Abstract: A system includes a manipulator arm and a cannula mount arm. The manipulator arm includes a link and a locking assembly coupled to the link. The cannula mount arm includes a latch. The cannula mount arm is configured to be extended from the link to an extended position. The locking assembly is configured to engage with the latch when the cannula mount arm is extended from the link to the extended position so as to lock the cannula mount arm in the extended position. Activation of an electrical component coupled to the locking assembly is inhibited when a cannula is docked to the cannula mount arm.

Abstract: A cannula mount for a surgical system includes a body configured to receive a portion of a cannula in a mounted state at the cannula mount; a pair of clamping components coupled to the body and configured to clamp the portion of the cannula in the mounted state of the cannula; and a latch assembly pivotably coupled to the body and slidably coupled to a clamping component of the pair of clamping components. At least one of the pair of clamping components is pivotable relative to the body to move the pair of clamping components between a first state to unclamp a cannula mounted at the cannula mount and a second state to clamp a cannula mounted at the cannula mount. Pivoting motion of the latch assembly relative to the body causes a portion of the latch assembly to slide along the clamping component and change a state of the pair of clamping components from an unlocked state to a locked state in the second state of the pair of clamping components.

Abstract: A cannula for insertion of a medical instrument includes a tube portion and an attachment portion coupled to the tube portion. One or more magnets are arranged at the attachment portion and configured to encode identifying information of the cannula. The attachment portion comprises a plurality of encoding positions that each indicate part of the identifying information; and for each encoding position of the plurality of encoding positions, absence of one of the one or more magnets at the respective encoding position indicates a first value, presence of one of the one of the magnets with a first orientation at the respective encoding position indicates a second value, and presence of one of the one of the magnets with a second orientation at the respective encoding position indicates a third value.

Abstract: Implementations relate to a master control device. In some implementations, a master control device includes a control body comprising a proximal end, a thumb grip portion, and a finger grip portion. The control body has a length configured to engage the proximal end of the control body in the palm of a hand of the user while the hand engages the thumb grip portion with a thumb of the hand and the finger grip portion with a finger of the hand. The control body is configured to allow the proximal end of the control body to be selectively engaged by the palm of the hand and selectively disengaged from the palm of the hand while the hand engages the thumb grip portion with the thumb of the hand and the finger grip portion with the finger of the hand.

Abstract: Implementations relate to a master control device. In some implementations, a master control device includes a control body comprising a proximal end, a thumb grip portion, and a finger grip portion. The control body has a length configured to engage the proximal end of the control body in the palm of a hand of the user while the hand engages the thumb grip portion with a thumb of the hand and the finger grip portion with a finger of the hand. The control body is configured to allow the proximal end of the control body to be selectively engaged by the palm of the hand and selectively disengaged from the palm of the hand while the hand engages the thumb grip portion with the thumb of the hand and the finger grip portion with the finger of the hand.

Abstract: A teleoperable medical system comprises a manipulator arm and a cannula mount coupled to the manipulator arm. The manipulator arm comprises an interface configured to operably couple with a medical instrument. The cannula mount is configured to removably mount a cannula to the manipulator arm in a position to permit removable insertion of the medical instrument through the cannula. The cannula mount comprises a receptacle configured to receive an attachment portion of the cannula in a mounted state of the cannula, and a reader positioned to be in magnetic field sensing proximity to the attachment portion of the cannula in the mounted state of the cannula. The teleoperable medical system comprises a controller configured to receive output signals from the reader and determine identification information about the cannula based on the output signals.

Abstract: A cannula mount for a surgical system includes pivotable clamping arm with a first feature configured to engage a second feature of the cannula positioned in the cannula mount. The clamping arm comprises a cam follower surface. The cannula mount further comprises a latch member movable between at least a first position and a second position, and the latch member comprises a cam surface. On the condition that the latch member is in the first position, the cam surface engages the cam follower surface of the clamping arm to actuate the clamping arm to a closed position in which the first feature engages the second feature. On the condition the cam member is in the second position, the clamping arm is free to move to an open position in which the first feature does not engage the second feature. Devices and methods relate to cannula mounts.

Abstract: Implementations relate to a moveable display system. In some implementations, a control unit includes a first support and a second support coupled to the first support. The second support is linearly translatable along a first axis in a first degree of freedom with respect to the first support, and at least a portion of the second support is linearly translatable along a second axis in a second degree of freedom with respect to the first support. The control unit includes a display unit rotatably coupled to the second support. The display unit is rotatable about a third axis in a third degree of freedom with respect to the second support, and the display unit includes a display device.

