Abstract: An illuminator apparatus and method for illuminating an object field imaged by a rectangular image sensor having a first aspect ratio is disclosed. The apparatus includes an optical fiber having a proximal end disposed to receive a plurality of input light beams, each light beam having differing spectral properties, the optical fiber being operable to transmit the light beams along the fiber to a distal end of the optical fiber. The apparatus also includes an integrating element disposed to receive the light beams from the distal end of the fiber and combine the light beams to produce a generally homogenous illumination beam at a rectangular output face of the integrating element. The apparatus further includes an illumination projector operable to project an image of the output face of the integrating element into the object field to produce a generally rectangular illuminated region of the object field substantially corresponding to the portion of the object field imaged by the rectangular image sensor.

Abstract: A hand controller apparatus for controlling a tool in a robotic surgery system has a body with a proximal end and a distally located interface end that can be coupled to an input apparatus for controlling a surgical tool. The hand controller apparatus includes a control lever attached to a pivot joint proximate a side surface of the body and extending along the body and away from the proximal end, the control lever being laterally moveable relative to the side surface of the body about the pivot joint. The control lever includes a tail region adjacent to the pivot joint and a paddle region connected to the tail region and extending toward the distally located interface end. The tail region includes an inner surface facing the body and an outer surface opposing the inner surface, and at least part of the outer surface of the tail region is outwardly curved.

Abstract: A laparoscopic surgical apparatus for performing a surgical procedure through a single incision in a patient's body includes a gross positioning arm supported on a moveable platform, the gross positioner including a head; at least one articulated tool positioning apparatus coupled via a tool controller to an underside of the head, the articulated tool positioning apparatus being configured to receive a tool for performing surgical operations, the tool controller being actuated by the head to cause movements of the articulated tool positioning apparatus for performing surgical operations; and wherein the gross positioner is configured to permit the head to be positioned to facilitate insertion of the articulated tool positioning apparatus through the incision into the patient's body.

Abstract: In some embodiments, a stereoscopic imaging apparatus includes a tubular housing having a bore extending longitudinally through the housing. First and second image sensors are disposed proximate a distal end of the bore, each including a light sensitive elements on a face and mounted facing laterally outward. The apparatus further includes a first beam steering element associated with the first image sensor and a second beam steering element associated with the second image sensor. The beam steering elements receive light from first and second perspective viewpoints and direct the received light onto the faces of the image sensors forming first and second images. Either the first and second beam steering elements or the first and second image sensors are moveable to cause a change a spacing between or an orientation of the perspective viewpoints to cause sufficient disparity between the first and second images to provide image data including three-dimensional information.

Abstract: A Robotic control system has a wand, which emits multiple narrow beams of light, which fall on a light sensor array, or with a camera, a surface, defining the wand's changing position and attitude which a computer uses to direct relative motion of robotic tools or remote processes, such as those that are controlled by a mouse, but in three dimensions and motion compensation means and means for reducing latency.

Abstract: A method and apparatus for positioning a camera to capture images inside a body cavity of a patient during a medical procedure is disclosed. The apparatus includes an insertion tube, a plurality of connected linkages extending from a distal end of the insertion tube, each linkage having a threaded actuator received on a threaded end of a drive shaft extending between the threaded actuator and a proximal end of the insertion tube. The apparatus also includes a camera disposed at a distal end of the plurality of connected linkages. Each connected linkage has at least one associated movement actuated by movement of the threaded actuator in response to rotation of the drive shaft, the associated movements of the connected linkages together operable to facilitate positioning of the camera within the body cavity of the patient.

Abstract: An apparatus for controlling an end-effector assembly is provided. The apparatus includes a elongated element configured to engage the end-effector assembly and a drive assembly. A first motion transfer mechanism is disposed at an end of the elongated element. The first motion transfer mechanism is configured to transfer a rotational motion of the elongated element to a motion of the end-effector assembly. A second motion transfer mechanism is disposed at the second end of the elongated element. The second motion transfer mechanism is configured to transfer a motion of the drive assembly to the rotational motion of the elongated element.

