Abstract: Implementations relate to hand presence sensing at a control input device. In some implementations, a control input device includes a base member, a handle coupled to the base member and configured to be manually contacted at a grip portion of the handle and moved by a hand of a user in one or more degrees of freedom, one or more control input sensors configured to detect positions or orientations of the handle in the one or more degrees of freedom, and a presence sensor coupled to the base member. The presence sensor has a sensing field, and at least a portion of the sensing field is located proximate to the handle.

Abstract: A medical device includes a shaft, a beam, a hard stop structure, and a link. A proximal end portion of the beam is coupled to the distal end portion of the shaft and a distal end portion of the beam is coupled to the link. A strain sensor is on the beam. A hard stop structure includes a proximal end portion, a distal end portion, and first opposing stop surfaces. The proximal end portion of the hard stop structure is coupled to a distal end portion of the shaft, and the distal end portion of the hard stop structure is coupled to the link. The first opposing stop surfaces are positioned to limit a lateral range of motion of the distal end of the beam with reference to the proximal end of the beam in a first direction by the first stop surfaces contacting one another.

Abstract: A computer-assisted medical system includes a manipulator arm, an actuator system, a sensor system, and a controller. The controller determines, using the sensor system, a kinematic configuration of a previous tool attached to the manipulator arm, determines a mounting of a replacement tool to the manipulator arm after removal of the previous tool from the manipulator arm, determines, based on the kinematic configuration of the previous tool, a trajectory for the replacement tool, and controls the actuator system to move the replacement tool in accordance with the trajectory as the replacement tool is inserted. To control the actuator system to move the replacement according to the trajectory, the controller, in response to the trajectory including a non-straight portion, controls the actuator system to alter an angle or position of a joint of the manipulator arm such that an end effector of the replacement tool moves according to the non-straight portion.

Abstract: A circuit is provided that includes a strain gauge resistor having a center axis and multiple conductor layer segments and a trim region extending along the center axis; wherein a first portion of the strain gauge resistor is located on one side of the center axis and a second portion of the strain gauge resistor is located on an opposite side of the center axis.

Abstract: A method is provided to control actuation of a click event by a hand-actuated selector moveably mounted to a mount structure, comprising: in a first control state, imparting a maintaining force to the hand-actuated selector; in a second control state, imparting a haptic force to the hand-actuated selector that increases as a function of increasing displacement of the hand-actuated selector from the neutral displacement position; imparting a click event signal to cause an occurrence of the click event at a display system, in a third control state, imparting a haptic force to the hand-actuated selector that decreases in magnitude to a reduced magnitude.

Abstract: A computer-assisted medical system includes a manipulator arm and a controller. The controller includes a computer processor and is configured to determine a kinematic configuration, the kinematic configuration being prior to an installation of a replacement tool on the manipulator arm. The kinematic configuration is of the manipulator arm and a previous tool attached to the manipulator arm and with an end effector of the previous tool located at an insertion location. The controller is further configured to determine a reference geometry of the previous tool in the kinematic configuration, determine an insertion trajectory for the replacement tool based on the reference geometry, and facilitate an insertion of the replacement tool toward a target location of the insertion trajectory by controlling the replacement tool to move in accordance with the insertion trajectory.

Abstract: A force sensor comprising a beam having a longitudinal axis and a proximal end portion and a distal end portion; a first Wheatstone bridge disposed on a first face of the beam, including multiple tension gauge resistors and multiple compression gauge resistors; a second Wheatstone bridge disposed on the first face of the beam, including multiple tension gauge resistors and multiple compression gauge resistors; wherein at least one tension gauge resistor and at least one compression gauge resistor from each of the first and second Wheatstone bridges is disposed at a proximal end portion of the beam; wherein at least one tension gauge resistor and at least one compression gauge resistor from each of the first and second Wheatstone bridges is disposed at a distal end portion of the beam.

Abstract: A method is provided to control actuation of a click event by a hand-actuated selector moveably mounted to a mount structure, comprising: in a first control state, imparting a maintaining force to the hand-actuated selector; in a second control state, imparting a haptic force to the hand-actuated selector that increases as a function of increasing displacement of the hand-actuated selector from the neutral displacement position; imparting a click event signal to cause an occurrence of the click event at a display system, in a third control state, imparting a haptic force to the hand-actuated selector that decreases in magnitude to a reduced magnitude.

Abstract: A circuit is provided that includes a strain gauge resistor having a center axis and multiple conductor layer segments and a trim region extending along the center axis; wherein a first portion of the strain gauge resistor is located on one side of the center axis and a second portion of the strain gauge resistor is located on an opposite side of the center axis.

Abstract: Systems and methods are provided for control of a surgical system. Accordingly, haptic feedback is provided to an input device of the surgical system based on a force applied to an instrument of the surgical system. The instrument includes a force sensor unit that has a beam, a first strain sensor coupled to the beam, and a second strain sensor. A first signal is received from the first strain sensor and is associated with a deflection of the beam in response to an applied force. A second signal is received from the second strain sensor and is associated with contact between the beam and a hard stop structure. The magnitude of the applied force is determined based at least on the first signal and the second signal.

