Abstract: A caster assembly includes a primary wheel and a secondary wheel. As the caster assembly is rolled against and over an obstacle threshold, the secondary wheel is positioned to contact the obstacle threshold first. As the caster assembly begins to roll over the threshold, the secondary wheel lifts the caster assembly part way. As the caster assembly continues to roll over the threshold, the primary wheel contacts the threshold and lifts the caster assembly over the obstacle threshold. One or more secondary or primary wheels may be used. The secondary wheel or wheels may be positioned to remain within a sweep volume of the primary wheel as the caster assembly swivels around a caster swivel axis.

Abstract: A method for a minimally invasive surgical system is disclosed including reading first tool information from a storage device in a first robotic surgical tool mounted to a first robotic arm to at least determine a first tool type; reading equipment information about one or more remote controlled equipment for control thereof; comparing the first tool information with the equipment information to appropriately match a first remote controlled equipment of the one or more remote controlled equipment to the first robotic surgical tool; and mapping one or more user interface input devices of a first control console to control the first remote controlled equipment to support a function of the first robotic surgical tool.

Abstract: A control console to remotely control medical equipment is disclosed having a base with an ergonomically adjustable pedal system. The base further has an opening to receive the pedal system. The pedal system includes a moveable pedal tray with a pedal base. The tray includes a first left pedal assembly and a first right pedal assembly, and an upper tier having a second left pedal assembly and a second right pedal assembly respectively in alignment with and elevated above the first left pedal assembly and the first right pedal assembly. Rollers are rotatable coupled to the moveable pedal tray to allow it roll over a floor. A drive assembly is coupled between the moveable pedal tray and the base. The drive assembly applies a force to the to roll the moveable pedal tray over the floor within the opening of the base.

Abstract: A method for a minimally invasive surgical system is disclosed including capturing camera images of a surgical site; generating a graphical user interface (GUI) including a first colored border portion in a first side and a second colored border in a second side opposite the first side; and overlaying the GUI onto the captured camera images of the surgical site for display on a display device of a surgeon console. The GUI provides information to a user regarding the first electrosurgical tool and the second tool in the surgical site that is concurrently displayed by the captured camera images. The first colored border portion in the GUI indicates that the first electrosurgical tool is controlled by a first master grip of the surgeon console and the second colored border portion indicates the tool type of the second tool controlled by a second master grip of the surgeon console.

Abstract: An image capturing device is robotically positioned and oriented in response to operator manipulation of a master control device. An unused degree-of-freedom of the master control device is used to adjust an attribute such as focusing of the image capturing device relative to a continually updated set-point. A deadband is provided to avoid inadvertent adjusting of the image capturing device attribute and haptic feedback is provided back to the master control device so that the operator is notified when adjusting of the attribute is initiated.

Abstract: A method and device for the quantification of muscle tone, particularly the wrist, wherein non-sinusoidal and non ramp trajectories are used to drive the wrist. Equation 1 is utilized determine the stiffness, viscosity and inertial parameters. &tgr;s(t)=KH&thgr;(t)+BH&thgr;(t)+JT&thgr;(t)+&tgr;off  [Eq. 1] wherein where &tgr;s is the total torque, &tgr;off is the offset torque, KH and BH are the angular stiffness and viscosity of the combined flexor and extensor muscle groups that act on the joint, JT is the combined inertia of the oscillating appendage, &thgr; is the angular displacement of the system, and θ . ⁢   ⁢ and ⁢   ⁢ θ ¨ are the velocity and acceleration.

Abstract: A method and device for the quantification of muscle tone, particularly the wrist, wherein non-sinusoidal and non ramp trajectories are used to drive the wrist. Equation 1 is utilized determine the stiffness, viscosity and inertial parameters.