or assess contact force between the ablation element and cardiac tissue. The console is configured to operably attach to the ablation catheter and comprises: an energy delivery assembly configured to provide energy to the ablation element. Methods of ablating tissue are also provided.

Abstract: Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.

Abstract: A medical device reduces the risk of operating room fires caused by light sources by shielding the illuminated light cable from directly interacting with surgical drapes or patient skin. The device includes a silicone housing that mates circumferentially over existing endoscopic light cables and a thermal insulator can be positioned over the light emitting tip of the cable.

Abstract: Systems, devices, and methods for controlling cooperative surgical instruments with variable surgical site access trajectories are provided. Various aspects of the present disclosure provide for coordinated operation of surgical instruments accessing a common surgical site from different approach and/or separate body cavities to achieve a common surgical purpose. For example, various methods, devices, and systems disclosed herein can enable the coordinated treatment of tissue by disparate minimally invasive surgical systems that approach the tissue from varying anatomical spaces and must operate differently, but in concert with one another, to effect a desired surgical treatment.

Abstract: A teleoperated manipulator system includes a manipulator assembly and a tool actuation assembly coupled to the manipulator assembly. The tool actuation assembly inserts a tool, such as a surgical instrument, along an insertion axis and also rotates the tool around the insertion axis. The manipulator assembly includes an arm that rotates with reference to a mounting base to rotate the tool around a yaw axis that intersects the insertion axis. A distal portion of the arm defines an arcuate pitch arc, and a center of the pitch arc is coincident with the intersection of the insertion axis and the yaw axis. The tool actuation assembly is driven along the pitch arc to pitch the tool. The manipulator system is optionally a telesurgical system, and the tool is optionally a therapeutic, diagnostic, or imaging surgical instrument.

Abstract: A surgical forceps comprises a first jaw (101) and a second jaw (102), the first jaw (101) and the second jaw (102) being configured to be rotated relative to each other around an axis of rotation (104). A position sensor (105) is capable of sensing a first orientation with respect to a first axis (106) and a second orientation with respect to a second axis (107) different from the first axis (106), wherein the first axis (106) and the second axis (107) are orthogonal to the axis of rotation (104). The surgical forceps comprises a stapler (108) for stapling a tissue grasped by the surgical forceps (100) and a cutter (103) for cutting the tissue grasped by the surgical forceps (100) along a line.

Abstract: Aspects of the present disclosure are directed toward systems and methods for detecting force applied to a distal tip of a medical catheter. In some embodiments, a medical catheter with a deformable body near a distal tip of the catheter deforms in response to a force applied at the distal tip, and a force sensor detects various components of the deformation. Processor circuitry may then, based on the detected components of the deformation, determine a force applied to the distal tip of the catheter.