Abstract: A first ultrasonic beacon transmission includes a first pilot signal and a first encoded information signal. An apparatus may detect the first pilot signal and decode, based on the first pilot signal, the first encoded information signal to identify a medical system associated with the first ultrasonic beacon transmission. Based on the first encoded information signal, the apparatus may enter into a first pairing state in which the apparatus is communicatively paired with the medical system. While the apparatus is operating in the first pairing state and within a threshold time of entering the first pairing state, the apparatus may detect a second pilot signal included in a second ultrasonic beacon transmission, which also includes a second encoded information signal. Based on the detection of the second pilot signal within the threshold time, the apparatus may continue operating in the first pairing state without decoding the second encoded information signal.

Abstract: A system comprises a display configured to present a graphical user interface including a viewing area and one or more user interface elements. The system also comprises a gaze tracking device configured to detect a change in a gaze of a user while the user views the graphical user interface presented on the display. The system also comprises an audio input device configured to receive audio information. The system also comprises one or more processors configured to process the audio information received at the audio input device in accordance with a first mode to direct the received audio information as audio output to one or more audio output devices; and in response to the gaze tracking device detecting the change in the gaze of the user, process the received audio information in accordance with a second mode, the second mode being distinct from the first mode.

Abstract: A method comprises displaying an image of an environment on a graphical user interface, the environment including personnel elements visible in the image, detecting a gaze of a user directed at an image of a first personnel element corresponding to a first information conveyor of a plurality of information conveyors, changing a state of the first information conveyor corresponding to the first personnel element from a passive state to a listening state in response to detecting that the gaze is directed at the image of the first personnel element, wherein the first information conveyor includes a first audio output device, receiving audio information through an audio input device, and when the state of the first information conveyor is changed to the listening state, controlling an output operation, wherein the output operation includes directing the received audio information as an audio output through the first audio output device.

Abstract: A device pairing system is configured to determine that an auxiliary device detects an ultrasonic beacon emitted by a beacon generator and identify, in response to the determination that the auxiliary device detects the ultrasonic beacon, a medical system associated with the ultrasonic beacon. The auxiliary device is further configured to communicatively pair, in response to the identification of the medical system, the auxiliary device with the identified medical system.

Abstract: A method of estimating a pose of a surgical table comprises reading one or more fiducial markers on a base of the surgical table with a camera mounted to a manipulator assembly adjacent the surgical table. The surgical table includes a substrate and a support structure supporting the substrate. The substrate has a support surface. The support structure is movable such that the support surface of the substrate is positionable along one or more degrees of freedom (DOF).

Abstract: An application management system may provide, while a user device detects a beacon associated with a medical system, a user of the user device with access to a first set of medical session features of an application executed by the user device. The application management system may also provide, while the user device does not detect the beacon, the user with access to a second set of medical session features of the application, the second set of medical session features being different from the first set of medical session features.

Abstract: A beacon-based metrics system may track events associated with a user device located within a medical facility, determine that the user device detects a beacon emitted by a beacon generator located within the medical facility, and identify information included in the beacon. The beacon-based metrics system may generate medical facility metrics data representative of the tracked events by identifying a set of tracked events that occur during a time period in which the user device detects the beacon and associating the information included in the beacon with the set of tracked events.

Abstract: Methods and systems for registering a manipulator assembly and independently positionable surgical table are provided herein. In one aspect, methods include reading a fiducial marker on the surgical table with a sensor associated with the manipulator assembly and localizing the manipulator assembly and surgical table with respect to a common reference frame. Methods may further include translating a 3D configuration of the surgical table to a 2D frame of reference so as to estimate a 3D pose of the surgical table relative the manipulator assembly for use in coordinating movements therebetween.

Abstract: A teleoperational surgical system comprises an operator input system and a teleoperational manipulator configured for operation by the operator input system. The teleoperational manipulator is coupled to a medical instrument in a surgical environment. The teleoperational surgical system also includes a processing unit including one or more processors. The processing unit is configured to recognize a voice communication, evaluate the voice communication in the context of a plurality of surgical environment state variables, determine a response to the voice communication based on at least one of the plurality of surgical environment state variables, and provide a command to implement the response.

