Abstract: Surgical systems are provided. In one exemplary embodiment, a surgical system includes a first scope device, a first instrument, a second scope device, and a second instrument. The first scope device has a first portion configured to be inserted into an extraluminal anatomical space and a second portion configured to be positioned within an intraluminal anatomical space. The first scope device includes a first insufflation port configured to insufflate the intraluminal anatomical space. The first instrument is configured to be inserted through the extraluminal anatomical space and into the intraluminal anatomical space such that the first instrument is present in both the extraluminal and intraluminal anatomical spaces. The second scope device is configured to be inserted into the extraluminal anatomical space. The second scope device has a second insufflation port configured to insufflate the extraluminal anatomical space.

Abstract: Surgical systems are provided. In one exemplary embodiment, a surgical system includes a first scope device having a first portion configured to be inserted into and positioned within an extraluminal anatomical space and a second portion distal to the first portion and configured to be positioned within an intraluminal anatomical space, and a second instrument configured to be inserted into the extraluminal anatomical space and configured to couple to and move the first portion of the first scope device within the extraluminal anatomical space to facilitate movement of the second portion of the first scope device while the second portion is positioned within the intraluminal anatomical space. Methods are also provided.

Abstract: A method of operating a surgical anchoring system can include inserting an outer sleeve of a surgical instrument at least partially into a first natural body lumen, the outer sleeve having a working channel. The method can include inserting a channel arm of the surgical instrument through the working channel of the outer sleeve and into a second natural body lumen. The channel arm has at least one first anchor member coupled thereto and a control actuator operatively coupled to the at least one first anchor member. The method can include expanding the at least one first anchor member from an unexpanded state to an expanded state to form an anchor point at a portion of the second natural body lumen. The method can include controlling, by the control actuator, a motion of the channel arm to selectively manipulate an organ associated with the first and second natural body lumens.

Abstract: Surgical systems are provided. In one exemplary embodiment, a surgical system includes a first scope device having a first portion within an extraluminal space and a second portion positioned within an intraluminal space. The first scope device transmits image data of a first scene. A second scope device is disposed within the extraluminal space and transmits image data of a second scene. The first portion of the first instrument is present within the field of view of the second scope device to track the first scope device relative to the second scope device. A controller receives the transmitted image data of the first and second scenes, to determine a relative distance from the first scope device to the second scope device within the extraluminal space, and to provide a merged image. At least one of the first and second scope device in the merged image is a representative depiction thereof.

Abstract: An image-guided robotic intervention system (“IGRIS”) may be used to perform medical procedures on patients. IGRIS provides a real-time view of patient anatomy, as well as an intended target or targets for the procedures, software that allows a user to plan an approach or trajectory path using either the image or the robotic device, software that allows a user to convert a series of 2D images into a 3D volume, and localizes the 3D volume with respect to real-time images during the procedure. IGRIS may include sensors to estimate pose of the imaging device relative to the patient to improve the performance of that software with respect to runtime, robustness, and accuracy.

Abstract: Robotic medical systems may perform concomitant procedures. A robotic system can include a first robotic arm configured to manipulate a flexible instrument and a second robotic arm configured to manipulate a rigid instrument. The robotic system can include a first arm support for supporting the first robotic arm and a second arm support, distinct from the first arm support, for supporting the second robotic arm. The robotic system can include a display for displaying feedback from the flexible instrument and the rigid instrument.

Abstract: Systems, methods, and workflows for concomitant procedures are disclosed. In one aspect, the method includes manipulating a flexible instrument using a first robotic arm of a robotic system, manipulating a rigid instrument using a second robotic arm of the robotic system, displaying feedback from the flexible instrument, and displaying feedback from the rigid instrument.

Abstract: Systems and methods for performing concomitant medical procedures are disclosed. In one aspect, the method involves controlling a first robotic arm to insert a first medical instrument through a first opening of a patient and controlling a second robotic arm to insert a second medical instrument through a second opening of the patient. The first robotic arm and the second robotic arm are part of a first platform and the first opening and the second opening are positioned at two different anatomical regions of the patient.

Abstract: Robotic systems can be capable of collision detection and avoidance. A robotic medical system can include a robotic arm, an input device configured to receive one or more user inputs for controlling the robotic arm, and a display configured to provide information related to the robotic medical system. The display can include a first icon that is representative of the robotic arm and includes at least a first state and a second state. The robotic medical system can be configured to control movement of the robotic arm based on the user inputs received at the input device in real time, determine a distance between the robotic arm and a component, and provide information to the user about potential, near, and/or actual collisions between the arm and the component.

Abstract: User interfaces for robotic medical systems that display graphical representations of user input devices are disclosed. The robotic medical system can include a user input device that has one or more user inputs configured to allow a user to operate the robotic medical system and a user display configured to display information about the robotic medical system to the user. The system can provide a graphical representation of the user input device on the user display, determine a state of the robotic medical system, and based on the determined state, provide an updated graphical representation of the user input device. The updated graphical representation can provide an indication to the user of how to interact with the user input device.

