Abstract: An exemplary contextual assistance system identifies, during a surgical procedure, an operational context of the surgical procedure while a particular object is present at a surgical site depicted by a first version of an image. Based on the identified operational context, the contextual assistance system augments a depiction of the particular object within a second version of the image that is presented to a user associated with the surgical procedure. Corresponding systems and methods are also disclosed.

Abstract: A fluorescence imaging control system may direct an imaging system to detect, over a period of time, first fluorescence emitted from a first fluorescing region illuminated with fluorescence excitation illumination. The first fluorescing region includes a first population of fluorophores that emit the first fluorescence. The fluorescence imaging control system may also direct the imaging system to detect, over the period of time, second fluorescence emitted from a second fluorescing region illuminated with the fluorescence excitation illumination. The second fluorescing region includes a second population of fluorophores that emit the second fluorescence. The first fluorescing region photobleaches at a first photobleaching rate and the second fluorescing region photobleaches at a second photobleaching rate that is different than the first photobleaching rate.

Abstract: The arrangements disclosed herein relate to systems, apparatuses, methods, and non-transitory processor-readable media for receiving a training video set, three-dimensional point cloud data, analytics data, and metadata for a plurality of medical procedures, generating, using a generative model, an irreversible, synthetic video of a medical procedure based on the training video set, the analytics data, and the metadata applied as inputs into the generative model, determining a loss and a validation metric with respect to the synthetic video, and updating one or more parameters of the generative model based on the loss.

Abstract: A system to control the interaction between a user-interface of a teleoperated surgical system and an input device of the teleoperated surgical system, the system comprising a first master controller communicatively coupled to the teleoperated surgical system, a feedback control communicatively coupled to the first master controller, and a display device communicatively coupled to the teleoperated surgical system and configured to display the user interface. The feedback control is configured to restrict the movement of the first master controller based on a state of the user interface changing from a previous state.

Abstract: Tool navigation using customized medical simulation is provided. A system accesses a 3-dimensional model of an organ generated via a scan of a subject on which a procedure is to be performed via a robotic medical system. The system registers the 3-dimensional model of the organ with predetermined coupling points in a digital environment established for the procedure on the subject. The system executes, via the digital environment, a simulation of the procedure to identify a candidate path for a tool through the 3-dimensional model of the organ registered with the predetermined coupling points in the digital environment. The system provides, for display via a graphical user interface, an indication of the candidate path for the tool to perform the procedure via the robotic medical system.

Abstract: A medical device includes an instrument shaft, a tension element guide, a tension element, and a semisolid sealing substance. The instrument shaft includes a proximal end portion, a distal end portion, and a channel between the proximal end portion and the distal end portion. The tension element guide is at the distal end of the instrument shaft, and includes a proximal seal, a distal seal, and a middle seal between the proximal seal and the distal seal. A sealing substance volume is defined between the proximal seal and the middle seal and holds the sealing substance. The tension element extends from the channel of the instrument shaft, past the proximal seal, through the sealing substance in the sealing substance volume, past the middle seal, past the distal seal, and beyond the tension element guide.

Abstract: A system for controlling a user interface of a teleoperated surgical system, the system comprises a first master controller communicatively coupled to the teleoperated surgical system; and a display device communicatively coupled to the teleoperated surgical system and configured to display a graphical user interface; and wherein the first master controller is configured to transmit a first input signal to an interface controller, the first input signal caused by manual manipulation of the first master controller, the interface controller to use the first input signal to update a graphical user interface presented by the display device.

Abstract: An apparatus includes a wrist, an end effector, a cable pair, and a transmission. A proximal wrist portion is coupled to a distal end portion of a shaft. Actuation of the wrist moves a distal wrist portion relative to the proximal wrist portion. The end effector is coupled to the distal wrist portion, and can be actuated to move relative to the wrist. The transmission is coupled to a proximal end portion of the shaft, and can move an end of the cable pair to actuate the end effector. The end of the cable pair is routed through a transmission cable path within the transmission. The transmission includes an adjustment mechanism having an input portion that receives a force exerted by the end of the cable pair. The adjustment mechanism is configured to change a length of the transmission cable path in response to a change in the force.

Abstract: Implementations relate to a master control device and methods for using such a control device. In some implementations, a master control device includes a control body including a surface. A force sensor is coupled to the control body, the force sensor configured to sense forces applied to the surface of the control body and provide sensor signals in accordance with amounts of the forces received on sides of the control body caused by a pinching of the control body between fingers of a user. At least one sensor is configured to detect at least one of a position and an orientation of the control body in a working environment of the control body.

Abstract: A low-friction medical device includes a first link, a second link, and a tension member. The first link is coupled to an instrument shaft and a first guide path is defined. The second link is rotatable relative to the first link through an angular range. A distal end portion of the second link is rotatably coupled to a tool member. A curved guide path is defined within the second link between the tool member and the first guide path. A curved guide surface of the second link defines a portion of the second guide path. A first portion of the tension member is parallel to a centerline of the first guide path, and a second portion is coupled to the tool member. A third portion of the tension member between the first and second portions is in contact with the curved guide surface throughout a portion of the angular range.

