Abstract: The present disclosure relates to systems, methods, and tools for tool tracking using image-derived data from one or more tool located reference features. A method includes: directing illuminating light from a light source onto a robotic surgical tool within a patient body, wherein the tool includes a plurality of primitive features having known positions on the tool, and wherein each feature includes a spherical reflective surface; capturing stereo images of the plurality of primitive features when the tool is within the patient body, wherein the stereo images are captured by an image capture device adjacent the illumination source so that the illumination light reflected from the imaged primitive features toward the image capture device substantially aligns with spherical centers of the surfaces of the imaged primitive features, and determining a position for the tool by processing the stereo images so as to locate the spherical centers of the imaged primitive features by using the reflected light.

Abstract: A flexible surgical instrument employs sheaths around tendons that actuate an end effector or other mechanisms in the instrument. A liquid lubricant can be introduced in the sheaths to reduce friction. Disclosed combinations of tendon, sheath, and lubricant compositions reduce friction to suitable levels for operation of a minimally invasive instrument and are not harmful or toxic to a patient.

Abstract: A flexible surgical instrument employs sheaths around tendons that actuate an end effector or other mechanisms in a distal tip of the instrument. A liquid lubricant can be introduced in the sheaths to reduce friction, and the sheaths can be porous or non-porous. The lubricant can be confined, for example, with an o-ring or a bellow seal, to keep lubricant from leaking where the tendons extend out of the sheaths. More generally, the distal end of the instrument is sealed to prevent leakage of lubricant into a patient. To further reduce risks, a non-toxic water-based lubricant can be used.

Abstract: Systems, methods, and devices are used to match images. Points of interest from a first image are identified for matching to a second image. In response to the identified points of interest, regions and features can be identified and used to match the points of interest to a corresponding second image or second series of images. Regions can be used to match the points of interest when regions of the first image are matched to the second image with high confidence scores, for example above a threshold. Features of the first image can be matched to the second image, and these matched features may be used to match the points of interest to the second image, for example when the confidence scores for the regions are below the threshold value. Constraint can be used to evaluate the matched points of interest, for example by excluding bad points.

Abstract: An apparatus is configured to show telestration in 3-D to a surgeon in real time. A proctor is shown one side of a stereo image pair, such that the proctor can draw a telestration line on the one side with an input device. Points of interest are identified for matching to the other side of the stereo image pair. In response to the identified points of interest, regions and features are identified and used to match the points of interest to the other side. Regions can be used to match the points of interest. Features of the first image can be matched to the second image and used to match the points of interest to the second image, for example when the confidence scores for the regions are below a threshold value. Constraints can be used to evaluate the matched points of interest, for example by excluding bad points.

Abstract: An image capturing device is robotically positioned and oriented in response to operator manipulation of a master control device. An unused degree-of-freedom of the master control device is used to adjust an attribute such as focusing of the image capturing device relative to a continually updated set-point. A deadband is provided to avoid inadvertent adjusting of the image capturing device attribute and haptic feedback is provided back to the master control device so that the operator is notified when adjusting of the attribute is initiated.

Abstract: A surgical instrument has a tip section with several degrees of freedom of articulation and at least one link that may be too long for insertion through an entry guide that follows a curved path. Each long link is made of a shape memory alloy or another material having a state in which the link is sufficiently flexible to bend as needed to pass through the entry guide. Once through the entry guide, the material of the link makes a transition to a state in which the link returns to a desired shape and is sufficiently rigid for precise controlled movement against external forces and for actuation using tendons.

Abstract: Actuator elements such as cables or push rods in an instrument are used for manipulating an end effector or distal end of the instrument. Each actuator element extends within a tubular housing and either the tubular housing is axially rotated about the actuator element or the actuator element is axially rotated within the tubular housing to reduce at least one force opposing an axial force exerted through or movement of the actuator element.

Abstract: A robotic surgical system has a robot arm holding an instrument for performing a surgical procedure, and a control system for controlling movement of the arm and its instrument according to user manipulation of a master manipulator. The control system includes a filter in its forward path to attenuate master input commands that may cause instrument tip vibrations, and an inverse filter in a feedback path to the master manipulator configured so as to compensate for delay introduced by the forward path filter. To enhance control, master command and slave joint observers are also inserted in the control system to estimate slave joint position, velocity and acceleration commands using received slave joint position commands and torque feedbacks, and estimate actual slave joint positions, velocities and accelerations using sensed slave joint positions and commanded slave joint motor torques.

Abstract: A shape sensing system to determine the position and orientation of one link with respect to another link in a kinematic chain. An optical fiber is coupled to two or more links in a kinematic chain. A shape sensing segment is defined to start at a proximal link and to end at a distal link, crossing one or more joints. A reference frame is defined at the start of the shape sensing segment. As the joints move, an interrogator senses strain in the shape sensing segment. The sensed strain is used to output a Cartesian position and orientation of the end of the shape sensing segment with respect to the reference frame defined at the start of the shape sensing segment. The pose of the kinematic chain is determined from the Cartesian positions and orientations of one or more shape sensing segments defined for the kinematic chain and from an a priori model and constraints of the kinematic chain.

