Abstract: Methods, systems, and devices for controlling a medical instrument are discussed herein. For example, image data can be received from a first instrument that is configured to access an anatomical site via a first access path. The image data can be representative of the anatomical site and a second instrument that is configured to access the anatomical site via a second access path. A visual representation of the image data can be displayed in a user interface and a first directional input signal can be received from an input device. An orientation of the first instrument relative to the second instrument can be determined. Movement of the second instrument can be controlled based at least in part on the first directional input signal and the orientation of the first instrument relative to the second instrument.

Abstract: Methods and systems for administering directed fluidics during a medical procedure for removing an object are disclosed. A method includes inserting first and second medical instruments into a treatment site, providing irrigation and aspiration of the treatment site through the first and second medical instruments, determining a characteristic of one of the irrigation and the aspiration, and selecting a characteristic of the other of the irrigation and aspiration based on the determined characteristic.

Abstract: A method of managing fluid conditions in a patient involves advancing at least one medical instrument into a target organ of a patient, the at least one medical instrument comprising an irrigation channel and an aspiration channel, coupling the at least one medical instrument to an irrigation fluid source, providing irrigation from the irrigation fluid source into the target organ through the irrigation channel of the at least one medical instrument, determining an irrigation pressure limit based at least in part on one or more case-specific parameters, providing irrigation into the target organ through the irrigation channel, and limiting the irrigation based at least in part on the determined irrigation pressure limit.

Abstract: A surgical robotic system automatically calibrates tubular and flexible surgical tools such as endoscopes. By compensating for unideal behavior of an endoscope, the surgical robotic system can accurately model motions of the endoscope and navigate the endoscope while performing a surgical procedure on a patient. During calibration, the surgical robotic system moves the endoscope to a target position and receives data describing an actual position and/or orientation of the endoscope. The surgical robotic system determines gain values based at least on the discrepancy between the target position and the actual position. The endoscope can include tubular components referred to as a sheath and leader. An instrument device manipulator of the surgical robotic system actuates pull wires coupled to the sheath and/or the leader, which causes the endoscope to articulate.

Abstract: A robotic system can include a surgical instrument with a wrist that allows N degrees of freedom of movement. The N degrees of freedom can be controlled by N+1 cable segments. The wrist can include a first set pulleys configured to rotate about a first axis and a second set of pulleys configured to rotate about a second axis. The wrist can further comprise one or more pulleys configured to engage two of the cable segments, wherein at least one of the pulleys is shared by a first cable segment and a second cable segment. The first cable segment and the second cable segment that share the pulley can be independent from one another. In some circumstances, the surgical instrument can be actuated N+1 degrees of movement by advancing or retracting at least two of N+1 cable segments.

Abstract: Robotic medical systems may perform robotic movement that is saturated according to one or more constraints of the system. A robotic system can include a robotic arm configured to control a medical instrument. The robotic system can receive a first user input from a user for moving the robotic arm to control the medical instrument. The robotic system can guide the movement of the robotic arm along a collision boundary surrounding an object in accordance with the first user input and one or more secondary constraints.

Abstract: Certain aspects relate to systems and techniques for an input device for controlling a robotic surgical tool. The input device can include a first pair of opposing links and a second pair of opposing links. The first pair of opposing links and second pair of opposing links can be arranged radially symmetrically. The input device can be configured to control operation of the robotic surgical tool.

Abstract: A robotic system may include an electrical ground line and a protective earth line electrically coupled to the electrical ground line. The robotic system may also include a testing circuit coupled to the protective-earth line via an isolation capacitor. The testing circuit may include a lock-in amplifier and may be configured to measure an impedance for the protective-earth line through the isolation capacitor. Methods for testing or monitoring protective-earth lines are also disclosed herein.

Abstract: Systems and methods for electromagnetic (EM) distortion detection and compensation are disclosed. In one aspect, the system includes an instrument, the system configured to: determine a reference position of the distal end of the instrument at a first time based on EM location data, determine that the distal end of the instrument at a second time is static, and determine that the EM location data at the second time is indicative of a position of the distal end of the instrument having changed from the reference position by greater than a threshold distance. The system is further configured to: determine a current offset based on the distance between the position at the second time and the reference position at the first time, and determine a compensated position of the distal end of the instrument based on the EM location data and the current offset.

Abstract: Methods, systems, and devices for controlling a medical instrument are discussed herein. For example, image data can be received from a first instrument that is configured to access an anatomical site via a first access path. The image data can be representative of the anatomical site and a second instrument that is configured to access the anatomical site via a second access path. A visual representation of the image data can be displayed in a user interface and a first directional input signal can be received from an input device. An orientation of the first instrument relative to the second instrument can be determined. Movement of the second instrument can be controlled based at least in part on the first directional input signal and the orientation of the first instrument relative to the second instrument.

Abstract: A robotic medical system can include a motorized arm that is supported by a column of the system. The robotic arm can be operated by rotating a link of the motorized arm by actuating an actuator to drive rotation of a rotary joint. A brake can then be applied to the rotary joint to stop rotation of the link. The arm can also include an arbor that can be actuated to increase a torsional stiffness of the rotary joint.

Abstract: The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other.

Abstract: Methods, systems, and devices for calibrating a medical instrument are discussed herein. For example, a first instrument can be configured to access an anatomical site via a first access path and a second instrument can be configured to access the anatomical site via a second access path. The second instrument can include an imaging component configured to provide image data representative of the anatomical site and the first instrument. A difference can be identified between a first coordinate frame associated with the first instrument and a second coordinate frame associated with the second instrument. A control frame of reference associated with the first instrument can be updated based at least in part on the difference.

Abstract: A medical instrument includes an elongate shaft, a handle coupled to a proximal portion of the elongate shaft, an axle rotatably mounted to the handle and configured so that rotation of the axle causes the elongate shaft to rotate about an axis of the elongate shaft, and an axle catch disposed at least partially within the handle, the axle catch being actuatable between a locked position, in which the axle catch impedes rotation of the axle, and an unlocked position, in which the axle catch permits rotation of the axle. Mounting the handle on a robotic manipulator causes the axle catch to automatically transition from the locked position to the unlocked position.

Abstract: Systems and methods are described herein for tracking an elongate instrument or other medical instrument in an image.

Abstract: Certain aspects relate to systems with robotically controllable field generators and applications thereof. A robotic medical system may include a robotic arm coupled to an electromagnetic (EM) field generator configured to generate an EM field, and the first robotic arm may be configured to move the EM field generator. The medical system may also include a medical instrument configured for insertion into a patient. The medical instrument may comprise an EM sensor and one or more processors. The processors may: determine a position of the EM sensor within the EM field; and adjust a position of the EM field generator by commanding movement of the first robotic arm based on the determined position of the EM sensor.