Abstract: A system and method for path navigation accuracy estimation. A method includes determining a degree of obstruction for each of a plurality of objects shown in visual content, wherein the degree of obstruction for each object represents a degree to which the object will obstruct visibility by a vehicle capturing visual content in an environment where the vehicle is navigating and the plurality of objects are disposed; determining, for each of a plurality of operational points, a co-visibility of the vehicle at the operational point based on a pose of the vehicle at the operational point and the degree of obstruction for each of the objects which is within view of the vehicle at the operational point; and estimating a visual navigation performance at each of the operational points based on the co-visibility determined for the operational point.

Abstract: A method for determining availability of a user for interaction with a digital assistant comprises: determining if the user is present in a predetermined proximity to an input/output (I/O) device; collecting, at least real-time data about the user and historical user-agent interaction data for the user when the user is present; determining, a current user availability score based on at least the collected real-time data and the historical user-agent interaction data to derive an optimal time for interaction initiation by the digital assistant; and executing a plan selected from amongst a plurality of plans, the selected plan having a user availability score best matching the current user availability score, wherein each of the plurality of plans is designed to be executed by the digital assistant via the I/O device.

Abstract: Methods and systems for detecting, monitoring, and accounting for anatomical motion is provided. An initial contact between a first robotic arm and an anatomical element of a patient is detected based on information received from at least one internal sensor of the first robotic arm. A position of the anatomical element is determined based on the information. The determined position is compared to an expected position of the anatomical element. A tool trajectory of a second robotic arm is updated when the determined position is offset from the expected position.

Abstract: A system comprises a robotic arm in a robotic arm coordinate system, a camera in a fixed pose in a navigation coordinate system, at least one processor, and memory including instructions that when executed by the at least one processor, cause the at least one processor to determine a pose of the robotic arm within the navigation coordinate system, map the robotic arm coordinate system to the navigation coordinate system based on the pose of the robotic arm, and control, based on output of the camera, the robotic arm in the navigation coordinate system.

Abstract: There is provided a method of matching features depicted in images, comprising: detecting a first object depicted in a first image, projecting a first epipolar line, from the first object of the first image, to a second image, selecting second objects along the first epipolar line of the second image, projecting second epipolar lines, from the second objects of the second image, to a third image, projecting a third epipolar line from the first object of the first image to the third image, identifying on the third image, a third object along an intersection of the third epipolar line and a certain second epipolar line of the second epipolar lines, and generating an indication of the first object depicted in first image and the third object depicted in the third image as matches of a same physical object.

Abstract: Systems, methods, and devices for capturing a single image with multiple exposures is provided. An imaging device may be provided comprising a source configured to emit a wave for a time period and a detector configured to receive a signal indicative of the wave. A wave may be emitted for a time period and a signal may be received indicative of the emitted wave. A first image dataset may be saved with a first timestamp referencing a first time within the time period. A second image dataset may be saved with a second timestamp referencing a second time within the time period. The second time may occur after the first time.

Abstract: There is provided a method for learning a bipedal robot control policy, the method includes (i) learning, by a processing circuit, an action-related corrective policy that once applied reduces a gap associated with an initial simulation state transition function and with a real world state transition function; and (ii) determining a control policy of the bipedal robot in a simulator, using the action-related corrective policy.

Abstract: Systems and methods for changing an end effector are provided. A robot flange may have a first receiver and a first electrical connection. An end effector may have a second receiver, a second electrical connection, and a locking assembly. The locking assembly may be configured to releasably secure the end effector to the robot flange. A connector may have an interface and an electrical connector for transferring at least one of power and data from the first electrical connection to the second electrical connection. The interface may be received by the first receiver and the second receiver when the connector is positioned between the robot flange and the end effector and the locking assembly secures the end effector to the robot flange.

Abstract: Systems, methods, and devices for defining a path for a robotic arm are provided. One or more no-fly zones may be generated. The one or more no-fly zones correspond to a section of a work volume defined as inaccessible to a robotic arm and the work volume is defined as accessible to the robotic arm. A pose of an object may be determined and an obstacles map based on the determined pose and known dimensions of the object may be generated. A path for the robotic arm may be defined that avoids collision with the object identified in the obstacles map and avoiding the one or more no-fly zones.

Abstract: Systems and methods to facilitate visual and tool access within a volume reached by an endoscopic tool inserted into brain tissue. Cameras are placed in various locations distal to and/or proximal to the volume, and in some cases are repositionable. Provision of different viewing angles helps to maintain close visual monitoring of surgical progress. Retractor and scaffolding are used, in some embodiments, to open and/or maintain opening of a working volume, particularly a working volume from which material is being removed, and which may be prone to partial collapse as surrounding tissue pushes inward into the evacuated area. Working channels are reconfigurable by use of inner and outer parts, and working channels may be shaped to allow simultaneous use by a plurality of tools and/or supports.

