Abstract: A surgical robotic system includes at least one eye tracking system positioned detect the direction of at least one user's gaze. Input derived from the eye tracking system may be used to enter commands to the surgical robotic system depending on the directions of the gaze detected or other aspects of the gaze such as pupil dilation or speed of eye movement.

Abstract: A powered user interface for a robotic surgical system includes a base, a handle mounted to the base and moveable relative to the base in at least six degrees of freedom, and actuators. The interface operates in accordance with a first mode of operation in which the actuators are operated to constrain predetermined ones of the joints to permit motion of the handle in only 4DOF with respect to the base, and a second mode of operation in which the actuators permit motion of the handle in at least 6DOF with respect to the base.

Abstract: A powered user interface for a robotic surgical system having a manipulator and a surgical instrument mounted to the manipulator includes a base and a linkage assembly that includes two two-bar linkage mechanisms. The linkage assembly is rotatably mounted to the base at a base joint, and a handle mounted to each of the two-bar linkage mechanisms. Sensors and actuators are arranged to measure and actuate the position and orientation of the user interface.

Abstract: A control mechanism locks open a spring-loaded valve and automatically releases the spring-loaded valve to close upon a predetermined lesser weight load being applied. The spring-loaded valve includes a flow valve, a valve lever that pivots between open and closed positions, and a valve spring that biases the valve lever to the closed position. The control mechanism includes a pivotal release lever having an engagement arm and an opposite load arm, and a release spring that biases the release lever from a blocking position with the engagement arm retaining the valve lever in its open position to a release position with the valve lever free to pivot past the engagement arm and to the closed position under the valve spring force. The load arm includes an additive-container support for a load of an additive fluid to be mixed with a carrier fluid whose flow is controlled by the valve.

Abstract: An atomic clock is used in conjunction with the GNSS receiver and the inertial sensors, creating a more capable inertial navigation system (INS). The system can be composed of a GNSS receiver, an accurate clock, and a mechanism for measuring relative pose changes. For example, the system can utilize an inertial measurement unit (IMU) to provide the relative pose changes, but other mechanisms, such as visual or LADAR odometry, can be used. The GNSS receiver measures the pseudo-ranges to the GNSS satellites in the field of view. These measurements are “time tagged” with the accuracy of the atomic clock. The relative motion between the pseudo-ranges is measured using the IMU. Finally, a lock is achieved by filtering these measurements. The filtering mechanism can be a traditional Kalman Filter or other mechanisms that attempt to minimize a mean square error.

Abstract: A robotic surgical system includes a fluid drive system and a surgical instrument removably positioned in operative engagement with the drive system. A sterile barrier covers non-sterile portions of the surgical system. Features of the sterile barrier are used to transfer motion output from the fluid drive system to the instrument for actuation of the instrument.

Abstract: An air mover for forcing air through the system, a pre-treating stage with a particulate filter for removing larger contaminants from the air and an antimicrobial (e.g., copper and silver) filter for killing or damaging microorganisms, a UV chamber including an ultraviolet lamp that emits radiation and a catalytic (e.g., TiO2-coated) device and a reflective (e.g., mirror-finish anodized aluminum) lining for amplifying the UV radiation for killing microorganisms, a post-UV stage including a VOC-reducing (e.g., activated-charcoal) filter for removing odors and VOCs from the air, and optionally a supply of a surface disinfectant (e.g., ClO2). In example embodiments, the UV lamps and VOC filters are selected and configured for controlling microbial pathogens, and in other example embodiments they are selected and configured for removing ethylene from the air.

Abstract: A powered user interface for a robotic surgical system includes a handle on a linkage having a plurality of joints, a base, and actuators. The interface operates in accordance with a first mode of operation in which a plurality of its actuators are operated to constrain predetermined ones of the joints to permit motion of the handle in only 4DOF with respect to the base, and a second mode of operation in which the actuators permit motion of the handle in at least 6DOF with respect to the base.

Abstract: A robotic surgical system includes a fluid drive system and a surgical instrument removably positioned in operative engagement with the drive system. A sterile barrier covers non-sterile portions of the surgical system. Features of the sterile barrier are used to transfer motion output from the fluid drive system to the instrument for actuation of the instrument.

