Abstract: A powered user interface for a robotic surgical system operates in accordance with a mode of operation in which the actuators are operated to permit motion of the handle in pitch and yaw motion constrained with respect to a virtual fulcrum in a work space of the user interface, and insertion motion is constrained along an axis passing through the virtual fulcrum. In a virtual fulcrum setting mode, a user is prompted to give input to the system selecting a desired point in space for the virtual fulcrum.

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 surgical instrument includes a shaft and a pair of jaw members disposed on the shaft and extending from an at least partially spherical element. The jaw members are moveable in pitch and yaw relative to the center of the sphere in response to actuation forces applied to a proximal drive mechanism of the instrument. The surgical instrument may include a manually operated handle for manual input of actuation forces by a user, or it may be removably mounted to a drive component of a robotic system such that its proximal drive mechanism is operatively engaged with actuators that generate mechanical output that is transferred to the proximal drive mechanism.

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 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 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 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 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 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 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 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 surgical system includes a drive unit on a support. The drive unit includes motors or other actuators and a plurality of output elements arranged such that operation of each drive unit linearly translates a corresponding one of the output elements. A surgical device has an input subsystem carried at the proximal end of the shaft. The input subsystem includes linearly translatable input elements or pistons. The input and output elements are positioned such that operation of an actuator linearly translates an output element, causing linear translation of a corresponding input element. The input elements deliver linear motion to a rotary conversion system which converts the linear motion to rotary motion and delivers the rotary motion to a shaft of the surgical device, causing axial rolling of the surgical device or its distal end effector. A sterile drape is positionable between the input elements and the output elements.

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. A segment of the shaft proximal to the end effector is axially rotatable between a first position, in which the push rod can advance through the segment to actuate the cutting device, and a second position in which the push rod can advance through the segment to actuate the grasping device.

Abstract: In a robotic surgical system, an organ manipulation device such as a uterine manipulator with a colpotomy cup is positionable on a first robotic manipulator while a surgical instrument is positionable on a second robotic manipulator. During the course of surgery, a user inputs instructions to the robotic surgical system to cause movement of the organ manipulator and surgical instrument.

Abstract: In a system and method for determining guide points or a guide path for display on an endoscopic display, image data corresponding to a surgical treatment site is captured using a camera. Using the image data, the positions of one or more reference points within the surgical environment, are determined. Based on the positions of the reference points, the positions of guide points spaced from the reference point are estimated or determined, in some cases using predetermined offsets. The guide points or guide path is displayed as an overlay of the image data on an image display. In an embodiment using the system for a sleeve gastrectomy procedure, the reference points are input by a user or determined by the system with reference to a bougie that has been positioned within a stomach at the operative site, and the guide path is used as a guide for stapling and resection to form the sleeve.

Abstract: A mechanical assembly is used to communicate to a robotic system information about a type of instrument mounted to a robotic manipulator arm. The assembly includes a sensor and a receiving component on the robotic manipulator arm. The receiving component includes a member moveable relative to said at least one sensor. A first surgical instrument is attachable to the robotic manipulator arm and is provided with a first mechanical identification feature positioned to cause movement of the moveable member relative to the sensor, causing a first response at the sensor. A second surgical instrument is similarly attachable, but causes a second response at the sensor that differs from the first response. This allows the robotic system to determine instrument type based on the response of the sensor from attachment of an instrument.

Abstract: A surgical system includes a light source, a sensor for detecting light, and a surgical device including an elongate shaft having a distal part positionable at a surgical working site within a body cavity. A first optical pathway transmits light from the light source to a distal part of the elongate shaft and onto tissue within the body cavity, and a second optical pathway receives light from tissue within the body cavity and transmits the received light to the sensor. A surgical barrier, such as one covering a robotic manipulator arm housing components of the system, is positioned such that at least the first or second optical pathway includes an optically transmissive portion of the surgical barrier.

Abstract: A robotic surgical system configured to control movement of a first instrument and a second instrument, each of which is on a robotic manipulator. In described modes of operation, movement of the first instrument is surgeon controlled based on surgeon input to the robotic system. Movement of the second instrument is also surgeon controlled, but its motion is defined by the chosen mode of operation which sets the amplitude and direction of the second instrument's motion relative to the actual or instructed motion of the first instrument. In this way, two instruments are simultaneously moved based on input from a single surgeon input device.

Abstract: Imaging methods aid a user in understanding relative depths of objects or topography within a field of view. In one method, image data is gathered using 3D image sensors, while illumination of an area of interest is alternated with projection of a pattern onto the area of interest. The captured image data is used to display a 3D true color image; a monochrome grid on surfaces of the area of interest; a 3D true color image with a monochrome grid on surfaces of the area of interest; a 2D or 3D false color image where different colors identify different depths of regions of the area of interest; and/or a 2D or 3D true color image of an area of interest with features in the area of interest located a first depth relative to the image sensors highlighted with a common color. In another method, 3D image data is used to generate a 2D image that highlights features at a common depth using the same color.