Abstract: Robotic surgical systems and methods of coupling a surgical instrument to a manipulator arm are provided. In one embodiment, a system includes a base; a setup link operably coupled to the base, the setup link locating a remote center of motion for the robotic surgical system; a proximal link operably coupled to the setup link; and a distal link operably coupled to the proximal link. A plurality of instrument manipulators are rotatably coupled to a distal end of the distal link, each of the instrument manipulators including a plurality of actuator outputs distally protruding from a distal end of a frame.

Abstract: An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.

Abstract: A sterile drape, a surgical system with the drape, and a draping method are provided. In one embodiment, a sterile drape includes a plurality of drape pockets, each of the drape pockets including an exterior surface to be adjacent a sterile field for performing a surgical procedure and an interior surface to be adjacent a non-sterile instrument manipulator coupled to a manipulator arm of a robotic surgical system. The drape further includes a plurality of flexible membranes at a distal face of each of the drape pockets for interfacing between outputs of an instrument manipulator and inputs of a respective surgical instrument, and a rotatable seal adapted to couple a proximal opening of each of the drape pockets to a rotatable element at a distal end of the manipulator arm.

Abstract: An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.

Abstract: Systems and methods for providing haptic feedback in a user interface are disclosed. In one embodiment, an apparatus comprises a manipulandum, a rotor in communication with the manipulandum, an actuator in communication with the rotor, and a biasing element disposed between the manipulandum and the rotor. The actuator may be configured to vary a force on the rotor. The biasing element may be configured to store at least a portion of energy input to the apparatus when the actuator increases the force on the rotor, and to provide at least a portion of the stored energy to the manipulandum when the actuator decreases the force on the rotor, or when the manipulandum is released.

Abstract: An access port for use in single port surgery includes a cannula to provide minimally invasive access to a surgical site and an instrument guide that fits closely within the cannula. The instrument guide includes guide channels that are open to the outside surface of the instrument guide. Each of the guide channels is configured to support a single surgical instrument at a defined position within the cannula. The guide channels may be smoothly enlarged at the end that receives surgical instruments. The access port may further include a seal that couples the instrument guide to the cannula such that the seal retains a pressurized insufflation fluid within the surgical site. The instrument guide may include one or more insufflation channels for introducing an insufflation fluid to the surgical site. The access port may include a flexible section. The surgical instruments may be controlled robotically by servo actuators.

Abstract: Systems and methods for providing haptic feedback in a user interface are disclosed. In one embodiment, an apparatus comprises a manipulandum, a rotor in communication with the manipulandum, an actuator in communication with the rotor, and a biasing element disposed between the manipulandum and the rotor. The actuator may be configured to vary a force on the rotor. The biasing element may be configured to store at least a portion of energy input to the apparatus when the actuator increases the force on the rotor, and to provide at least a portion of the stored energy to the manipulandum when the actuator decreases the force on the rotor, or when the manipulandum is released.

Abstract: Systems and methods for providing haptic feedback in a user interface are disclosed. In one embodiment, an apparatus comprises a manipulandum, a rotor in communication with the manipulandum, an actuator in communication with the rotor, and a biasing element disposed between the manipulandum and the rotor. The actuator may be configured to vary a force on the rotor. The biasing element may be configured to store at least a portion of energy input to the apparatus when the actuator increases the force on the rotor, and to provide at least a portion of the stored energy to the manipulandum when the actuator decreases the force on the rotor, or when the manipulandum is released.

Abstract: A method is disclosed that includes outputting haptic feedback based on a movement of an object in a first direction from a first position to a second position. The haptic feedback is discontinued when the object is moved in a second direction opposite the first direction subsequent to the movement in the first direction. The haptic feedback is output again when the object moves past the second position in the first direction.

Abstract: A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations are displayed along with indications of range of motion limitations on a display screen from the perspective of a specified viewing point.

Abstract: A method and apparatus of actuator mechanisms for a multi-touch tactile touch panel are disclosed. The tactile touch panel includes an electrical insulated layer and a tactile layer. The top surface of the electrical insulated layer is capable of receiving an input from a user. The tactile layer includes a grid or an array of haptic cells. The top surface of the haptic layer is situated adjacent to the bottom surface of the electrical insulated layer, while the bottom surface of the haptic layer is situated adjacent to a display. Each haptic cell further includes at least one piezoelectric material, Micro-Electro-Mechanical Systems (“MEMS”) element, thermal fluid pocket, MEMS pump, resonant device, variable porosity membrane, laminar flow modulation, or the like. Each haptic cell is configured to provide a haptic effect independent of other haptic cells in the tactile layer.

Abstract: Systems and methods for increasing sensor resolution using interpolation are described. One described method includes receiving an analog sensor signal associated with a coding surface; deriving a quadrature signal based at least in part on an analog threshold voltage associated with the analog sensor signal; determining a velocity and a derived quadrature position of the coding surface based at least in part on the quadrature signal; outputting the derived quadrature position of the coding surface if the velocity exceeds a velocity threshold; and determining and outputting an interpolated position of the coding surface using analog interpolation if the velocity is less than or equal to the velocity threshold.

Abstract: A surface that generates a haptic feedback includes a first region having a first level of stiffness and a second region having a second level of stiffness that is less than the first level of stiffness. The second region defines a deformation region within which the haptic feedback is generally localized.

Abstract: A man-machine interface is disclosed which provides force information to sensing body parts. The interface is comprised of a force-generating device (106) that produces a force which is transmitted to a force-applying device (102) via force-transmitting means (104). The force-applying device applies the generated force to a sensing body part. A force sensor associated with the force-applying device and located in the force applicator (126) measures the actual force applied to the sensing body part, while angle sensors (136) measure the angles of relevant joint body parts. A force-control unit (108) uses the joint body part position information to determine a desired force value to be applied to the sensing body part. The force-control unit combines the joint body part position information with the force sensor information to calculate the force command which is sent to the force-generating device.

Abstract: A man-machine interface is disclosed which provides force information to sensing body parts. The interface is comprised of a force-generating device (106) that produces a force which is transmitted to a force-applying device (102) via force-transmitting means (104). The force-applying device applies the generated force to a sensing body part. A force sensor associated with the force applies device and located in the force applicator (126) measures the actual force applies to the sensing body part, while angle sensors (136) measure the angles of relevant joint body parts. A force-control unit (108) uses the joint body part position information to determine a desired force value to be applies to the sensing body part. The force-control unit combines the joint body part position information with the force sensor information to calculate the force command which is sent to the force-generating device.