Abstract: A method and apparatus for gaze-based communications. A gaze of a user is detected being directed at an element in a graphical user interface. The graphical user interface is displayed on a display system located in an environment. A state of the element is changed in response to detecting that the gaze is directed at the element. Audio information is received through an audio input device. An output operation is controlled based on the state of the element such that the audio information received through the audio input device is directed to an information conveyor corresponding to the element.

Abstract: Methods and systems for registering a manipulator assembly and independently positionable surgical table are provided herein. In one aspect, methods include reading a fiducial marker on the surgical table with a sensor associated with the manipulator assembly and localizing the manipulator assembly and surgical table with respect to a common reference frame. Methods may further include translating a 3D configuration of the surgical table to a 2D frame of reference so as to estimate a 3D pose of the surgical table relative the manipulator assembly for use in coordinating movements therebetween.

Abstract: Methods and systems for registering a manipulator assembly and independently positionable surgical table are provided herein. In one aspect, methods include reading a fiducial marker on the surgical table with a sensor associated with the manipulator assembly and localizing the manipulator assembly and surgical table with respect to a common reference frame. Methods may further include translating a 3D configuration of the surgical table to a 2D frame of reference so as to estimate a 3D pose of the surgical table relative the manipulator assembly for use in coordinating movements therebetween.

Abstract: Methods and systems for registering a manipulator assembly and independently positionable surgical table are provided herein. In one aspect, methods include reading a fiducial marker on the surgical table with a sensor associated with the manipulator assembly and localizing the manipulator assembly and surgical table with respect to a common reference frame. Methods may further include translating a 3D configuration of the surgical table to a 2D frame of reference so as to estimate a 3D pose of the surgical table relative the manipulator assembly for use in coordinating movements therebetween.

Abstract: A robotic system has arms, arm processors, arm supervisor, and system supervisor. Each arm includes nodes for controlling motors in the arm. Each node, including each arm processor, detects faults affecting the node, places the node into a safe state upon detecting a fault, propagates a fault notification, diagnoses the fault and classifies it, and sends an error message to the supervisor processor. The arm supervisor may detect faults affecting an arm and also perform fault reaction activities. The system supervisor handles the fault as either a system or local fault depending upon its class. For system faults, a fault notification is sent to the arm processors of non-failed arms so that the non-failed arms are placed in the safe state. For local faults, a degraded operation option is provided to a user and if the fault is classified as recoverable, a recovery option is provided to the user.

Abstract: A robotic system has arms, arm processors, arm supervisor, and system supervisor. Each arm includes nodes for controlling motors in the arm. Each node, including each arm processor, detects faults affecting the node, places the node into a safe state upon detecting a fault, propagates a fault notification, diagnoses the fault and classifies it, and sends an error message to the supervisor processor. The arm supervisor may detect faults affecting an arm and also perform fault reaction activities. The system supervisor handles the fault as either a system or local fault depending upon its class. For system faults, a fault notification is sent to the arm processors of non-failed arms so that the non-failed arms are placed in the safe state. For local faults, a degraded operation option is provided to a user and if the fault is classified as recoverable, a recovery option is provided to the user.

Abstract: This invention relates to a stereo imaging system for use in telerobotic systems. A method of imaging a target site in a stereo imaging system is provided. The method typically includes capturing a right and a left optical image of the target site and transforming the right and the left optical images preferably into digital information. The method further includes converting the digital information into opposed images of the target site displayed on a stereo display of the stereo imaging system, one of the opposed images being associated with the right optical image and the other of the opposed images being associated with the left optical image. The method further includes regulating the digital information to cause the positions of the target site displayed on the opposed images to change relative to each other.

Abstract: This invention relates to a stereo imaging system for use in telerobotic systems. A method of imaging a target site in a stereo imaging system is provided. The method typically includes capturing a right and a left optical image of the target site and transforming the right and the left optical images preferably into digital information. The method further includes converting the digital information into opposed images of the target site displayed on a stereo display of the stereo imaging system, one of the opposed images being associated with the right optical image and the other of the opposed images being associated with the left optical image. The method further includes regulating the digital information to cause the positions of the target site displayed on the opposed images to change relative to each other.