Abstract: A medical instrument includes a backend and a pair of release elements. The backend includes a docking feature shaped to engage a docking structure such as a docking port of a surgical robot or a sterile adaptor for a surgical robot. Each release element is coupled to the backend and may include an activation feature on one side of the backend and a push tab extending from either an opposite side or the same side of the backend. Movement of the activation features moves the push tabs from being aligned with the docking feature to pushing on the docking structure, permitting the medical instrument to be disengaged from the docking structure. Optionally, a coupling of the release elements limits a movement of the activation features.

Abstract: A surgical apparatus includes a housing, a test port retainer, a pressure test chamber, and an image capture assembly. The housing includes a pressure test port. The test port retainer includes a test port retainer housing, a probe seal, and a liquid exclusion barrier. In one aspect, the test port retainer also includes a hydrophobic membrane mounted within the test port retainer housing. The pressure test chamber includes a manifold and a central tube. The first end of the central tube is affixed to the image capture assembly to form a pressure seal, and the second end of the central tube is coupled to the test port retainer so that the pressure test port communicates with the interior volume of the central tube through the test port retainer.

Abstract: A surgical drape assembly can include a surgical drape; and a cinch assembly affixed to the surgical drape. The cinch assembly can include a folding mechanism having a plurality of links and at least two hinge joints respectively connecting respective adjacent links of the plurality of links. The plurality of links can be foldable relative to one another about the at least two hinge joints between an unfolded configuration and a folded configuration. A first portion of the surgical drape is in an extended configuration in the unfolded configuration with a portion of the drape being in a gathered configuration in the folded configuration of the plurality of links.

Abstract: A medical instrument system includes an imaging probe and an elongated medical instrument. The imaging probe includes a first sealing feature comprising a first tapered profile formed on an external surface of the distal tip. The elongated medical instrument has a working channel extending to an opening in the distal portion. The distal portion includes a second sealing feature comprising a second tapered profile formed on an internal surface of the channel. A distal end surface of the distal tip extends through the opening and distally of a distal end surface of the elongated medical instrument when the first sealing feature is engaged with the second sealing feature. The first tapered profile and the second tapered profile form a seal that prevents fluid from passing through the opening when the imaging probe is within the working channel of the elongated medical instrument and the first and second sealing features contact.

Abstract: A computer implemented method comprises receiving a model of a tissue region, steering a distal end of a catheter within a body to a first area of a tissue region, and obtaining a first image from the distal end of the catheter of the first area of the tissue region. The method further comprises mapping the first image of the first area of the tissue region to the model of the tissue region and displaying the first image of the first area of the tissue region on the model of the tissue region.

Abstract: An instrument access device of a teleoperated surgical system includes an envelope, a clamp, and a plurality of ports. The envelope includes a distal opening and a cavity. The clamp is in the distal opening of the envelope. The plurality of ports are coupled to the envelope. The plurality of ports are proximal to the clamp and the distal opening of the envelope. Each of the plurality of ports includes a seal, which is sized and shaped to seal an outer surface of a cannula and to fix a position of the cannula relative to the port and the envelope.

Abstract: A method comprises receiving a surgical instrument into engagement with a grip actuator of a teleoperational activation system. The surgical instrument includes movable jaws, and the surgical instrument is received in a prearranged gripping configuration with the jaws gripping a surgical accessory. The method includes generating a first control signal for manipulating the surgical instrument while maintaining the surgical instrument in the prearranged gripping configuration. The method further includes generating a second control signal for manipulating the surgical instrument to move from the prearranged gripping configuration to a second configuration.

Abstract: A system and method for data filtering of passageway sensor data include traversing a plurality of passageways with a flexible elongate device and recording, during the traversing, positional data using one or more sensors coupled to the flexible elongate device. The positional data includes a first plurality of positional data points recorded during a first insertion of the flexible elongate device into a first passageway and a second plurality of positional data points recorded during a first retraction of the flexible elongate device within the first passageway. The system and method further include labeling the first plurality of positional data points and the second plurality of positional data points as first common passageway positional data points and registering the positional data with a model of the plurality of passageways, wherein the registering includes matching the first common passageway positional data points with corresponding first common passageway model data points.

Abstract: Surgical stapling instruments include mechanisms for identifying and/or deactivating stapler cartridges for use with the instruments. The stapling instrument includes a drive member for actuating a staple cartridge and a locking member movable from a disabled position permitting distal translation of the drive member through a staple firing stroke, to a locking position inhibiting distal translation of the drive member through the staple firing stroke. The staple cartridge may include a switch movable in a lateral direction to either maintain the locking member in the disabled position or to allow the locking member to move into the locking position. The instrument may further include a stapler cartridge including an annular pin configured to be engaged by a drive member at a an axial position to create a detectable resistance for reload detection by a control unit to identify the type of stapler cartridge present in the surgical stapling instrument.

