Abstract: A stabilizing fin for coupling a cooler to a furniture having two walls, comprising a body having at least two flaps, the flaps having proximal ends and distal ends. The proximal ends of the at least two flaps can be hingedly coupled to each other through a hinged connector. The body may include an attachment mechanism to couple the body to the cooler. The at least two flaps can be folded toward each other over the hinged connector to form a flat fin, wherein the formed flat fin can be inserted frictionally between the two walls of the furniture through the distal ends of the at least two flaps, and wherein a biasing mechanism causes at least one flap of the at least two flaps to exert force against at least one wall of the two walls of the furniture, thereby holding the body and the attached cooler in place.

Abstract: A decimal floating-point instruction is executed in a round-for-reround mode. The decimal floating-point instruction is configured to perform a decimal floating-point operation on a decimal floating-point operand. The executing includes forming based on performing the decimal floating-point operation, an intermediate result having a high order portion and a low order portion. The high order portion has a least significant digit. A rounded-for-reround number is created from the intermediate result. The rounded-for-reround number includes the high order portion of the intermediate result and based on the least significant coefficient digit of the high order portion being a selected value and based on the low order portion having another selected value, the least significant digit of the rounded-for-reround number is incremented. The rounded-for-reround number is stored.

Abstract: A method for a robotic surgical system includes displaying a graphical user interface on a display to a user, wherein the graphical user interface includes a plurality of reconfigurable display panels, receiving a user input at one or more user input devices, wherein the user input indicates a selection of at least one software application relating to the robotic surgical system, and rendering content from the at least one selected software application among the plurality of reconfigurable display panels.

Abstract: Graphical user guidance for a robotic surgical system is provided. In one embodiment, a graphical user interface for a robotic surgical system comprises a first region and a second region. The first region is used to display an endoscopic view of a surgical site inside a patient taken by an endoscopic camera of the robotic surgical system, and the second region is used to display user feedback information. The graphical user interface overlays a guidance message on top of the endoscopic view of the surgical site in the first region to provide user instructions for interacting with a user input device to engage a robotic arm of the robotic surgical system. Other embodiments are provided.

Abstract: An instruction is executed in round-for-reround mode wherein the permissible resultant value that is closest to and no greater in magnitude than the infinitely precise result is selected. If the selected value is not exact and the units digit of the selected value is either 0 or 5, then the digit is incremented by one and the selected value is delivered. In all other cases, the selected value is delivered.

Abstract: An instruction to perform converting and scaling operations is provided. Execution of the instruction includes converting an input value in one format to provide a converted result in another format. The converted result is scaled to provide a scaled result. A result obtained from the scaled result is placed in a selected location. Further, an instruction to perform scaling and converting operations is provided. Execution of the instruction includes scaling an input value in one format to provide a scaled result and converting the scaled result from the one format to provide a converted result in another format. A result obtained from the converted result is placed in a selected location.

Abstract: Graphical user guidance for a robotic surgical system is provided. In one embodiment, a graphical user interface for a robotic surgical system comprises a first region and a second region. The first region is used to display an endoscopic view of a surgical site inside a patient taken by an endoscopic camera of the robotic surgical system, and the second region is used to display user feedback information. The graphical user interface overlays a guidance message on top of the endoscopic view of the surgical site in the first region to provide user instructions for interacting with a user input device to engage a robotic arm of the robotic surgical system. Other embodiments are provided.

Abstract: An apparatus includes a processor, a transceiver connected to the processor, an integrated circuit connected to the processor, a first proximity sensor configured to provide a first sensor input to the integrated circuit, and a second proximity sensor configured to provide a second sensor input to the integrated circuit. When the integrated circuit determines that the first sensor input represents a first detection event, the processor sets a timer and when the timer expires before the integrated circuit determines that the second sensor input represents a second detection event, the processor sends a message through the transceiver.

Abstract: A method for engaging and disengaging a surgical instrument of a surgical robotic system including receiving a sequence of user inputs from one or more user interface devices of the surgical robotic system; determining, by one or more processors communicatively coupled to the user interface devices and the surgical instrument, whether the sequence of user inputs indicates an intentional engagement or disengagement of a teleoperation mode in which the surgical instrument is controlled by user inputs received from the user interface devices; in response to determining of engagement, transition the surgical robotic system into the teleoperation mode; and in response to determining of disengagement, transition the surgical robotic system out of the teleoperation mode such that the user interface devices are prevented from controlling the surgical instrument.

Abstract: A virtual reality system providing a virtual robotic surgical environment, and methods for using the virtual reality system, are described herein. Within the virtual reality system, various user modes enable different kinds of interactions between a user and the virtual robotic surgical environment. For example, one variation of a method for facilitating navigation of a virtual robotic surgical environment includes displaying a first-person perspective view of the virtual robotic surgical environment from a first vantage point, displaying a first window view of the virtual robotic surgical environment from a second vantage point and displaying a second window view of the virtual robotic surgical environment from a third vantage point. Additionally, in response to a user input associating the first and second window views, a trajectory between the second and third vantage points can be generated sequentially linking the first and second window views.

