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 drape, 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 drape.

Abstract: A system and method for measuring an area of interest such as a hernia defect within a body cavity, in which real time image data is captured at a treatment site that includes the area of interest. Computer vision is applied to identify the extents of the area of interest within images captured using the camera, and dimensions of the area of interest are measured using the image data. The user is given output, which may include recommendations of hernia mesh shape/size and or positioning, based on the measured dimensions.

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 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: 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 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 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 a gesture 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 a predetermined system function. The predetermined system function may be a change in operational state, movement between operational modes, or a movement from a first configuration of the arm's joints to a second, predetermined, configuration of the arms joints.

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 and an overlay is displayed on the image marking the feature. Computer vision is used to detect in real time changes in the image that are indicative of the feature of interest being at least partially obscured. In response to such detected changes, a quality of the overlay is altered, e.g. to make it more bright or opaque, based on the change in visibility of the feature of interest in the image.

Abstract: A robotic surgical system is configured to determine whether a surgical instrument has been properly mounted to an arm of the surgical system. As the surgical instrument is moved into engagement with the arm, a magnet on the arm exerts an attractive force on a plate on the surgical instrument. As the instrument engages to the arm, load cell measurements and inertial measurement unit (IMU) information from one or more sensors on the arm are monitored to determine the mass of the instrument as well as the acceleration of the instrument as it mates with the instrument engagement interface. The system compares the load cell measurements and IMU information with what those parameters are expected to be when a surgical device assembly or instrument of that type is mounted. If the load cell measurements and IMU information deviates from what is expected, the system provides a notification to the user and prevents use of the manipulator arm until the surgical device assembly or instrument is properly positioned.

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 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.