Abstract: Implementations relate to a moveable display unit on a track. In some implementations, a control unit includes a support linkage including a first support coupled to a second support, a track member coupled to a distal portion of the second support, and a display unit coupled to the track member. The display unit includes a display device. The display unit is linearly translatable in first and second degrees of freedom provided by the support linkage. The display unit is rotatable, with respect to the second support, about a tilt axis in a third degree of freedom defined by the track member.

Abstract: A system includes a manipulator arm and a cannula mount arm. The manipulator arm includes a link and a locking assembly coupled to the link. The cannula mount arm includes a latch. The cannula mount arm is configured to be extended from the link to an extended position. The locking assembly is configured to engage with the latch when the cannula mount arm is extended from the link to the extended position so as to lock the cannula mount arm in the extended position. Activation of an electrical component coupled to the locking assembly is inhibited when a cannula is docked to the cannula mount arm.

Abstract: A surgical system includes a link of a manipulator arm and a telescoping cannula mount assembly. The link includes a curved end. The telescoping cannula mount assembly is positioned in the curved end of the link. The telescoping cannula mount assembly includes a curved cannula mount arm. In a first state, the curved cannula mount arm is parked within the curved end of the link. In a second state, the curved cannula mount arm extends from the curved end of the link and is locked in an extended position. The telescoping cannula mount assembly also includes a mechanical arm retraction system. The mechanical arm retraction system couples the curved cannula mount arm to the curved end of the link. The mechanical arm retraction system is configured to automatically move the curved cannula mount arm from the second state to the first state.

Abstract: A cannula mount for a surgical system includes pivotable clamping arm with a first feature configured to engage a second feature of the cannula positioned in the cannula mount. The clamping arm comprises a cam follower surface. The cannula mount further comprises a latch member movable between at least a first position and a second position, and the latch member comprises a cam surface. On the condition that the latch member is in the first position, the cam surface engages the cam follower surface of the clamping arm to actuate the clamping arm to a closed position in which the first feature engages the second feature. On the condition the cam member is in the second position, the clamping arm is free to move to an open position in which the first feature does not engage the second feature. Devices and methods relate to cannula mounts.

Abstract: A teleoperable medical system comprises a manipulator arm and a cannula mount coupled to the manipulator arm. The manipulator arm comprises an interface configured to operably couple with a medical instrument. The cannula mount is configured to removably mount a cannula to the manipulator arm in a position to permit removable insertion of the medical instrument through the cannula. The cannula mount comprises a receptacle configured to receive an attachment portion of the cannula in a mounted state of the cannula, and a reader positioned to be in magnetic field sensing proximity to the attachment portion of the cannula in the mounted state of the cannula. The teleoperable medical system comprises a controller configured to receive output signals from the reader and determine identification information about the cannula based on the output signals.

Abstract: A cannula sterile adaptor for a surgical system includes a first portion comprising a rigid material and a second portion comprising a compliant material. one of the first portion and the second portion comprises a depression arranged to receive a clamping arm of a cannula mount of the surgical system.

Abstract: A foot controller includes a stationary portion and a cradle member that can receive a foot of a user. The cradle member is moveable to of different positions along paths, such as a left position, a right position, a front position, or a back position. One or more paths have a left-right direction of the controller and at least one of the paths has a forward-back direction of the controller. Sensors sense the cradle member at a particular position and output sensor signals indicative of that position. A function provided by a system is activated based on the sensed position.

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 method includes sensing magnet information at a plurality of magnet positions on a cannula and determining identification information for the cannula based on the magnet information.

Abstract: Implementations relate to a master control device. In some implementations, a master control device includes a control body comprising a proximal end, a thumb grip portion, and a finger grip portion. The control body has a length configured to engage the proximal end of the control body in the palm of a hand of the user while the hand engages the thumb grip portion with a thumb of the hand and the finger grip portion with a finger of the hand. The control body is configured to allow the proximal end of the control body to be selectively engaged by the palm of the hand and selectively disengaged from the palm of the hand while the hand engages the thumb grip portion with the thumb of the hand and the finger grip portion with the finger of the hand.

Abstract: Implementations relate to a master control device. In some implementations, a master control device includes a thumb grip member including a thumb grip receptive to a thumb of a hand of a user. The master control device includes a finger grip member coupled to the thumb grip member at a proximal end of the master control device and extending toward a distal end of the master control device, where the finger grip member includes a finger grip receptive to multiple fingers of the hand. The thumb grip member and finger grip member are movable in a pinching configuration with respect to each other. The master control device includes a sensor coupled to at least one of the thumb grip member or finger grip member to sense relative positions of the thumb grip member and finger grip member with respect to each other in the pinching configuration.

Abstract: A method includes sensing magnet information at a plurality of magnet positions on a cannula and determining identification information for the cannula based on the magnet information.