Abstract: A force sensor comprising a beam having a longitudinal axis and a proximal end portion and a distal end portion; a first Wheatstone bridge disposed on a first face of the beam, including multiple tension gauge resistors and multiple compression gauge resistors; a second Wheatstone bridge disposed on the first face of the beam, including multiple tension gauge resistors and multiple compression gauge resistors; wherein at least one tension gauge resistor and at least one compression gauge resistor from each of the first and second Wheatstone bridges is disposed at a proximal end portion of the beam; wherein at least one tension gauge resistor and at least one compression gauge resistor from each of the first and second Wheatstone bridges is disposed at a distal end portion of the beam.

Abstract: A method is provided to control actuation of a click event by a hand-actuated selector moveably mounted to a mount structure, comprising: in a first control state, imparting a maintaining force to the hand-actuated selector; in a second control state, imparting a haptic force to the hand-actuated selector that increases as a function of increasing displacement of the hand-actuated selector from the neutral displacement position; imparting a click event signal to cause an occurrence of the click event at a display system, in a third control state, imparting a haptic force to the hand-actuated selector that decreases in magnitude to a reduced magnitude.

Abstract: A medical device includes a mechanical structure and a force sensor unit. The force sensor unit comprises a mounting bracket, a first rod, a second rod, a first magnet, a second magnet, a first coil coupled to the mounting bracket, and a second coil coupled to the mounting bracket. The first rod and the second rod each have a center axis defined between a proximal and distal portion of the respective first and second rods. The center axis of the second rod is noncoaxial with the center axis of the first rod. The first magnet is coupled to the first rod and translates within the first coil along the center axis of the first rod. Similarly, the second magnet is coupled to the second rod and translates within the second coil along the center axis of the second rod.

Abstract: A system for controlling a user interface of a teleoperated surgical system, the system comprises a first master controller communicatively coupled to the teleoperated surgical system; and a display device communicatively coupled to the teleoperated surgical system and configured to display a graphical user interface; and wherein the first master controller is configured to transmit a first input signal to an interface controller, the first input signal caused by manual manipulation of the first master controller, the interface controller to use the first input signal to update a graphical user interface presented by the display device.

Abstract: A system for controlling a user interface of a teleoperated surgical system, the system comprises a first master controller communicatively coupled to the teleoperated surgical system; and a display device communicatively coupled to the teleoperated surgical system and configured to display a graphical user interface; and wherein the first master controller is configured to transmit a first input signal to an interface controller, the first input signal caused by manual manipulation of the first master controller, the interface controller to use the first input signal to update a graphical user interface presented by the display device.

Abstract: A medical device includes a shaft comprising a proximal end portion and a distal end portion. A beam has a proximal end portion, a distal end portion, and a middle portion, and one or more strain sensors are on the middle portion. The proximal end portion of the beam is matingly coupled to the distal end portion of the shaft to form an interface. The beam comprises a discontinuity between the interface and the middle portion of the beam. In some embodiments, the medical device includes a link and the distal end portion of the beam is matingly coupled to the link to form a second interface. A second discontinuity is between the second interface and the middle portion of the beam. In some embodiments, an anchor is coupled to the shaft and the proximal end portion of the beam is matingly coupled to the anchor.

Abstract: A force sensor comprising a beam having a longitudinal center axis and a neutral axis that extends along a beam surface parallel to the center axis. A first half-bridge includes tension resistors. A second half-bridge includes tension resistors. A third half-bridge includes compression resistors. A fourth half-bridge includes compression resistors. The half-bridges are arranged on the beam surface such that redundant measurements of orthogonal components of a force imparted to the beam can be made using four different combinations of three of the half-bridges. The redundant measurements can be used to identify a malfunction of one or more of the resistors.

Abstract: A force sensor comprising a beam having a longitudinal axis and a proximal end portion and a distal end portion; a first Wheatstone bridge disposed on a first face of the beam, including multiple tension gauge resistors and multiple compression gauge resistors; a second Wheatstone bridge disposed on the first face of the beam, including multiple tension gauge resistors and multiple compression gauge resistors; wherein at least one tension gauge resistor and at least one compression gauge resistor from each of the first and second Wheatstone bridges is disposed at a proximal end portion of the beam; wherein at least one tension gauge resistor and at least one compression gauge resistor from each of the first and second Wheatstone bridges is disposed at a distal end portion of the beam.

Abstract: Implementations relate to hand presence sensing at a control input device. In some implementations, a control input device includes a base member, a handle coupled to the base member and configured to be manually contacted at a grip portion of the handle and moved by a hand of a user in one or more degrees of freedom, one or more control input sensors configured to detect positions or orientations of the handle in the one or more degrees of freedom, and a presence sensor coupled to the base member. The presence sensor has a sensing field, and at least a portion of the sensing field is located proximate to the handle.

Abstract: A circuit is provided that includes a strain gauge resistor having a center axis and multiple conductor layer segments and a trim region extending along the center axis; wherein a first portion of the strain gauge resistor is located on one side of the center axis and a second portion of the strain gauge resistor is located on an opposite side of the center axis.