Abstract: A surgical robotics system with robotic arms is configurable to perform a variety of surgical procedures. The surgical robotics system can include a table, column, base, and robotic arms that are either column-mounted, rail-mounted, or mounted on a separate unit. In a column-mounted configuration, the column can include column rings that translate vertically and rotate about the column. The robotic arms are attached to the column rings. In a rail-mounted configuration, the base can include base rails that translate along the base. The robotic arms are attached to the base rails. In both configurations, the robotic arms can move independently from each other and include multiple arm segments. Each arm segment can provide an additional degree of freedom to the robotic arm. Thus, the surgical robotics system may position the robotic arms into numerous configurations to access different parts of a patient's body.

Abstract: A robotic instrument driver for elongate members includes a first elongate member, and at least one manipulator mechanism configured to manipulate the first elongate member, and at least one articulating drive configured to articulate the first elongate member, positionable on a bed and beside a patient access site. The manipulator and articulating drive are positioned relative to each other a distance less than the insertable length of the first elongate member, stationary in position.

Abstract: A surgical tool having an electromagnetic (EM) sensor component is provided. The surgical tool has a flexible shaft portion. Additionally, the surgical tool has a rigid portion attached to the flexible shaft portion. The rigid portion comprises at least one EM sensor within the rigid portion. The at least one EM sensor comprises an extended core portion surrounded by a coil. Additionally, the at least one EM sensor generates a change in voltage when exposed to an electromagnetic field.

Abstract: A case for a mobile device includes a frame and an elastomeric shell. The elastomeric shell is received in the frame and has an outer surface, an inner surface opposite the outer surface and configured for receiving the mobile device, and a rim extending between the outer surface and the inner surface. The inner surface forms inner projections each having an inner extremity extending toward an inside of the elastomeric shell and each being configured for contact with the mobile device when arranged in the inner surface. The outer surface forms outer projections defining respective outer projection extremities and forms outer troughs extending between the outer projections and defining outer trough extremities. The outer projections extend toward a frame inner perimeter of the frame such that each of the outer trough extremities is spaced further from the frame than adjacent ones of the outer projection extremities.

Abstract: An instrument device manipulator (IDM) is attached to a surgical arm of a robotic system and comprises a surgical tool holder and an outer housing. The surgical tool holder includes an attachment interface that can secure a surgical tool in a front-mount configuration (where the attachment interface is on a face opposite of a proximal extension of the surgical tool) or a back-mount configuration (where the attachment interface is on the same face as the proximal extension of the surgical tool). The surgical tool holder may rotate continuously within the outer housing. In a back-mount configuration, the surgical tool holder may have a passage that receives the proximal extension of the tool and allows free rotation of the proximal extension about the rotational axis. A surgical drape separates the IDM and robotic arm from a tool, while allowing electrical and/or optical signals to pass therebetween.

Abstract: An electromagnetic (EM) system for tracking a surgical tool is provided. The system may comprise a plurality of subsets of field generator coils disposed along edge portions of a surgical bed. Each subset of field generator coils may be configured to generate a magnetic field within a control volume. The system may further comprise a position sensor disposed on a portion of the surgical tool. The position sensor may be configured to generate a sensor signal in response to the magnetic field when the position sensor is located inside the control volume. Additionally, the system may comprise an EM system controller configured to selectively activate one or more of the subsets of field generator coils based on the sensor signal.

Abstract: An endolumenal robotic system provides the surgeon with the ability to drive a robotically-driven endoscopic device to a desired anatomical position in a patient without the need for awkward motions and positions, while also enjoying improved image quality from a digital camera mounted on the endoscopic device.

Abstract: An instrument device manipulator (IDM) is attached to a surgical arm of a robotic system and comprises a surgical tool holder and an outer housing. The surgical tool holder includes an attachment interface that can secure a surgical tool in a front-mount configuration (where the attachment interface is on a face opposite of a proximal extension of the surgical tool) or a back-mount configuration (where the attachment interface is on the same face as the proximal extension of the surgical tool). The surgical tool holder may rotate continuously within the outer housing. In a back-mount configuration, the surgical tool holder may have a passage that receives the proximal extension of the tool and allows free rotation of the proximal extension about the rotational axis. A surgical drape separates the IDM and robotic arm from a tool, while allowing electrical and/or optical signals to pass therebetween.

Abstract: A surgical robotics system with robotic arms is configurable to perform a variety of surgical procedures. The surgical robotics system can include a table, column, base, and robotic arms that are either column-mounted, rail-mounted, or mounted on a separate unit. In a column-mounted configuration, the column can include column rings that translate vertically and rotate about the column. The robotic arms are attached to the column rings. In a rail-mounted configuration, the base can include base rails that translate along the base. The robotic arms are attached to the base rails. In both configurations, the robotic arms can move independently from each other and include multiple arm segments. Each arm segment can provide an additional degree of freedom to the robotic arm. Thus, the surgical robotics system may position the robotic arms into numerous configurations to access different parts of a patient's body.

