Abstract: A method of determining a location of a user input device of a surgical robotic system within a surgical workspace using a virtual workspace including determining, by one or more processors communicatively coupled to a user input device, that a user is engaging with the user input device within a surgical workspace; in response to determining the user is engaging with the user input device, displaying a virtual user input device within a first virtual workspace boundary, wherein at least a portion of the first virtual workspace boundary is operable to move in response to a movement of the user input device; displaying a second virtual workspace boundary that represents a second workspace limit beyond which the user input device is inoperable to control the surgical robotic instrument in the teleoperation mode; and determining a location of the user input device within the surgical workspace.

Abstract: Disclosed herein are methods to detect a free-falling or other non-surgical motions of the user interface device (UID) of a surgical robotic system so that the surgical robotic system may pause the robotic arm controlled by the UID to prevent the robotic arm from mimicking the unintentional movement of the UID. Contact sensors embedded in the UID may be used to detect conditions indicating that a user does not possess full control of the UID. After determining that the user does not have full control of the UID, the UID may detect if the UID is experiencing non-surgical motions using motion sensors such as inertial sensors. By conditioning analysis of the data from the motion sensors by the initial determination that the UID is not being held based on the contact sensors, the method increases the robustness of the detection of non-surgical motions and reduces the probability of false positives.

Abstract: Communication apparatus and devices for surgical robotic systems are described. The communication apparatus can include a user console in communication with a communication device having a surgical tool. The communication device can include a microphone to convert a sound input into an acoustic input signal. The communication device can transmit the acoustic input signal to the user console for reproduction as a sound output for a remote operator. The surgical tool can include an endoscope having several microphones mounted on a housing. The surgical tool can be a sterile barrier having a microphone and a drape. The microphone(s) of the surgical tools can face a surrounding environment such that a tableside staff is a source of the sound input that causes the sound output, and a surgeon and the tableside staff can communicate in a noisy environment. Other embodiments are also described and claimed.

Abstract: A method for passively calibrating and verifying eye tracking in a surgical robotic system. The gaze of a user facing a user display of a user console of a surgical robotic system is tracked while the user is using a user interface device (UID). When a user interaction to the UID is detected, an expected gaze position on the display of the user console is determined without instructing the user to look at the expected gaze position. The latter becomes a reference gaze point of the user at the time of detected user action. The measured gaze point of the user is compared with an acceptable threshold of the reference gaze point, and in response to a determination of a mismatch, calibration parameters used by the tracking are adjusted according to the reference gaze point. Other aspects are also described and claimed.

Abstract: A handheld user interface device for controlling a robotic system may include a member, a housing at least partially disposed around the member and configured to be held in the hand of a user, and a tracking sensor system disposed on the member and configured to detect at least one of position and orientation of at least a portion of the device. At least one of the detected position of the portion of the device and detected orientation of the portion of the device is correlatable to a control of the robotic system.

Abstract: A foot pedal assembly for controlling a robotic surgical system. The foot pedal assembly including a foot pedal base, a foot pedal and a sensor. The foot pedal moves relative to the foot pedal base and has a contact surface extending from a distal end to a proximal end of the foot pedal. The contact surface is to come into contact with a foot of a user during use of the foot pedal assembly for controlling the robotic surgical system and the distal end is farther away from a heel of the foot than the proximal end during use of the assembly for controlling the robotic surgical system.

Abstract: Communication apparatus and devices for surgical robotic systems are described. The communication apparatus can include a user console in communication with a communication device having a surgical tool. The communication device can include a microphone to convert a sound input into an acoustic input signal. The communication device can transmit the acoustic input signal to the user console for reproduction as a sound output for a remote operator. The surgical tool can include an endoscope having several microphones mounted on a housing. The surgical tool can be a sterile barrier having a microphone and a drape. The microphone(s) of the surgical tools can face a surrounding environment such that a tableside staff is a source of the sound input that causes the sound output, and a surgeon and the table side staff can communicate in a noisy environment. Other embodiments are also described and claimed.

Abstract: An autostereoscopic three-dimensional display system for surgical robotics has an autostereoscopic three-dimensional display configured to receive and display video from a surgical robotics camera, and a first sensor assembly and a second sensor assembly. A processor is configured to detect and track an eye position or a head position of a user relative to the display based on processing output data of the first sensor assembly, and to detect and track a gaze of the user based on processing output data of the second sensor assembly. The processor further is configured to modify or control an operation of the display system based on the detected gaze of the user. A spatial relationship of the display also can be automatically adjusted in relation to the user based on the detected eye or head position of the user to optimize the user's visualization of three-dimensional images on the display.

Abstract: Surgical robotic systems including a user console for controlling a robotic arm or a surgical robotic tool are described. The user console includes components designed to automatically adapt to anthropometric characteristics of a user. A processor of the surgical robotic system is configured to receive anthropometric inputs corresponding to the anthropometric characteristics and to generate an initial console configuration of the user console based on the inputs using a machine learning model. Actuators automatically adjust a seat, a display, or one or more pedals of the user console to the initial console configuration. The initial console configuration establishes a comfortable relative position between the user and the console components. Other embodiments are described and claimed.

Abstract: A foot pedal system for controlling a surgical robotic system, the foot pedal system comprising a foot pedal assembly movably coupled to a foot pedal assembly platform. The foot pedal assembly having a foot pedal base, a foot pedal pivotally coupled to the foot pedal base, and a foot pedal platform, the foot pedal base operable to slide across the foot pedal platform along an x-axis and a y-axis to an arrangement of activation positions. The foot pedal platform operable to translate and rotate with respect to the foot pedal assembly platform to any position along the foot pedal assembly platform, and the foot pedal platform is operable to engage or disengage with the foot pedal assembly platform at the any position along the foot pedal assembly platform.

