Abstract: A method of removing a protective cover from an instrument includes inserting a distal end of the instrument on which the protective cover is positioned within an opening of a tool; engaging an edge of the protective cover with a movable member of the tool; and while the edge is engaged, using relative movement between the instrument and the tool to remove the protective cover from the instrument.

Abstract: A surgical drape for providing a localized instrument sterility barrier includes: a tube having a proximal end and a distal end, the tube defining an interior bore sized to receive an elongated shaft of a surgical instrument; and a port coupler at the distal end of the tube, the port coupler configured to couple the distal end of the tube to a surgical port through which the elongated shaft extends. The tube is collapsible to accommodate relative movement between the instrument and the surgical port during a surgical procedure.

Abstract: An exemplary object masking system is configured to mask a recognized object during an application of a synthetic element to an original image. For example, the object masking system accesses a model of a recognized object depicted in an original image of a scene. The object masking system associates the model with the recognized object. The object masking system then generates presentation data for use by a presentation system to present an augmented version of the original image in which a synthetic element added to the original image is, based on the model as associated with the recognized object, prevented from occluding at least a portion of the recognized object. In this way, the synthetic element is made to appear as if located behind the recognized object. Corresponding systems and methods are also disclosed.

Abstract: A drape shroud assembly comprises a body and a plurality of tabs. The body comprises a first end, a second end, an outer surface extending between the first end and the second end, and an inner surface extending between the first end and the second end. The inner surface of the body bounds an inner volume sized to permit at least part of a surgical instrument manipulator insertion assembly to be contained within the inner volume. The body is configured for attachment to the insertion assembly. The plurality of tabs extends from the second end of the body. A drape attachment region at an outer surface of the body is configured to attach a sterile drape to the body. The body of the drape shroud protects the drape from catching on the manipulator insertion assembly during movement thereof.

Abstract: A medical instrument comprises an instrument control surface configured to mate with an instrument sterile adapter to receive input drive forces through the sterile adapter to control actuation of the surgical instrument, the instrument control surface comprising a first opening defined in the instrument control surface. A latch structure of the instrument comprises a locking surface configured to engage a latch arm in response to the latch arm being received in the opening, wherein in an engaged state of the latch arm with the locking surface the medical instrument is attached to the instrument sterile adapter and the latch structure prevents movement of the latch arm in a first direction. A latch release is moveable in the engaged state of the latch arm with the locking surface to exert a force causing movement of the latch arm in a second direction to disengage the latch arm from the locking surface.

Abstract: A system generally includes a surgical manipulator configured to control motion of a surgical tool, and a clamping apparatus having a mounting location configured to support the surgical manipulator and couple to a mounting structure. The clamping apparatus may include a body, a first jaw coupled to the body and configured to engage a first portion of the mounting structure, and a second jaw coupled to the body and configured to engage a second portion of the mounting structure. At least one of the first jaw and the second jaw may be movably coupled to the body and configured to move along a non-linear path to clamp mounting structures of different sizes. A lever may be pivotably coupled to the body and may be movable between a unclamped position and a clamped position. Alternatively, a motor may be operable to attach the clamping apparatus to the mounting structure.

Abstract: A contact detection system is configured to classify each pixel in a plurality of pixels included in an ultrasound image captured by an ultrasound probe located within a patient as either showing tissue or showing non-tissue; determine an average pixel classification representative of a number of pixels classified as showing tissue compared to a number of pixels classified as showing non-tissue; determine, if the average pixel classification is above a first contact state threshold, that the ultrasound probe is in a first contact state that indicates that the ultrasound probe is in operative physical contact with the tissue; and determine, if the average pixel classification is below a second contact state threshold lower than the first contact state threshold, that the ultrasound probe is in a second contact state that indicates that the ultrasound probe is not in operative physical contact with the tissue.

Abstract: A support apparatus for a medical device includes a first sleeve, a second sleeve, and a flexible contact member. The first sleeve is configured to be coupled to a first tool member of an end effector assembly that includes the first tool member, a second tool member, and a clevis, in which the first and second tool members are each rotatably coupled to the clevis such that second tool member can be moved relative to the first tool member between a first and a second orientation. The second sleeve is configured to be coupled to the second tool member. The flexible contact member is coupled to the first sleeve and the second sleeve, and is configured be moved between a collapsed configuration when the second tool member is in the first orientation and an expanded configuration when the second tool member is in the second orientation.

Abstract: A cable tensioning system of a surgical system comprises a base, an arm, and a moveable idler pulley rotatably coupled to a first end of the arm and positioned between a first pulley system and a second pulley system. A closed loop cable drive extends between the first pulley system and the second pulley system, and the closed loop cable drive passes over the moveable idler pulley. The cable tensioning system also comprises a translation mechanism slidably coupling a second end of the arm to the base. The translation mechanism is configured to move the arm relative to the base along a linear path between a first position and a second position such that the moveable idler pulley is moved away from at least one of the first pulley system or the second pulley system to control a tension in the closed loop cable drive.

Abstract: A method comprises receiving a set of model points of a model of one or more passageways of a patient. The method further comprises receiving a set of measured points collected from within the one or more passageways of the patient. Each point comprises coordinates within a medical environment occupied by the patient. The method further comprises matching each measured point to a model point to generate a set of matches. The method further comprises assigning a weight to each of the measured points based on the set of matches to generate a weighted set of matches. The method further comprises moving the set of measured points relative to the set of model points based on the weighted set of matches.