Abstract: A spatial linkage including an inboard gimbal plate that provides a ground for the spatial linkage, an outboard gimbal plate, and at least three links that couple the outboard gimbal plate to the inboard gimbal plate. Each link has a longitudinal axis and two pivotal couplings disposed at opposite ends of the longitudinal axis. Each link is pivotally coupled to the outboard gimbal plate at a first end of the longitudinal axis and pivotally coupled to the inboard gimbal plate at a second end of the longitudinal axis opposite the first end. The pivotal couplings allow the outboard gimbal plate to move relative to the inboard gimbal plate and preventing relative rotation between the outboard gimbal plate and the inboard gimbal plate. Counterweight is coupled to at least one of the links on the opposite side of the inboard gimbal plate from the outboard gimbal plate.

Abstract: Waypoints for a steerable medical device are stored as the steerable medical device is moved within a patient. The stored waypoints are an ordered sequence of locations. The ordered sequence of locations defines a safe path within the patient for moving an articulatable portion of the steerable medical device. The articulatable portion of the steerable medical device is constrained to follow the safe path as the articulatable portion moves within the patient. For example, the articulatable portion of the steerable medical device is constrained to remain within a boundary region enclosing the safe path as the articulatable portion of the steerable medical device follows the safe path.

Abstract: Methods and apparatus for manufacturing and controlling an elongate robotic instrument, or robotic endoscope, are provided which may include any number of features. One feature is a robotic link that can be easily manufactured and can withstand the forces related to use within a robotic instrument. Another feature is a joint on the link that increases compressive strength and minimizes stress between links. Yet another feature is an elongate robotic instrument that is constructed from a single type of link.

Abstract: Methods and apparatus for manufacturing and controlling an elongate robotic instrument, or robotic endoscope, are provided which may include any number of features. One feature is a robotic link that can be easily manufactured and can withstand the forces related to use within a robotic instrument. Another feature is a joint on the link that increases compressive strength and minimizes stress between links. Yet another feature is an elongate robotic instrument that is constructed from a single type of link.

Abstract: Waypoints for a steerable medical device are stored as the steerable medical device is moved within a patient. The stored waypoints are an ordered sequence of locations. The ordered sequence of locations defines a safe path within the patient for moving an articulatable portion of the steerable medical device. The articulatable portion of the steerable medical device is constrained to follow the safe path as the articulatable portion moves within the patient. For example, the articulatable portion of the steerable medical device is constrained to remain within a boundary region enclosing the safe path as the articulatable portion of the steerable medical device follows the safe path.

Abstract: A system for performing minimally invasive cardiac procedures includes a pair of surgical instruments coupled to a pair of robotic arms with end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller to produce a corresponding movement of the end effectors. The movement of the handles is scaled such that the end effectors movement corresponds differently, typically smaller, than the movement performed by the hands of the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The system may include a robotically controlled endoscope allowing the surgeon to remotely view a surgical site. The surgeon may manipulate handles and move end effectors to perform a cardiac procedure.

Abstract: The present invention provides a robotic surgical tool for use in a robotic surgical system to perform a surgical operation. The robotic surgical tool includes a wrist mechanism disposed near the distal end of a shaft which connects with an end effector. The wrist mechanism includes a distal member configured to support the end effector, and a plurality of rods extending generally along an axial direction within the shaft and movable generally along this axial direction to adjust the orientation of the distal member with respect to the shaft. Advancement or retraction of a first rod generally along the axial direction tips the base through a first angle. The addition of a second angle allows the distal member to direct the end effector in essentially a compound angle. The robotic surgical tool may also include provisions for roll movement.

Abstract: Continuous change of state directions are graphically provided on a display screen to assist a user in performing necessary action(s) for transitioning between operating modes in a medical robotic system or performing corrective action. A graphical representation of a target state of an element of the medical robotic system is displayed on a display screen viewable by the user. Current states of the element and indications directing the user to manipulate the element towards the target state are continuously determined and graphical representations of the continuously determined current states and indications are displayed on the display screen along with that of the target state.

Abstract: An input device for a robotic surgical instrument includes an operator input on a handle that is rotatably supported by a supporting link structure. A primary winding of a rotary transformer is fixed to the supporting link structure and connected to an electric power source. A secondary winding is fixed to the handle. An axial passage extends through the primary and secondary windings. An optical data transmitter is connected to the operator input to transmit data from the operator input through the axial passage. The secondary transformer winding provides power to the optical data transmitter without physical contact. An optical data receiver fixed to the supporting link structure receives data from the optical data transmitter transmitted through the axial passage in the rotary transformer without physical contact. The transmission of power and data without physical contact allows the handle to rotate continuously.

Abstract: A tele-medicine system that includes an input device which can control a medical system. The input device may be the handle of a surgeon console. The medical system may include a robotically controlled medical device. A transmitter may transmit information relating to each state of the input device over a communication network. The medical system receives the transmitted state information through a receiver. The medical system changes state in response to the received state information from the input device. The system sends information relating to an entire state of the input device over a sample period to insure that the medical system receives all commands, data, etc. necessary to operate the system.