Abstract: A cleaning device for a surgical instrument can include a body; at least one passage extending through the body from a first open end of the body to a second open end of the body. The first and second open ends and the at least one passage can be dimensioned to receive and guide a shaft of a surgical instrument during a cleaning procedure. At least one aperture in flow communication with a port and the at least one passage can define a cleaning fluid path from the port to the passage.

Abstract: Systems and methods for motion mode management include a computer-assisted device having an input control, a repositionable structure, and a controller coupled to the input control and the repositionable structure. The controller is configured to detect motion of the input control for controlling motion of the repositionable structure and in response to determining that the motion of the input control is likely to be confused with a first portion of a motion of the input control for indicating that a mode of operation of the computer-assisted device is to be changed, temporarily disable mode switching in response to motion of the input control.

Abstract: A surgical instrument includes: a distal movable component; a proximal drive assembly including a drive shaft, a capstan, and a plurality of splines; a first cable extending between the distal movable component and the drive shaft; and a second cable extending between the distal movable component and the capstan. The drive shaft includes a tapered projection, and the capstan includes a tapered bore in which the tapered projection of the drive shaft is received. The plurality of splines engage the tapered projection of the drive shaft with the tapered bore of the capstan.

Abstract: A robotic system comprises a display that is viewable by an operator. An operator reference frame is defined relative to the display or the operator viewing the display. The robotic system also includes an input device movable by the operator and a processing unit. The processing unit is configured to present, in the display, a first image of a first tool captured by an imaging device, receive, from the operator, a first indication that a first axis of the input device is aligned with a corresponding axis of the first tool in the first image, and in response to the first indication, determine a first alignment relationship between the imaging device and the first tool based on a second alignment relationship between the operator reference frame and the input device.

Abstract: A medical instrument system includes a plurality of joints, a plurality of actuators, and a plurality of transmission systems. The transmission systems have proximal ends respectively coupled to the actuators. Each of the transmission systems have a distal end attached to an associated one of the joints to allow the transmission of a force for articulation of the medical instrument system. The system also includes a sensor coupled to measure a configuration of the medical instrument; and a control system coupled to receive configuration data, including a current configuration of a tip of the medical instrument from the sensor and a desired configuration of the tip of the medical instrument. Using the difference between the desired configuration and the current configuration of the tip of the medical instrument, the control system generates control signals for the actuators that cause the actuators to apply a set of tensions to the plurality of transmission systems.

Abstract: A system includes a control means for receiving an input from a user, a manipulator means configured to support a tool having a tool frame, and processing means configured to perform a method. The method involves receiving, from an image capturing system with an image frame, one or more images. The tool is visible in the one or more images. The method further involves determining an estimated frame transform based on the one or more images. The estimated frame transform is used in defining an unknown frame transform between the image frame and the tool frame. The method also involves determining, in response to the input received at the control means, an output movement for the tool based on the estimated frame transform, and causing movement of the tool based on the output movement.

Abstract: A system comprises a medical function unit comprising a connector interface configured to be operably coupled to control a medical function of a medical instrument, a control system operably coupled to control the medical function unit, a first user interface and a second user interface each operably coupled to the control system. The first user interface comprises one or more first control settings mapping to one or more corresponding settings of the medical function unit. The second user interface comprises one or more second control settings mapping to the one or more corresponding settings of the medical function. The second user interface is operable during a condition of the first user interface being inoperable.

Abstract: A surgical training model for simulating human prostate surgery may include a harvested porcine urethra. A harvested porcine vagina surrounds a portion of the harvested porcine urethra to define a simulated human prostate.

Abstract: A system for performing an interventional procedure includes an interventional instrument and a control system. The instrument includes a catheter and an interventional tool extendable from the catheter. The control system includes a processor and a memory comprising machine-readable instructions that cause the control system to: receive a model of an anatomic structure, the anatomic structure including a plurality of passageways; identify a target structure in the model; receive information about a maximum extension length the interventional tool can be extended relative to a distal tip of the catheter; based upon the received information about the maximum extension length, identify a planned deployment location for positioning the distal tip of the catheter to perform the interventional procedure on the target structure; determine a navigational path for the catheter to the target structure; and navigate the catheter to the identified planned deployment location via computer control or based on user input.

Abstract: A teleoperational assembly is disclosed which includes an operator control system and a plurality of manipulators configured to control the movement of medical instruments in a surgical environment. The manipulators are teleoperationally controlled by the operator control system. The system further includes a processing unit configured to display an image of a field of view of the surgical environment, determine association information about the manipulators and the operator control system, and display badges near the medical instruments in the image of the field of view of the surgical environment. The badges display the association information for the medical instrument they appear associated with.

Abstract: A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A passive preload system may maintain minimum tensions in the tendons.