Abstract: A surgical robotic system is configured to output a recommendation for use of an access port based on a determined habitus of a patient. The system includes a robotic arm including at least one joint having a sensor. The system also includes a controller configured to receive a measured torque of the joint from the sensor and determine a habitus of the patient based on the measured torque.

Abstract: A surgical robotic system is configured to enable user confirmation of whether one or more access ports are standard or longer length (e.g., bariatric type access ports). The system includes a surgeon console having one or more hand controllers and a head tracking device configured to detect surgeon's attempt to actuate an end effector of an instrument disposed within the access port. The system prevents actuation of the end effector until the insertion depth of the instrument is sufficient or the user confirms that the access port is of standard length, e.g., less than a preset length threshold.

Abstract: A surgical robotic system is configured to determine access port length using an end effector of an instrument, which is inserted into a longitudinal tube of a surgical access port and calibrated at a first position. The end effector is then advanced to a second position, distal of the first position, within the longitudinal tube. Thereafter, a second calibration of the end effector is performed at the second position. During the second calibration, contact between the end effector and the longitudinal tube is monitored by a controller, which determines the length of the longitudinal tube based on the contact.

Abstract: A method of determining the distal throw of a knife blade of a robotic surgical instrument includes selectively engaging an end effector onto a housing of a robotic surgical instrument homing a knife blade. The method further includes initiating an end stop detection algorithm including: actuating a knife drive coupler to advance the knife blade distally through a knife channel defined within the end effector; calculating the running torque average of the knife drive coupler as the knife blade translates through the knife channel; determining a spike above the running torque average within a predetermined threshold and recording the position of the knife blade as a maximum distal throw of the knife blade; retracting the knife blade to determine an offset position from the maximum distal throw of the knife blade; and recording the offset position of the knife blade for subsequent usage.

Abstract: A measurement circuit that is configured to provide a torque reading to a motion controller includes an offset controller and an amplifier. The offset controller is configured to read a temperature signal and to generate an offset voltage in response to receiving the temperature signal. The amplifier is configured to read a differential voltage from a differential sensor and to receive the offset voltage from the offset controller. The amplifier is also configured to add the offset voltage to the differential voltage after applying a gain to the differential voltage to generate an adjusted voltage. The amplifier is then configured to transmit the adjusted voltage.

Abstract: A surgical robotic arm includes an instrument having a plurality of cables that are movable longitudinally and an end effector movable by the cables. The surgical robotic arm also includes a drive unit having a plurality of motors each of which is configured to move one of the cables and a plurality of torque sensors, each of which is configured to measure torque output by one of the motors. The surgical robotic arm also includes a controller configured to receive a torque measurement from each of the torque sensors and control each of the motors to apply a minimum torque to maintain a minimum tension on each of the cables based on the torque measurement from each of the torque sensors.

Abstract: A measurement circuit that is configured to provide a torque reading to a motion controller includes an offset controller and an amplifier. The offset controller is configured to read a temperature signal and to generate an offset voltage in response to receiving the temperature signal. The amplifier is configured to read a differential voltage from a differential sensor and to receive the offset voltage from the offset controller. The amplifier is also configured to add the offset voltage to the differential voltage after applying a gain to the differential voltage to generate an adjusted voltage. The amplifier is then configured to transmit the adjusted voltage.

Abstract: A method of controlling an end effector of a surgical robot includes receiving a desired pose, generating motor torques, transmitting the motor torques, generating null torques, generating desired torques, and transmitting the desired torques to an IDU such that the IDU moves the end effector to the desired pose. A primary controller receives the desired pose of the end effector in three DOF. The primary controller generates the motor torques in response to receiving the desired pose. The primary controller transmits the motor torques which are received in a secondary controller. The secondary controller generates null torques to maintain tension in cables of a differential drive mechanism of the IDU. The desired torques are generated for each motor of the IDU to include a sum of the motor torques and the null torques.

Abstract: The disclosed technology is generally directed to mixed reality visualization. In one example of the technology, a mixed-reality view is provided. The mixed-reality view includes at least a real-world component and at least a virtual component. The virtual component includes a view associated with an application. Data in the application that is associated with a quantified property is identified. For the identified data, a data type and a quantity are determined. An experiential visualization library is used to create an experiential visualization of the data based on the determined data type and the determined quantity. The created experiential visualization is displayed as part of the virtual component of the mixed reality view.

Abstract: A method and system for exporting a 3D object in an application to a file having a 3D file format is disclosed. The method includes a receiving a request for exporting a 3D object in an application to a file having a 3D file format where the 3D object includes a plurality of components. Upon receiving the request, the components are examined to determine if any of them are a 2D text component. When it is determined that at least one of the components is a 2D text component, a database may be referenced to identify a text character that corresponds to the 2D text component, before replacing the 2D text component with a corresponding 3D model in the file.

Abstract: The disclosed technology is generally directed to mixed reality visualization. In one example of the technology, a mixed-reality view is provided. The mixed-reality view includes at least a real-world component and at least a virtual component. The virtual component includes a view associated with an application. Data in the application that is associated with a quantified property is identified. For the identified data, a data type and a quantity are determined. An experiential visualization library is used to create an experiential visualization of the data based on the determined data type and the determined quantity. The created experiential visualization is displayed as part of the virtual component of the mixed reality view.

Abstract: A method of servicing a request for a document over a computer network includes independently caching portions of pages called blocks. Each block includes a reference to a data source and code that is adapted to access the data source and to format the data accessed from the data source. When a request for a page is received over a computer network, one or more of the plurality of blocks defined in the script of the requested document may be retrieved from a cache memory. Any block that is not found in the cache memory is dynamically generated and a copy thereof is stored in the cache memory. The requested page may then be assembled from the page blocks retrieved from the cache memory and/or the dynamically generated page blocks.

Abstract: A method of servicing a request for a document over a computer network includes independently caching portions of pages called blocks. Each block includes a reference to a data source and code that is adapted to access the data source and to format the data accessed from the data source. When a request for a page is received over a computer network, one or more of the plurality of blocks defined in the script of the requested document may be retrieved from a cache memory. Any block that is not found in the cache memory is dynamically generated and a copy thereof is stored in the cache memory. The requested page may then be assembled from the page blocks retrieved from the cache memory and/or the dynamically generated page blocks.