Abstract: Surgical systems including a user console for controlling a surgical robotic tool are described. A witness sensor and a reference sensor can be mounted on the user console to measure an electromagnetic field distortion near a location, and to measure deformation of the location, respectively. Distortion in the electromagnetic field can be detected based on the measurements from the witness sensor and the reference sensor. An alert can be generated, or teleoperation of the surgical tool can be adjusted or paused, when a user interface device used to control the surgical tool is within a range of the distortion. The distortion can be from a known source, such as from actuation of a haptic motor of the user interface device, and the user console can adjust the actuation to reduce the likelihood that the distortion will disrupt surgical tool control. Other embodiments are described and claimed.

Abstract: An autostereoscopic three-dimensional display system for surgical robotics has an autostereoscopic three-dimensional display configured to receive and display video from a surgical robotics camera, and a first sensor assembly and a second sensor assembly. A processor is configured to detect and track an eye position or a head position of a user relative to the display based on processing output data of the first sensor assembly, and to detect and track a gaze of the user based on processing output data of the second sensor assembly. The processor further is configured to modify or control an operation of the display system based on the detected gaze of the user. A spatial relationship of the display also can be automatically adjusted in relation to the user based on the detected eye or head position of the user to optimize the user's visualization of three-dimensional images on the display.

Abstract: A foot pedal assembly for controlling a robotic surgical system. The foot pedal assembly including a foot pedal base, a foot pedal and a sensor. The foot pedal moves relative to the foot pedal base and has a contact surface extending from a distal end to a proximal end of the foot pedal. The contact surface is to come into contact with a foot of a user during use of the foot pedal assembly for controlling the robotic surgical system and the distal end is farther away from a heel of the foot than the proximal end during use of the assembly for controlling the robotic surgical system. The sensor is coupled to the contact surface of the foot pedal at a position closer to the proximal end than the distal end, and the sensor is operable to sense a target object positioned a distance over the contact surface.

Abstract: Surgical robotic systems including a user console for controlling a robotic arm or a surgical robotic tool are described. The user console includes components designed to automatically adapt to anthropometric characteristics of a user. A processor of the surgical robotic system is configured to receive anthropometric inputs corresponding to the anthropometric characteristics and to generate an initial console configuration of the user console based on the inputs using a machine learning model. Actuators automatically adjust a seat, a display, or one or more pedals of the user console to the initial console configuration. The initial console configuration establishes a comfortable relative position between the user and the console components. Other embodiments are described and claimed.

Abstract: An immersive display for use in a robotic surgical system includes a support arm, a housing mounted to the support arm and configured to engage with a face of the user, at least two eyepiece assemblies disposed in the housing and configured to provide a three-dimensional display, and at least one sensor, wherein the sensor enables operation of the robotic surgical system, and wherein the support arm is actuatable to move the housing for ergonomic positioning.

Abstract: A method for passively calibrating and verifying eye tracking in a surgical robotic system. The gaze of a user facing a user display of a user console of a surgical robotic system is tracked while the user is using a user interface device (UID). When a user interaction to the UID is detected, an expected gaze position on the display of the user console is determined without instructing the user to look at the expected gaze position. The latter becomes a reference gaze point of the user at the time of detected user action. The measured gaze point of the user is compared with an acceptable threshold of the reference gaze point, and in response to a determination of a mismatch, calibration parameters used by the tracking are adjusted according to the reference gaze point. Other aspects are also described and claimed.

Abstract: Systems and methods for embodiments of a hyperdexterous robotic system using groundless user input devices (UIDs). In some embodiments, the hyperdexterous system allows for the slave control to follow the master control even when the two are misaligned. The motion of the master control occurring in multiple degrees of freedom may be decoupled into its component parts and processed differently. Each degree of freedom may be processed independently and scaled differently. For example, in some embodiments, only the roll motion of the groundless user interface device is transferred, in some embodiments, the master slave control is only allowed when the master and slave are within a certain region of each other.

Abstract: A method for disengaging a surgical instrument of a surgical robotic system comprising receiving a gaze input from an eye tracker; determining, by one or more processors, whether the gaze input indicates the gaze of the user is outside or inside of the display; in response to determining the gaze input indicates the gaze of the user is outside of the display, determining an amount of time the gaze of the user is outside of the display; in response to determining the gaze of the user is outside of the display for less than a maximum amount of time, pause the surgical robotic system from a teleoperation mode; and in response to determining the gaze of the user is outside of the display for more than the maximum amount of time, disengage the surgical robotic system from the teleoperation mode.

Abstract: A method for engaging and disengaging a surgical instrument of a surgical robotic system comprising: receiving a plurality of interlock inputs from one or more interlock detection components of the surgical robotic system; determining, by one or more processors communicatively coupled to the interlock detection components, whether the plurality of interlock inputs indicate each of the following interlock requirements are satisfied: (1) a user is looking toward a display, (2) at least one or more user interface devices of the surgical robotic system are configured in a usable manner, and (3) a surgical workspace of the surgical robotic system is configured in a usable manner; in response to determining each of the interlock requirements are satisfied, transition the surgical robotic system into a teleoperation mode; and in response to determining less than all of the interlock requirements are satisfied, transition the surgical robotic system out of a teleoperation mode.

Abstract: A foot pedal assembly for controlling a robotic surgical system includes a foot pedal assembly base including an axle, a foot pedal slidably and pivotally coupled to the axle, and a sensor arrangement configured to detect an axial position of the foot pedal along the axle and a pivoted position of the foot pedal around the axle. Different combinations of different detected axial positions and detected pivoted positions are correlateable to different functions of the robotic surgical system.