Abstract: A computer-assisted device includes a plurality of articulated arms and a control unit. Each articulated arm has a plurality of brakes. The control unit is configured to determine a plurality of timing windows based on a time period for brake release and a number of articulated arms comprising the plurality of articulated arms. The plurality of timing windows include a timing window for each articulated arm of the plurality of articulated arms. The control unit is further configured to determine, for each articulated arm of the plurality of articulated arms, an order for releasing brakes of the plurality of brakes of that articulated arm. The control unit is further configured to cause release of the brakes of the plurality of brakes of each of the plurality of articulated arms according to the determined order and the plurality of timing windows.

Abstract: A robotic system comprises an instrument including proximal distal sections. The distal section comprises a steerable segment and a distal tip. The instrument also includes a main lumen and a pull wire. The system also comprises a sensor to detect a position of the distal tip of the instrument and a computing device that causes the system to record a position of a working configuration of the distal tip, determine, based on a sensor signal, a movement of the distal tip in response to insertion of a probe into the main lumen, and generate a control signal based on the determined movement. The system also comprises a drive interface connected to the pull wire at the proximal section of the instrument. The drive interface adjusts a tensioning of the pull wire based on the control signal to return the distal tip towards the working configuration recorded before the movement occurred.

Abstract: Methods and systems for detecting undesirable electrocautery arcing events during an electrocautery surgical procedure may include introducing an electrosurgical treatment instrument to a surgical site to perform an electrocautery surgical procedure. A healthcare provider may view the surgical site with a surgical camera assembly having a surgical field-of-view. The healthcare provider also may view a portion of the electrosurgical treatment instrument with an electrocautery arc detection system including an arc detection camera having an arc detection field-of-view different than the surgical field-of-view obtained by the surgical camera. The electrocautery arc detection system may identify thermal infrared emission or tissue color changes as indicators of undesirable electrocautery arcing. Some implementations alert a healthcare provider of undesirable electrocautery arcing.

Abstract: A wound retractor clamp includes an annular clamp body including a periphery configured to surround a proximal end of a wound retractor, and one or more resilient members connected to the periphery of the clamp body. The one or more resilient members deflect radially outward upon engagement of the clamp body with the wound retractor. The one or more resilient members snap onto the wound retractor and secure the clamp body to the wound protector subsequent to the engagement of the clamp body with the wound protector.

Abstract: An image capturing device comprises an elongated body, an imaging window coupled to a distal end of the elongated body, and a heat source within the elongated body. The heat source is configured to apply heat to the imaging window to remove condensation from or prevent condensation from forming on the imaging window.

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: A medical device includes a link, a first tool member, a second tool member and a third tool member, which each have a proximal end portion movably coupled to the link and a distal end portion. The distal end portion of the first tool member can engage a first object and be associated with a first medical function, the distal end portion of the second tool member can engage a second object and be associated with a second medical function, and the distal end portion of the third tool member can engage the first object or the second object and be associated with the first and/or second medical function. Each of the first, second and third tool members can move relative to the link independent of movement of the each of the other tool members.

Abstract: The embodiments described herein can be used in a variety of sample retrieval, grasping, cutting, and manipulating operations. In some embodiments, an apparatus includes an elongated member and a retention member movably coupled to the elongated member. The elongated member includes a cutting portion configured to cut a target sample when moved, and defines an internal volume within which at least a portion of the target sample can be received. The retention member includes an engagement portion configured to move between a first position and a second position when the retention member is actuated. The engagement portion is configured to extend within the internal volume to exert a force on the target sample within the internal volume when the engagement portion is in the second position.

Abstract: A cannula mount for a surgical system includes pivotable clamping arm with a first feature configured to engage a second feature of the cannula positioned in the cannula mount. The clamping arm comprises a cam follower surface. The cannula mount further comprises a latch member movable between at least a first position and a second position, and the latch member comprises a cam surface. On the condition that the latch member is in the first position, the cam surface engages the cam follower surface of the clamping arm to actuate the clamping arm to a closed position in which the first feature engages the second feature. On the condition the cam member is in the second position, the clamping arm is free to move to an open position in which the first feature does not engage the second feature. Devices and methods relate to cannula mounts.