Abstract: Systems and methods for performing concomitant medical procedures are disclosed. In one aspect, the method involves controlling a first robotic arm to insert a first medical instrument through a first opening of a patient and controlling a second robotic arm to insert a second medical instrument through a second opening of the patient. The first robotic arm and the second robotic arm are part of a first platform and the first opening and the second opening are positioned at two different anatomical regions of the patient.

Abstract: A robotic medical system can include a medical instrument that can include a distal end configured to be inserted into a patient and apply heat to tissue within the patient. The robotic manipulator can be engaged with the medical instrument and configured to operate the medical instrument. The system can further include a temperature sensor configured to take one or more temperature readings of the medical instrument. The system can also include a viewer configured to display an image of the medical instrument and an image overlay conveying information indicative of a temperature of the medical instrument. The information conveyed by the image overlay can be based on the one or more temperature readings taken by the temperature sensor.

Abstract: Systems and methods for dynamic adjustments based on load inputs for robotic systems are provided. In one aspect, a robotic system includes a first robotic arm having at least one joint, a set of one or more processors, and at least one computer-readable memory in communication with the set of one or more processors and having stored thereon computer-executable instructions. The computer executable instructions cause the one or more processors to determine a first external load threshold for the at least one joint based on a maximum safe load capability of the first robotic arm, and adjust the first external load threshold during a medical procedure.

Abstract: A robotic medical system can include a patient platform configured to support a patient during a robotic medical procedure, a column supporting the patient platform, and an arm support coupled to the column with at least one robotic arm coupled to the arm support. The system can also include an indicator positioned on at least one of the arm support and the patient platform, wherein the indicator is configured to indicate state or identity information of the system. The indicator can be a visual indicator.

Abstract: A medical system can include a foot pedal assembly that includes one or more pedals configured to be foot operated for controlling various function of the system. A dynamic indicator can be associated with a first pedal of the one or more pedals. The dynamic indicator can be configured to provide a first indication when the medical system is in a first state, and provide a second indication when the medical system is in a second state. The system can further be configured to determine a state of the medical system, cause the dynamic indicator to provide the first indication in response to the determined state comprising the first state, and cause the dynamic indicator to provide the second indication in response to the determined state comprising the second state.

Abstract: Systems and methods for collision avoidance using object models are provided. In one aspect, a robotic medical system, includes a platform, one or more robotic arms coupled to the platform, a console configured to receive input commanding motion of the one or more robotic arms, a processor, and at least one computer-readable memory in communication with the processor. The processor is configured to control movement of the one or more robotic arms in a workspace based on the input received by the console, receive an indication of one or more objects are within reach of the one or more robotic arms, and update the model to include a representation of the one or more objects in the workspace.

Abstract: The systems, devices, and methods of the present application relate to robotically-actuated liver retractors. A robotic medical system can include a first robotic arm, and a medical instrument comprising an instrument handle configured to attach to a distal end of a the robotic arm, a rigid proximal portion that extends from the instrument handle, and a distal portion configured to support a liver during a robotic medical procedure.

Abstract: Provided is a robotic medical system and related methods for performing coordinated movements of robotic tools inserted within a patient through multiple separate ports and maintaining remote centers of motion during the coordinated movements. In a first control mode, a first robotic tool is moved (e.g., a camera) using a first controller and multiple robotic tools are automatically moved in coordinated movements with the first robotic tool. In a second control mode, a robotic camera is controlled using a first controller and multiple robotic tools are automatically moved in coordinated movements to stay within a field of view of the robotic camera. In a third control mode, multiple robotic tools are moved in automatic coordinated movements using a first controller and a robotic camera is controlled using a second controller.

Abstract: A metered dose inhaler having a body for receiving a medicinal canister. A dome shaped motorized unit is attached to the main body of the inhaler. A lower mouthpiece end is in communication with an output valve of the canister for issuing an atomized medicinal spray. A plurality of apertures are defined along any of the sides or front and back walls of the body such that, upon depressing a trigger associated with the canister in combination with patient inhalation, the actuation of the motor combines results in more efficient delivery of the spray and to better direct the spray into the patient's respiratory system. A further variant incorporates a motorized cap, such as for use by handicapped individuals who may be unable to actuate the metered dose inhaler due to anatomical or physiological disabilities.

Abstract: Systems and methods for adjusting remote center distances in medical procedures are provided. In one aspect, a robotic medical system includes a first robotic arm including a first instrument driver, wherein the first instrument driver is configured to manipulate a first tool that passes through a first cannula, and a second robotic arm including a second instrument driver, wherein the second instrument driver is configured to manipulate a second tool that passes through a second cannula. The first tool is configured to rotate about a first remote center of motion and the second tool is configured to rotate about a second remote center of motion. A first remote center distance between the first robotic arm and the first remote center of motion is different from a second remote center distance between the second robotic arm and the second remote center of motion.