Abstract: In some embodiments an apparatus for providing access for a medical procedure in a patient's body cavity includes a stem configured for insertion through an opening in a body cavity wall. The stem has a bore and a cap is disposed at a proximal end thereof and includes an entry port in communication with the bore which receives an instrument to be inserted into the body cavity. An inflatable annular seal is disposed on the stem proximate the cap and a conduit extends through the cap providing pressurized gas at a first outlet in fluid communication with the body cavity providing insufflation pressure. A second outlet of the conduit is in fluid communication the seal, which when disposed inside the body cavity proximate the wall and inflated by pressurized gas, bears on an inner surface of the wall urging the cap into contact with an outer surface of the wall while sealing the opening.

Abstract: A robotic surgery system is disclosed that can include an instrument including an operational tool coupled to a positioner and an input device configured to generate input signals in response to manipulation by an operator representing a desired spatial positioning of the tool within a tool workspace including extents corresponding to physical movement limitations for the positioner. A processor can be configured to receive the input signals and process the signals to determine the desired spatial positioning. The processor can be configured to initiate a movement management function in response to a determination that the desired spatial positioning would result in a movement of the positioner associated with a potential service life reduction for the instrument. The processor can be configured to generate drive signals for movement of the positioner in response to a determination that the desired spatial positioning is not associated with a potential reduction in service life.

Abstract: A robotic surgery cart has a pair of rear wheel assemblies and a pair of front wheel assemblies. A brake assembly for the robotic surgery cart includes a gearbox interposed between and connected to the pair of rear wheel assemblies by rotatable shafts. Elongate actuators extend between and interconnect the rotatable shafts and brake mechanisms for the front wheel assemblies. A pedal lever is rotatably coupled to the gearbox and can rotate clockwise by pressing one portion of the pedal lever and can rotate counterclockwise by pressing another portion of the pedal lever. Rotation of the pedal lever causes the gearbox to rotate the rotatable shafts to substantially lock the pair of rear wheel assemblies, and substantially simultaneously causes a translation of the elongate actuators to actuate the brake mechanisms of the front wheel assemblies, such that the wheels of the front and rear wheel assemblies brake substantially simultaneously.

Abstract: A stereoscopic imaging apparatus for use in a robotic surgery system is disclosed and includes an elongate sheath having a bore. First and second image sensors are adjacently mounted at the distal end to capture high definition images from different perspective viewpoints for generating three-dimensional image information. The image sensors produce an unprocessed digital data signal representing the captured images. A wired signal line transmits the unprocessed digital data signals along the sheath to a proximal end to processing circuitry. The processing circuitry is configured to perform processing operations on the unprocessed digital data signals to produce respective video signals suitable for transmission to a host system or for driving a 3D display. A secondary camera is also disclosed and includes an elongate strip of circuit substrate sized for insertion through a narrow conduit, the strip of circuit substrate connecting between an image sensor and a processing circuit substrate.

Abstract: A method, apparatus and computer readable medium for schematically representing a spatial position of an instrument used in a robotic surgery system is disclosed. The instrument includes an end effector coupled to a positioning device for spatially positioning the end effector in a surgical workspace in response to input signals generated by movement of a hand controller of an input device in an input device workspace. The method involves causing a processor circuit to calculate a current three-dimensional spatial position of the instrument within the surgical workspace for current input signals received from the input device.

Abstract: A hand grip apparatus for receiving operator input includes a body having a proximal end and a distal interface end for coupling to an input apparatus. A first control lever is attached to the body and extends away from the proximal end and terminates in a finger grip for receiving one of the operator's fingers. A second control lever is attached to the body and extends away from the proximal end terminating in a thumb grip for receiving the operator's thumb. Movement of at least one of the control levers is operable to produce a first control signal representing the movement. An input control is included on the body between the grip ends and has an actuator surface angled towards the finger grip end and configured to produce a second control signal in response to actuation by one of the operator's fingers.