Abstract: A method includes receiving at a controller of a teleoperated surgical system a first signal indicating that a surgical instrument is in an installed position at a patient side cart of the teleoperated surgical system, receiving at the controller a second signal indicating that the surgical instrument is in a flux connection state, and outputting a signal via the controller to provide feedback indicating that the surgical instrument is in the flux connection state.

Abstract: An illustrative system may be configured to obtain a visual image of an anatomical scene that includes an imaging probe and to augment the visual image with a synthetic element that indicates, within the visual image, an area of the anatomical scene being imaged by the imaging probe. The synthetic element may include spatial markers. The visualization system may be further configured to direct a display device to display the augmented image. The visualization system may be further configured to direct the display device to display, at a position outside of the synthetic element, a probe image captured by the imaging probe.

Abstract: A cleaning device for an imaging instrument includes a tubular member sized to receive a shaft of an imaging instrument; a collar configured to be coupled to the shaft of the imaging instrument; a collar latching element movably coupled to the tubular member; and a tubular member anti-rotation feature configured to fix a relative rotational orientation between the tubular member and the collar.

Abstract: An apparatus includes a sterile channel pre-drape assembly comprising a plurality of legs radiating from a common center region. Each of the plurality of legs has one or more sterile interior surfaces and one or more outer surfaces. The sterile interior surfaces of a pair of the plurality of legs define a sterile channel that is bounded by the outer surfaces of the pair of the plurality of legs. The sterile channel pre-drape assembly also includes an attachment element affixed to the sterile channel pre-drape assembly. The attachment element is configured to attach the sterile channel pre-drape assembly to a portion of a surgical system.

Abstract: Implementations relate to a configurable counterbalance mechanism. In some implementations, a counterbalance apparatus includes a spring, a tension element coupled between the spring and a mechanical ground, a base element coupled to a load, and a configurable arm rotatably coupled to the base element. A first pulley and a second pulley are rotatably coupled to the configurable arm, the second pulley orbitable about the first axis, and the tension element is at least partially wrapped around the first pulley and the second pulley. The configurable arm is rotatably configurable at either a first orientation or a second orientation, where the first orientation is associated with a center of gravity of the load located on a first side of the counterbalance apparatus and the second orientation is associated with the center of gravity of the load located on a second side of the counterbalance apparatus opposite to the first side.

Abstract: A surgical instrument includes a reusable instrument portion and a disposable tip assembly. The disposable tip assembly includes an end effector assembly that in turn includes an end effector. The disposable tip assembly also includes a locking tip cover that locks the disposable tip assembly to a lock interface element of a tip interface of the reusable instrument portion. To facilitate mounting the disposable tip assembly on the tip interface of the reusable instrument portion, the disposable tip assembly includes a first quick connect/disconnect element and the tip interface includes a second quick connect/disconnect element. The second quick connect/disconnect element is coupled to a tendon. The tendon is also coupled to an actuator assembly that provides forces that push and pull (push/pull) the tendon.

Abstract: Implementations relate to actuated grips for a controller. In some implementations, a controller includes a central member, a grip member coupled to the central member and moveable in a grip degree of freedom, a shaft coupled to the grip member, and an actuator coupled to the shaft and operative to output an actuator force on the shaft. The actuator force causes a grip force to be applied via the shaft to the grip member in the grip degree of freedom.

Abstract: A method for displaying guidance information during an image-guided surgical procedure comprises receiving, by one or more hardware processors, data from a tracking system associated with an elongate device comprising a flexible body and calculating, by the one or more hardware processors, at least one condition along a length of the flexible body based on the data. The method further comprises determining, by the one or more hardware processors, supplemental guidance information based on the at least one condition and augmenting, by the one or more hardware processors, one or more images with the supplemental guidance information to produce one or more augmented images. The method further comprises displaying the one or more augmented images on a display device at a surgeon console.

Abstract: A drape includes a first drape portion configured to receive a manipulator arm of a surgical system and a pocket coupled to a distal portion of the first drape portion. The pocket is configured to receive a manipulator of the surgical system. The pocket includes a flexible membrane positionable between an output of the manipulator and an input of a surgical instrument mountable to the manipulator. In some embodiments, the flexible membrane is located at a distal end of the pocket. In some embodiments, the flexible membrane is configured to allow an actuating force to be transmitted from the output of the manipulator to the input of the surgical instrument. In some embodiments, the pocket provides a sterile barrier between the manipulator and the surgical instrument. In some embodiments, the drape further includes a rotatable seal configured to couple a proximal opening of the pocket to the first drape portion.

Abstract: An exemplary medical imaging system includes a visible light illumination system configured to selectively emit one of a first visible light biased to a first wavelength and a second visible light biased to a second wavelength, a fluorescence excitation illumination system configured to selectively emit one of a first fluorescence excitation illumination having a third wavelength and a second fluorescence excitation illumination having a fourth wavelength, and an illumination source control unit configured to selectively direct the visible light illumination system to emit the second visible light and the fluorescence excitation illumination system to emit the first fluorescence excitation illumination for use with a first fluorescence imaging agent, and selectively direct the visible light illumination system to emit the first visible light and the fluorescence excitation illumination system to emit the second fluorescence excitation illumination for use with a second fluorescence imaging agent.