Abstract: An exemplary system is configured to instruct a display device to render a virtual medical element representative of a physical medical element over a target region within an image of an internal space of a patient, the target region depicting an anatomical surface to be covered by the physical medical element; receive, while the virtual medical element is rendered over the target region, user input that sets at least one of a pose of the virtual medical element within the image or a size of the virtual medical element; and determine, based on the user input and on depth data representative of a depth map for the internal space, physical dimensions for the physical medical element.

Abstract: The embodiments described herein can be used in a variety of grasping, cutting, and manipulating operations. In some embodiments, an apparatus includes a shaft, a tool member, and a flexure. The shaft has a distal end portion and a proximal end portion, and defines a longitudinal axis. The distal end portion includes a ground portion. The tool member has an engagement portion and an actuation portion. The engagement portion is disposed distally from the actuation portion, and can exert an engagement force on a target structure. The actuation portion receives an actuation force. The flexure has a first end portion coupled to the ground portion of the shaft, and a second end portion coupled to the tool member. The flexure is configured to deform elastically when the actuation force is exerted on the actuation portion of the tool member such that the tool member rotates relative to the shaft.

Abstract: A surgical method is provided, comprising: providing an information structure in a computer readable storage device that associates an indication of surgeon skill level in at least one surgical activity performed using the surgical instrument with a surgical instrument actuator safety state of the surgical instrument for use during performance of the at least one surgical activity using the surgical instrument by a surgeon having the indicated skill level; tracking surgical instrument actuator state of a surgical instrument during performance of a surgical procedure by a surgeon; and transitioning the surgical instrument actuator state of the surgical instrument to the surgical instrument safety state during performance of the at least one surgical activity by the surgeon using the surgical instrument.

Abstract: An actuation assembly for a medical instrument connects four bands to three motorized degrees of freedom. The actuation assembly includes a first actuator, a second actuator and a third actuator. The first actuator is coupled to a first band and a second band, the first actuator being operable to pull in one of the first and second bands and feed out the other of the first and second bands. The third actuator is coupled to a third band and a fourth band, the third actuator being operable to pull in one of the third and fourth bands and feed out the other of the third and fourth bands. Each of the first, second, third, and fourth bands pass through a second actuator, and the second actuator is operable to increase the travel path of both the first and second bands or both the third and fourth bands.

Abstract: A medical instrument includes cable pairs respectively wound around input spindles and connected to actuate degrees of freedom of an instrument shaft structure. The cables may connect so that rotating the input spindles actuates corresponding degrees of freedom. First pulleys in the instrument may receive first cables from the input spindles and redirect the first cables toward the instrument shaft, and second pulleys may receive second cables from the input spindles and redirect the second cables toward the instrument shaft. In one configuration, the first and second pulleys are respectively mounted at first and second levels, and the second pulleys redirect the second cables through the first level. Additionally or alternatively, one level of cables may cross while the other level of cables does not.

Abstract: A variety of applications can include apparatus and/or methods that provide an axial force transducer. Two coils wound coaxially with respect to each other can be used with a magnet to determine a distance traveled based on application of an axial force to an instrument component. The two coils and magnet can be configured in a number of ways with respect to the instrument component. In various embodiments, the difference between an inductance associated with one of the two coils along with its relation to the magnet and an inductance associated with the other one of the two coils along with its relation to the magnet can be used to determine the axial force on the component of the instrument associated with the distance travelled. Additional apparatus, systems, and methods are disclosed.

Abstract: A method is provided to produce a multi-modality image of a surgical scene comprising: capture light reflected from the surgical scene; producing first image information corresponding to a first modality image; producing second image information corresponding to a second modality image; selecting a portion of the second image modality based at least in part upon anatomical structure information included within the selected portion; and producing simultaneously within a display at least a portion of the first modality image of the surgical scene and the selected portion of the second modality image.

Abstract: A method is provided to produce a multi-modality image of a surgical scene comprising: capture light reflected from the surgical scene; producing first image information corresponding to a first modality image; producing second image information corresponding to a second modality image; selecting a portion of the second image modality based at least in part upon anatomical structure information included within the selected portion; and producing simultaneously within a display at least a portion of the first modality image of the surgical scene and the selected portion of the second modality image.

Abstract: Data streams of information of medical procedures are received. The information includes case metadata of the medical procedures, a timeline of phases and tasks within each phase determined for each medical procedure, and three-dimensional point cloud data for each medical procedure during at least portions of phases and tasks within each phase. At least a portion of the information is provided for display using a hierarchical user interface structure. The hierarchical user interface structure includes a first level of a user interface to display, based at least on the three-dimensional point cloud data, a three-dimensional point cloud representation of a task of a phase selected from a timeline of a second level of user interface. The hierarchical structure includes the second level of the user interface to display the timeline and a portion of the case metadata associated with the timeline.

Abstract: A force sensor comprising a beam having a longitudinal axis and a proximal end portion and a distal end portion; a first Wheatstone bridge disposed on a first face of the beam, including multiple tension gauge resistors and multiple compression gauge resistors; a second Wheatstone bridge disposed on the first face of the beam, including multiple tension gauge resistors and multiple compression gauge resistors; wherein at least one tension gauge resistor and at least one compression gauge resistor from each of the first and second Wheatstone bridges is disposed at a proximal end portion of the beam; wherein at least one tension gauge resistor and at least one compression gauge resistor from each of the first and second Wheatstone bridges is disposed at a distal end portion of the beam.