Abstract: A user interface for a surgical robotic system includes a plurality of handles, each removably attachable to a user interface assembly by a quick release connector. The selection of handles can include handles of varying size, degree of complexity, handles adapted for laparoscopic motion, handles adapted for true cartesian motion or handles customized to surgeon anthropometric data, etc.

Abstract: A user interface for a surgical robotic system includes a plurality of handles, each removably attachable to a user interface assembly by a quick release connector. The selection of handles can include handles of varying size, degree of complexity, handles adapted for laparoscopic motion, handles adapted for true cartesian motion or handles customized to surgeon anthropometric data, etc.

Abstract: A system and method using computer vision to assist surgical suturing includes capturing digital images of a treatment site in a region of patient anatomy and displaying the image in real time on an image display. Computer vision techniques are used to determine the edges of tissue to be sutured. The system determines target needle entry and exit points at desired distances from the tissue edges and at a desired spacing, and displays the target needle entry and exit points as overlays on the image display.

Abstract: The length of an endoscope carried by a robotic arm is determined using computer vision. The endoscope is inserted through a trocar into a body cavity and mounted to a manipulator arm. The position of a fulcrum for movement of the endoscope at the trocar site is determined using input from a force/torque sensor. While images are captured using the endoscope, the manipulator arm withdraws the distal end of the endoscope intro the trocar. Image processing is used to determine when the distal end of the trocar becomes visible in the captured images. The position of the endoscope at the point where the trocar becomes visible is recorded, and the length of the endoscope is determined based on the recorded position.

Abstract: A system and method for providing visual assistance to a practitioner during a medical suturing procedure. Real time images of the suture site are captured and displayed on an image display. The images are analyzed in real time to detect the suture needle, suture penetration sites, relevant tissue, adjacent tissue edges or other features of interest in the visual images. Based on the orientation of, or relationship between, the detected features of interest, overlays are generated and displayed on the image display to inform the user about the suturing task that is underway, such as the anticipated needle path, the suture spacing, or the separation between sutures and adjacent tissue edges.

Abstract: A user interface for a surgical robotic system includes a plurality of handles, each removably attachable to a user interface assembly by a quick release connector. The selection of handles can include handles of varying size, degree of complexity, handles adapted for laparoscopic motion, handles adapted for true cartesian motion or handles customized to surgeon anthropometric data, etc.

Abstract: Salt or acid solution is stored inside a frac sleeve instead of being pumped from a surface location. A mechanically-actuated valve releases the stored salt or acid solution into the borehole to electrochemically degrade the frac ball and allow it to pass through the seat. The stored fluid can be immediately released upon mechanical actuation or released after a specified delay using an integrated timer. In multiple sleeve applications a first ball shifts a first sleeve to open treatment ports and a second ball shifts a second sleeve to close the treatment port and open screened production ports while releasing the stored material either between the seated objects or above one of the seated objects to initiate the disintegration that will allow objects on both seats to disintegrate and pass through.

Abstract: Salt or acid solution is stored inside a frac sleeve instead of being pumped from a surface location. A mechanically-actuated valve releases the stored salt or acid solution into the borehole to electrochemically degrade the frac ball and allow it to pass through the seat. The stored fluid can be immediately released upon mechanical actuation or released after a specified delay using an integrated timer. In multiple sleeve applications a first ball shifts a first sleeve to open treatment ports and a second ball shifts a second sleeve to close the treatment port and open screened production ports while releasing the stored material either between the seated objects or above one of the seated objects to initiate the disintegration that will allow objects on both seats to disintegrate and pass through.