Abstract: A case for a mobile device includes a frame and an elastomeric shell. The elastomeric shell is received in the frame and has an outer surface, an inner surface opposite the outer surface and configured for receiving the mobile device, and a rim extending between the outer surface and the inner surface. The inner surface forms inner projections each having an inner extremity extending toward an inside of the elastomeric shell and each being configured for contact with the mobile device when arranged in the inner surface. The outer surface forms outer projections defining respective outer projection extremities and forms outer troughs extending between the outer projections and defining outer trough extremities. The outer projections extend toward a frame inner perimeter of the frame such that each of the outer trough extremities is spaced further from the frame than adjacent ones of the outer projection extremities.

Abstract: A robotic instrument driver for elongate members includes a first carriage positionable on a bed and beside a patient access site for manipulating a first elongate member, and a second carriage positionable proximate the bed, the second carriage configured to articulate the first elongate member, wherein the second carriage is movable independent from the first carriage.

Abstract: Medical instruments having a translatable spool are disclosed. In one aspect, a medical instrument configured for use with a robotic system includes an instrument base configured to couple to a robotic drive mechanism of the robotic system and an elongate shaft coupled to the instrument base. The elongate shaft has a distal end. The medical instrument also includes a pull wire fixedly coupled to the distal end of the elongate shaft, the pull wire being configured to actuate the elongate shaft, and a rotatable spool in the instrument base. The rotatable spool is configured to direct the pull wire to the elongate shaft at an angle. The rotatable spool is configured to translate in coordination with actuation of the elongate shaft to control the angle of the pull wire relative to the elongate shaft.

Abstract: A robotic instrument driver for elongate members includes a first elongate member, and at least one manipulator mechanism configured to manipulate the first elongate member, and at least one articulating drive configured to articulate the first elongate member, positionable on a bed and beside a patient access site. The manipulator and articulating drive are positioned relative to each other a distance less than the insertable length of the first elongate member, stationary in position.

Abstract: A case for a mobile device includes a frame and an elastomeric shell. The elastomeric shell is received in the frame and has an outer surface, an inner surface opposite the outer surface and configured for receiving the mobile device, and a rim extending between the outer surface and the inner surface. The inner surface forms inner projections each having an inner extremity extending toward an inside of the elastomeric shell and each being configured for contact with the mobile device when arranged in the inner surface. The outer surface forms outer projections defining respective outer projection extremities and forms outer troughs extending between the outer projections and defining outer trough extremities. The outer projections extend toward a frame inner perimeter of the frame such that each of the outer trough extremities is spaced further from the frame than adjacent ones of the outer projection extremities.

Abstract: Floating electromagnetic field generator systems and methods are provided. The system comprises a surgical bed portion. The system also comprises a brace component disposed within the surgical bed portion. Additionally, the system comprises a first arm that is attached to the brace component. The first arm is positioned adjacent to the surgical bed portion. Additionally, the first arm has at least one field generator coil embedded therein. The system also comprises a second arm that is attached to the brace component. The second arm is positioned adjacent to the surgical bed portion. Additionally, the second arm has at least one field generator coil embedded therein. The second arm is positioned parallel to the first arm.

Abstract: A surgical robotics system with robotic arms is configurable to perform a variety of surgical procedures. The surgical robotics system includes a table, column, base, and robotic arms that are either column-mounted, rail-mounted, or mounted on a separate unit. In a column-mounted configuration, the column includes column rings that translate vertically and rotate about the column. The robotic arms are attached to the column rings. In a rail-mounted configuration, the base includes base rails that translate along the base. The robotic arms are attached to the base rails. In both configurations, the robotic arms move independently from each other and include a multiple arm segments. Each arm segment provides an additional degree of freedom to the robotic arm. Thus, the surgical robotics system may position the robotic arms into numerous configurations to access different parts of a patient's body.

Abstract: A robotic instrument driver for elongate members includes a first carriage positionable on a bed and beside a patient access site for manipulating a first elongate member, and a second carriage positionable proximate the bed, the second carriage configured to articulate the first elongate member, wherein the second carriage is movable independent from the first carriage.

Abstract: A holder (101) for a mobile electronic device includes a case portion (102), a connection member (107), and a handle (106). The case portion is configured for holding the mobile electronic device. The handle is rotatable about the connection member. The connection member includes a first flange (112) on a first side of the connection member and a second flange (113) on a second side of the connection member opposite the first side of the connection member. The first flange is spaced from the second flange such that a first portion of the handle is held in an axial position relative to the case portion by the combination of and between the first flange and the second flange. The connection member is a single body. An entirety of the connection member is removable from the rest of the holder through the handle.

Abstract: A robotic instrument driver for elongate members includes a first elongate member, and at least one manipulator mechanism configured to manipulate the first elongate member, and at least one articulating drive configured to articulate the first elongate member, positionable on a bed and beside a patient access site. The manipulator and articulating drive are positioned relative to each other a distance less than the insertable length of the first elongate member, stationary in position.