Driving devices and methods for determining material strength in real-time

An instrument for penetrating tissue, the instrument comprising

• a body having a first end and a proximal end;
• a working tool connected to the first end of the body;
• and
• one or more motors housed in the body wherein the one or more motors comprises a rotational drive motor having a drive shaft wherein the rotational drive motor and drive shaft form a motor sub-assembly, the motor sub-assembly having a sensor and a motor mount wherein one or more motors is mounted to the body by a torque sensor, the torque sensor having a motor mount configured to attach the one or more motors to the body and wherein the motor mount comprises one or more guide pins configured to interface with a harp feed drive sub-assembly.

An instrument for penetrating tissue, the instrument comprising

• a body;
• a working tool connected to the body;
• a guide harp, the guide harp comprising one or more rods wherein the one or more rods of the guide harp extend beyond a rear end of the body;
• one or more motors housed in the body;
• a sensor housed in the body, wherein the one or more motors is mounted to the body by the sensor;
• a display displaying a processed signal wherein the processed signal is representative of a combination of torque, energy, and power.