Abstract: An air mover for forcing air through the system, a pre-treating stage with a particulate filter for removing larger contaminants from the air and an antimicrobial (e.g., copper and silver) filter for killing or damaging microorganisms, a UV chamber including an ultraviolet lamp that emits radiation and a catalytic (e.g., TiO2-coated) device and a reflective (e.g., mirror-finish anodized aluminum) lining for amplifying the UV radiation for killing microorganisms, a post-UV stage including a VOC-reducing (e.g., activated-charcoal) filter for removing odors and VOCs from the air, and optionally a supply of a surface disinfectant (e.g., ClO2). In example embodiments, the UV lamps and VOC filters are selected and configured for controlling microbial pathogens, and in other example embodiments they are selected and configured for removing ethylene from the air.

Abstract: A robotic surgical system includes a fluid drive system and a surgical instrument removably positioned in operative engagement with the drive system. A sterile barrier covers non-sterile portions of the surgical system. Features of the sterile barrier are used to transfer motion output from the fluid drive system to the instrument for actuation of the instrument.

Abstract: Atomic clocks (at both the receiver and emitter) are used to obfuscate the location of the receiver by providing a different mechanism to synchronize (other than the direct reception). Using this approach, there is no need for the emitter to emit directly to the receiver; only the reflection is necessary, and therefore, the location of the receiver (or receivers) is better obfuscated. Phased antenna arrays are used in RADAR for a variety of applications, including steering of beams and increasing the “aperture” of the antenna for Synthetic Aperture Radar (SAR). The relative position of the emitters is known by means of using a Navigation unit. The beam-steering phase shifts are dynamically computed using the position of the emitters, and the atomic clock is used to synchronize the phase shifts.

Abstract: A robotic system assembly comprises a robotic manipulator including an actuator assembly and a surgical instrument having a base body mountable to the actuator assembly. The base includes a first control input and a second control input, wherein the first and second control inputs are positioned on different sides of the base. The actuator assembly is moveable between open and closed positions to facilitate removal and replacement of surgical instruments. When in the closed positions, drive elements of the actuator assembly are positioned to drive the first and second control inputs of the surgical instrument to cause end effector movement or actuation.

Abstract: A surgical robotic system has at least two robotic manipulator arms. A user input device has a single handle configured to allow a surgeon to input instructions to the robotic surgical system to cause movement of the first instrument by a first robotic manipulator arm, and to cause movement of the second instrument by a second robotic manipulator arm. The user input device can include a first input handle moveable in multiple degrees of freedom to generate input for movement of the first instrument, and an auxiliary input on the handle to generate input for movement of the second instrument.

Abstract: A robotic surgical system includes a hydraulic drive system and a surgical instrument removably positioned in operative engagement with the hydraulic drive system.

Abstract: A powered user interface for a robotic surgical system includes a handle on a linkage having a plurality of joints, a base, and actuators. The interface operates in accordance with a first mode of operation in which a plurality of its actuators are operated to constrain predetermined ones of the joints to permit motion of the handle in only 4DOF with respect to the base, and a second mode of operation in which the actuators permit motion of the handle in at least 6DOF with respect to the base.

Abstract: A surgical instrument for use with a robotic manipulator includes an end effector assembly having one or two end effector members, each having a distal treatment end, a proximal end, and a tendon pass-through. Each end effector member is sandwiched between a corresponding pair of pulley members that, when assembled define an annular tendon pathway that is between the pulley members and that is aligned with the pass-through. For each end effector member, a tendon having a distal loop portion ends through the tendon pass-through, with its legs passing proximally from the pass-through, extending in opposite directions around the tendon pathway and proximally through the instrument's shaft.

Abstract: A robotic surgical system includes a hydraulic drive system and a surgical instrument removably positioned in operative engagement with the hydraulic drive system.

Abstract: An electrosurgical instrument having jaws is energized and actuated using a length of cable. The cable is formed of a conductive inner portion coated with a dielectric polymer. The cable extends through a pass-through in a portion of the jaw and is crimped to create a mechanical and electrical connection between the conductive inner portion and the conductive jaw material.

Abstract: A robotic system assembly comprises a robotic manipulator including an actuator assembly and a surgical instrument having a base body mountable to the actuator assembly. The base includes a first control input and a second control input, wherein the first and second control inputs are positioned on different sides of the base. The actuator assembly is moveable between open and closed positions to facilitate removal and replacement of surgical instruments. When in the closed positions, drive elements of the actuator assembly are positioned to drive the first and second control inputs of the surgical instrument to cause end effector movement or actuation.