Abstract: A hand grip apparatus for receiving operator input includes a body having a proximal end and a distal interface end for coupling to an input apparatus. A first control lever is attached to the body and extends away from the proximal end and terminates in a finger grip for receiving one of the operator's fingers. A second control lever is attached to the body and extends away from the proximal end terminating in a thumb grip for receiving the operator's thumb. Movement of at least one of the control levers is operable to produce a first control signal representing the movement. An input control is included on the body between the grip ends and has an actuator surface angled towards the finger grip end and configured to produce a second control signal in response to actuation by one of the operator's fingers.

Abstract: A foot pedal apparatus for use with a workstation operated by a seated user in controlling a robotic surgery system is disclosed. In some embodiments, the apparatus includes a platform mountable to the workstation proximate a floor surface on which the workstation is located. The apparatus also includes a first pedal mounted on the platform and having an upwardly disposed actuation surface, and a second pedal mounted vertically elevated with respect to the first pedal and having an upwardly disposed actuation surface, the second pedal having at least a proximate portion vertically overlapping a distal portion of the first pedal such that the first and second pedals have a mounted depth in a direction away from the user that is less than a sum of the respective individual depths of the first and second pedals.

Abstract: A hand controller apparatus for controlling a tool in a robotic surgery system has a body with a proximal end and a distally located interface end that can be coupled to an input apparatus for controlling a surgical tool. The hand controller apparatus includes a control lever attached to a pivot joint proximate a side surface of the body and extending along the body and away from the proximal end, the control lever being laterally moveable relative to the side surface of the body about the pivot joint. The control lever includes a tail region adjacent to the pivot joint and a paddle region connected to the tail region and extending toward the distally located interface end. The tail region includes an inner surface facing the body and an outer surface opposing the inner surface, and at least part of the outer surface of the tail region is outwardly curved.

Abstract: A laparoscopic surgical apparatus for performing a surgical procedure through a single incision in a patient's body includes a gross positioning arm supported on a moveable platform, the gross positioner including a head; at least one articulated tool positioning apparatus coupled via a tool controller to an underside of the head, the articulated tool positioning apparatus being configured to receive a tool for performing surgical operations, the tool controller being actuated by the head to cause movements of the articulated tool positioning apparatus for performing surgical operations; and wherein the gross positioner is configured to permit the head to be positioned to facilitate insertion of the articulated tool positioning apparatus through the incision into the patient's body.

Abstract: In some embodiments, a hand controller apparatus for controlling a tool in a robotic surgery system can include a body including a proximal end and a distally located interface end configured to be coupled to an input apparatus configured to control a surgical tool. The hand controller apparatus can include a control lever attached to a pivot joint proximate a side surface of the body and extending along the body and away from the proximal end, the control lever being laterally moveable relative to the side surface of the body about the pivot joint. The control lever can include a tail region adjacent to the pivot joint and a paddle region connected to the tail region and extending toward the distally located interface end. The tail region can include an inner surface facing the body and an outer surface opposing the inner surface, and at least part of the outer surface of the tail region can be outwardly curved.

Abstract: A surgical instrument apparatus for performing a surgical procedure within a body cavity of a patient is disclosed and includes an elongate manipulator having a distal end for receiving an end effector and including a plurality of control links extending through the manipulator operable to cause movement of the distal end in response to movement of the control links in a longitudinal direction. An actuator chassis is disposed at a proximal end of the manipulator and includes a plurality of actuators slidingly mounted within the actuator chassis for linear movement in the longitudinal direction. Each actuator is coupled to a control link and adjacently disposed about a curved periphery of the actuator chassis. An outwardly oriented portion couples a drive force to the actuator to cause movement of the control link.