Abstract: An instruction to perform an operation selected from a plurality of operations configured for the instruction is executed. The executing includes determining a value of a selected operand of the instruction. The determining the value is based on a control of the instruction and includes reading the selected operand of the instruction from a selected operand location to obtain the value of the selected operand, based on the control having a first value, and using a predetermined value as the value of the selected operand, based on the control having a second value. The value and another selected operand of the instruction are multiplied to obtain a product. An arithmetic operation is performed using the product and a chosen operand of the instruction to obtain an intermediate result. A result from the intermediate result is obtained and placed in a selected location.

Abstract: A method for engaging and disengaging a surgical instrument of a surgical robotic system including receiving a sequence of user inputs from one or more user interface devices of the surgical robotic system; determining, by one or more processors communicatively coupled to the user interface devices and the surgical instrument, whether the sequence of user inputs indicates an intentional engagement or disengagement of a teleoperation mode in which the surgical instrument is controlled by user inputs received from the user interface devices; in response to determining of engagement, transition the surgical robotic system into the teleoperation mode; and in response to determining of disengagement, transition the surgical robotic system out of the teleoperation mode such that the user interface devices are prevented from controlling the surgical instrument.

Abstract: Vector pack and unpack instructions are described. An instruction to perform a conversion between one decimal format and another decimal format is executed, in which the one decimal format or the other decimal format is a zoned decimal format. The executing includes obtaining a value from at least one register specified using the instruction. At least a portion of the value is converted from the one decimal format to the other decimal format different from the one decimal format to provide a converted result. A result obtained from the converted result is written into a single register specified using the instruction.

Abstract: A method performed by a surgical robotic system. The method determines a surgical procedure that is to be performed using a robotic arm. The method determines, for the robotic arm, a planned trajectory based on the surgical procedure, where the planned trajectory is from a current pose of the robotic arm to a predefined procedure pose that is within a threshold distance from a trocar that is coupled to a patient. The method drives the robotic arm along the planned trajectory from the current pose to the predefined procedure pose.

Abstract: An instruction to perform an operation selected from a plurality of operations configured for the instruction is executed. The executing includes determining a value of a selected operand of the instruction. The determining the value is based on a control of the instruction and includes reading the selected operand of the instruction from a selected operand location to obtain the value of the selected operand, based on the control having a first value, and using a predetermined value as the value of the selected operand, based on the control having a second value. The value and another selected operand of the instruction are multiplied to obtain a product. An arithmetic operation is performed using the product and a chosen operand of the instruction to obtain an intermediate result. A result from the intermediate result is obtained and placed in a selected location.

Abstract: An instruction to perform converting and scaling operations is provided. Execution of the instruction includes converting an input value in one format to provide a converted result in another format. The converted result is scaled to provide a scaled result. A result obtained from the scaled result is placed in a selected location. Further, an instruction to perform scaling and converting operations is provided. Execution of the instruction includes scaling an input value in one format to provide a scaled result and converting the scaled result from the one format to provide a converted result in another format. A result obtained from the converted result is placed in a selected location.

Abstract: Vector pack and unpack instructions are described. An instruction to perform a conversion between one decimal format and another decimal format is executed, in which the one decimal format or the other decimal format is a zoned decimal format. The executing includes obtaining a value from at least one register specified using the instruction. At least a portion of the value is converted from the one decimal format to the other decimal format different from the one decimal format to provide a converted result. A result obtained from the converted result is written into a single register specified using the instruction.

Abstract: A virtual reality system providing a virtual robotic surgical environment, and methods for using the virtual reality system, are described herein. The virtual reality system may be used to expedite the R&D cycle during development of a robotic surgical system, such as by allowing simulation of potential design without the time and significant expense of physical prototypes. The virtual reality system may also be used to test a control algorithm or a control mode for a robotic surgical component.

Abstract: An instruction to perform scaling, converting and splitting operations is executed. The executing the instruction includes scaling an input value in one format to provide a scaled result. The scaled result is converted from the one format to provide a converted result in another format. The converted result is split into multiple parts, and one or more parts of the multiple parts are placed in a selected location.

Abstract: A method of instruction dispatch routing comprises receiving an instruction for dispatch to one of a plurality of issue queues; determining a priority status of the instruction; selecting a rotation order based on the priority status, wherein a first rotation order is associated with priority instructions and a second rotation order, different from the first rotation order, is associated with non-priority instructions; selecting an issue queue of the plurality of issue queues based on the selected rotation order; and dispatching the instruction to the selected issue queue.