Abstract: Systems, methods, and devices for planning a path are provided. A work volume and one or more no-fly zones may be mapped. The work volume may define a volume in which a robot may access and each of the one or more no-fly zones may define at least one volume in which a robot is restricted from accessing. Information may be received about a position of at least one instrument and a void volume may be calculated based on the position of the at least one instrument. The work volume may be updated to include the void volume to yield an updated work volume. A path may be calculated for a robotic arm of a robot from outside a patient anatomy to within the patient anatomy that is within the updated work volume and avoids the one or more no-fly zones.

Abstract: Systems and methods for registering one or more anatomical elements are provided. The system may comprise an imaging device and a navigation system configured to track a pose of a marker coupled to an object and configured to identify the marker. A first image may be received from a surgical plan. Pose information describing the pose of the marker and a marker identification of the marker may be obtained from the navigation system. An object identification based on the marker identification may be retrieved from a database. Image data of a second image depicting an anatomical element and the object may be obtained from the imaging device. The image data, the pose information, and the object identification may be input into a registration model. The registration model may be configured to register the anatomical element to the first image based on the pose information and the object identification.

Abstract: Systems and methods for planning a surgical procedure are provided. Information corresponding to an examination of a patient and an image of the patient may be received. The information and the image may be inputted into an analytical model configured to identify a pathology location. A needed surgical modification of the patient anatomy may be automatically identified. At least a portion of an anatomical element in a three-dimensional model of the patient anatomy may be automatically labeled.

Abstract: Dual surgical manipulator systems adapted for operating in stringently confined intrabody spaces, and/or for reaching such spaces via stringently confined access routes. In some embodiments, each of a pair of surgical manipulator arms introduced together and initially in parallel to each other is configured to approach a shared action zone from two different sides relative to their direction of introduction. Optionally, the arms may bend once to reach the shared action zone. One may bend by less than 90°, one may bend by more than 90°. One or more imagers may be provided which are configured to view the arms from a location lateral to their direction of introduction. The manipulator arms may be of a nested tubular design, which may contribute to reducing their complexity, and to their suitability for miniaturization.

Abstract: A system according to at least one embodiment of the present disclosure includes a processor; and at least one inertial sensor having a known physical relationship with a tracked object in a first pose, the at least one inertial sensor providing a measurement indicative of a movement of the tracked object from the first pose to a second pose, wherein the processor determines the second pose of the tracked object based, at least in part, on the measurement provided by the at least one inertial sensor.

Abstract: The subject matter discloses a method of asset change detection using images, the method comprising steps executed by processing circuitry, the steps comprising: receiving at least one image of an asset captured by an image capturing device; receiving at least one attribute of a task of detecting a change in the asset using the received at least one image, at least one of the at least one attribute being one of the group consisting of: an attribute measured by a sensor, an attribute extracted from a website, an attribute retrieved from a database, an attribute input by a user, and an attribute encoded in computer code; selecting a reference image among a plurality of reference images of the asset according to at least one criterion based on the received at least one attribute of the task of detecting the change in the asset; computing an asset-difference pixel map, using the selected reference image and the image captured by the image capturing device; and detecting the change in the asset, using the computed

Abstract: Systems and methods for monitoring a surgical procedure are provided. A coordinate system of a first robotic arm and a second robotic arm may be co-registered or correlated to each other. One or more poses of an imaging device may be determined to provide real-time intraoperative imaging of a region of interest during a surgical procedure. Anatomical elements may be identified in the real-time images of the region of interest from which a surgical tool should maintain a predetermined distance. The surgical tool may be prevented from approaching the identified anatomical elements by less than a predetermined distance using the co-registration of the coordinate systems.

Abstract: A system comprises a neuromonitoring system configured to generate nerve data regarding a state of a nerve of a patient during a surgical procedure on the patient. The system includes a robotic system configured to receive or generate, for the surgical procedure, location data that identifies a location of the nerve of the patient. The robotic system may cause the neuromonitoring system to be in either an active state or an inactive state based on the location data, where the active state is a state in which the neuromonitoring system provides the nerve data to the robotic system, while the inactive state is a state in which the neuromonitoring system does not provide the nerve data to the robotic system. The robotic system may further generate at least one control signal that implements one or more safeguards for the surgical procedure.

Abstract: A method according to embodiments of the present disclosure includes receiving a computed tomography (CT) image of a patient; segmenting a first set of anatomical elements from the CT image; receiving a plurality of fluoroscopy images of the patient; segmenting a second set of anatomical elements from the plurality of fluoroscopy images; and creating a registration between the CT image and the plurality of fluoroscopy images based on the segmented first set of anatomical elements and the segmented second set of anatomical elements.

Abstract: A device for performing emotional gestures to interact with a user. The device includes a base; a controller; a first body portion pivotally connected to the base, the first body portion having a first aperture; an electro-mechanical member disposed within the first body portion and connected to the controller; and a second body portion connected to the electro-mechanical member, the second body portion having a second aperture. The electro-mechanical member is configured to extend from the first body portion through the first aperture to the second body portion through the second aperture and the controller is configured to control movements of the electro-mechanical member and the first body portion, where the movements include emotional gestures.