Abstract: Artificial blood compositions for use in simulated surgery, and kits including the compositions, are disclosed. Tissues, organs, and organ blocks which include dissolvable clots are also disclosed. Further disclosed are methods for carrying out simulated surgical procedures using the compositions, tissues, organs, organ blocks, and kits described herein.

Abstract: The following describes various applications and uses for a controllably rigidizable flexible device or sheath. Such rigidizing mechanisms can allow for a transition between a rigid state and a flexible state of a sheath. Rigidization can be applied along an entire length of a flexible sheath or along select portions of the sheath, and the rigidization can be of varying stiffness. Rigidization can be user controlled or automatically controlled using computer processes.

Abstract: A system includes a robotic manipulator including a serial chain comprising a first joint, a second joint, and a first link. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data, and generate a second joint state estimate of the second joint. The processing unit is further configured to apply a first weight to the first joint state estimate to generate a first weighted joint state estimate, apply a second weight to the second joint state estimate to generate a second weighted joint state estimate, and control the first and second joints based on the first weighted joint state estimate and second weighted joint state estimate.

Abstract: A method and medical system for estimating the deformation of an anatomic structure that comprises generating a first model of at least one anatomical passageway from anatomical data describing a patient anatomy and determining a shape of a device positioned within the branched anatomical passageways. The method and medical system also comprise generating a second model of the plurality of branched anatomical passageways by adjusting the first model relative to the determined shape of the device.

Abstract: A force transmission mechanism includes a chassis that supports a rotatable arm, which includes a slot. A rotatable lever is supported by the chassis. A protrusion at an end of the lever engages the slot. A sliding drive element is supported by the chassis. A proximal termination of the drive element engages a second end of the lever. The chassis may support an elongate tube with an end effector fixed to the tube. The drive element may extend through the elongate tube. The elongate tube may rotate relative to the chassis. The drive element may rotate in unison with the elongate tube with the proximal termination rotating relative to the fork. The drive element may be a tube that provides a fluid passage to the end effector. The lever may be a bell crank with arms at a right angle.

Abstract: A computer-assisted device includes a first articulated arm and a control unit coupled to the first articulated arm. The first articulated arm is configured to support an end effector. The control unit is configured to determine a virtual coordinate frame, the virtual coordinate frame being of an imaging device for capturing images of a workspace of the end effector, and the virtual coordinate frame being detached from an actual imaging coordinate frame of the imaging device; receive, from an input control configured to be manipulated by a user, a first instrument motion command to move the end effector; and drive the first articulated arm to move the end effector relative to the virtual coordinate frame based on the first instrument motion command.

Abstract: An example medical device may include a first component including an interface, a light feature surrounding at least part of the interface, and a controller coupled to the light feature and including a memory in which are stored instructions for the controller causing a first illumination state of the light a feature corresponding to a first state of the interface, and the controller causing a second illumination state of the Sight feature corresponding to a second state of the interface.

Abstract: Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.

Abstract: A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to align the master grip with a slave instrument commanded by the master grip by determining grip rotation values describing an orientation of the master grip, determining instrument rotation values describing an orientation of the instrument, determining an orientation error between an orientation of the master grip and the orientation of the instrument based on the grip rotation values and the instrument rotation values, and reducing the orientation error by low pass filtering the grip rotation values or the instrument rotation values.

Abstract: A medical device includes a flexible elongate instrument, an actuator for inserting and retracting the instrument, and a control unit configured to determine at least one of a force being exerted by the actuator or an amount of force applied at a proximal end of the instrument. The control unit is configured to determine a force exerted by the instrument on tissue of a patient based on a shape of the instrument and at least one of the force exerted by the actuator or the force applied at the proximal end. A method of operating a medical device includes: determining a shape of a flexible elongate instrument and at least one of a first force exerted by an actuator or a second force applied to a proximal end; and determining a third force, exerted on tissue, based on the shape and at least one of the first or second forces.