Abstract: A system and method provide feedback to guide a user to arrange components of a surgical robotic system in a suitable arrangement for the surgical procedure to be performed. An image of a medical procedure site at which a robotic manipulator and a second object such as a second robotic manipulator, patient table, patient, and bedside staff are located. The image is displayed for a user. The system uses computer vision to recognize the robotic manipulator and second object in the image and determine their relative positions. Based on the type of surgical procedure that is to be performed, the system determines a target position for the robotic manipulator and/or the second object, and displays, as an overlay to the displayed image, a graphical indication of the target position.

Abstract: The present invention provides a system for controlling an endoscope, comprising a. an endoscope adapted to provide real time images of FOV within a body cavity; said FOV defines FOVx-axis, FOVy-axis and FOVz-axis, b. a maneuvering system for maneuvering said endoscope; said maneuvering system defines an X-axis, a y-axis; and, a z-axis; c. control means adapted to receive commands of motions from a user to maneuver said endoscope; and d. a data processing system in communication with said control means, adapted to instruct said maneuvering system to maneuver said endoscope according to said commands of motions; wherein said data control means instructs said maneuvering system to maneuver said endoscope according to said commands of motions relative to said FOVx-axis, said FOVy-axis and said FOVz-axis, regardless of said X-axis, said y-axis and said z-axis as defined by said maneuvering system.

Abstract: Methods of assisting an operator to perform a surgical procedure include inserting at least one surgical tool into a surgical environment of a human body. The 3D spatial position of the surgical tool within the surgical environment is estimated in real time, and movement of the surgical tool is detected. The spatial position of the surgical tool within the surgical environment is controlled using a controller, including by determining using image processing whether each of the detected movements is an ALLOWED movement or a RESTRICTED movement based on a predetermined rule stored in a database in communication with the controller.

Abstract: A robot-assisted surgical system has a user interface operable by a user, a first robotic manipulator having a first surgical instrument, and a second robotic manipulator having a second surgical instrument. The system receives user input in response to movement of the input device by a user and causes the manipulator to move the first surgical instrument in response to the user input, determines a vector defined by the position of the first surgical instrument relative to the second surgical instrument, generates dynamic control signals based on the determined vector, and causes the manipulator to move the second surgical instrument in response to said dynamic control signals.

Abstract: A robotized surgery system comprises at least one robot arm which acts under the control of a control console intended for the surgeon. The console comprises an eye tracking system for detecting the direction of the surgeon's gaze and for entering commands depending on the directions of the gaze detected. The console comprises advantageously a screen with at least one zone for viewing the operating field and, among the commands which can be performed depending on the gaze directions.

Abstract: In a method of using a structured-light based system, real-time 2D images of a portion of a field of view are captured using an endoscope. A portion of an object in the field of view is illuminated with a structured light pattern, and light reflected from the field of view is detected. From the reflected light, a 3D image of the field of view is constructed, and 3D locations of points on a surface of the object are determined. The real time 3D spatial position of the endoscope and/or a surgical tool is determined. If a distance between the surface the endoscope and/or surgical tool, as determined using the 3D spatial position, falls below a predetermined distance, an alert is generated to notify a user.

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 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. Tendons that provide both mechanical actuation and electrical conduction to the end effector members are positioned in the pass-throughs.

Abstract: A method and system for controlling at least one robotically controlled surgical tool via vocal activation include detecting a vocal command generated by a surgeon, converting said at least one surgeon in said surgical setting via said voice sensor. The vocal command is converted to operative instructions associated with a robotically controlled surgical tool to generate instructions according to a predetermined set of rules including at least one of a no fly zone rule and collision prevention rule.

Abstract: A surgical instrument configured for both grasping and cutting operations has a shaft with a push rod extending through it. An end effector on the shaft has a grasping jaw, a cutting jaw, and an intermediate jaw. The grasping jaw forms a grasping device with the intermediate jaw, and the cutting jaw forming a cutting device with the intermediate member.

Abstract: A robotic surgical system in which the system applies a scaling factor between user input from a user input device and corresponding movements of the robotic manipulator. Scaling factors may be applied or adjusted based on detected conditions such as the type of instrument being manipulated, detected distance between multiple instruments being manipulated, user biometric parameters.

Abstract: A method of controlling a robotic arm in a surgical system comprises manually applying a force to a body of the robotic arm. Force information is received from ae force sensor on the robotic arm and a controller determines, using the force information, whether the force is a gesture force input. If the force is determined to be a gesture force input, the controller initiates electromechanical movement of the manipulator arm to a draping configuration, instrument attachment configuration, storage configuration, or home configuration.

Abstract: A robotized surgery system comprises at least one robot arm which acts under the control of a control console intended for the surgeon. The console comprises an eye tracking system for detecting the direction of the surgeon's gaze and for entering commands depending on the directions of the gaze detected. The console comprises advantageously a screen with at least one zone for viewing the operating field and, among the commands which can be performed depending on the gaze directions.

Abstract: Eye gaze measurements are used to give input to a surgical robotic system. Eye tracking input is enhanced using a pair of eye trackers positioned to track the gaze of a user observing an endoscopic image on a display. At least one of the eye trackers is moveable relative to the display in a horizontal and/or vertical direction relative to the image display.

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: An image of a field of view is captured by the endoscope and a portion of the image is displayed on a display. A popup image is generated and displayed upon image analysis identification of an occurrence of bleeding or motion of edges of an incision that is within the field of view, but outside the portion of the field of view displayed on the display.

Abstract: A wireless power transmission system for a robotic surgical system includes features for optical data transmission. A first component of the surgical system includes a control element, a power transmission element and an optical data transmission element; and a second component of the surgical system including a wireless power receiving element and an optical data receiving element, the second component is removably mountable to the first component. In some embodiments, a barrier such as a surgical drape and/or hermetic enclosure is positioned between the first and second components. In one example, of the components is a robotic manipulator arm and another is a powered instrument removably mountable to the manipulator arm.

Abstract: A system and method for augmenting an endoscopic display during a medical procedure including capturing a real-time image of a working space within a body cavity during a medical procedure. A feature of interest in the image is identified to the system using a user input handle of a surgical robotic system, and a graphical tag is displayed on the image marking the feature.

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: A robotic surgical system in which the system applies a scaling factor between user input from a user input device and corresponding movements of the robotic manipulator. Scaling factors may be applied or adjusted based on detected conditions such as the type of instrument being manipulated, detected distance between multiple instruments being manipulated, user biometric parameters.