Abstract: A surgical robotic system comprising: a surgical robotic arm having a plurality of robotic arm links and a plurality of joints operable to move according to multiple degrees of freedom; a proximity sensor coupled to the surgical robotic arm, the proximity sensor comprising a plurality of sensing pads operable to detect a movement of a nearby controlling object prior to contact with the surgical robotic arm; and a processor configured to determine a desired position of the surgical robotic arm based on the detected movement of the nearby controlling object and drive a movement of more than one of the plurality of robotic arm links or the plurality of joints to achieve the desired position of the surgical robotic arm.

Abstract: A series of images is obtained from an endoscope. Three-dimensional reconstruction is performed on the series of images to reconstruct anatomy shown in the series of images. A graphic, such as a grid, is rendered based on the three-dimensional reconstruction, over the series of images resulting in an enhanced endoscopic video feed to be shown on a display.

Abstract: A surgical robotic system has a tool drive coupled to a distal end of a robotic arm that has a plurality of actuators. The tool drive has a docking interface to receive a trocar. The system also includes one or more sensors that are operable to visually sense a surface feature of the trocar. One or more processors determine a position and orientation of the trocar, based on the visually sensed surface feature. In response, the processor controls the actuators to orient the docking interface to the determined orientation of the trocar and to guide the robotic arm toward the determined position of the trocar. Other aspects are also described and claimed.

Abstract: Errors in a blended stream that would result in non-display or obscuring of a live video stream from a medical device may be automatically detected, and a failover stream corresponding to the first live video stream may be displayed to medical personnel. For example, one or more second input streams that are being blended may contain no data or invalid data which may result in the blended stream not displaying (or obscuring) the live video stream (if the blended were displayed). Switching from blending to a failover buffer may occur within the time to process a single video image frame. Upon detection (prior to display) that the blended stream would not display the live video stream, display of the live video stream from the failover buffer may be initiated. Other aspects are also described and claimed.

Abstract: A surgical robotic system comprising: a surgical robotic arm having a plurality of robotic arm links and a plurality of joints operable to move according to multiple degrees of freedom; a proximity sensor coupled to the surgical robotic arm, the proximity sensor comprising a plurality of sensing pads operable to detect a movement of a nearby controlling object prior to contact with the surgical robotic arm; and a processor configured to determine a desired position of the surgical robotic arm based on the detected movement of the nearby controlling object and drive a movement of more than one of the plurality of robotic arm links or the plurality of joints to achieve the desired position of the surgical robotic arm.

Abstract: A surgical robotic user input apparatus has a fiber optic cable with a handheld user input device attached at one end, and a connector attached at another end. Multiple intrinsic sensors, such as fiber Bragg grating sensors, are in the fiber optic cable. The intrinsic sensors are used to detect a pose of the handheld user input device. Other embodiments are also described and claimed.

Abstract: A method performed by a surgical system. The method determines a temperature of an end effector of the ultrasonic instrument based on one or more characteristics of the end effector. The method determines that the end effector is in contact with an object, and, in response to determining that the end effector is in contact with the object and that the temperature is greater than a threshold temperature, presents a notification indicating that the end effector is too hot to be in contact with the object.

Abstract: A method performed by a surgical system. The method determines one or more characteristics of an end effector of an ultrasonic instrument and determines that the end effector is at least partially submerged within a liquid based on the determined one or more characteristics. In response, the method displays a notification on a display of the surgical system indicating that the end effector is at least partially submerged within the liquid.

Abstract: A method performed by a surgical system. The method determines that an ultrasonic instrument is in a low-power state The method determines a resonance frequency of an end effector of the ultrasonic instrument and determines a temperature of the end effector based on the resonance frequency. A notification is displayed on a display of the surgical system based on the temperature.

Abstract: A method performed by a surgical system that includes an ultrasonic instrument with an end effector. The method determines a change in resonance frequency of the end effector while the ultrasonic instrument is either in 1) a high-power state in which the ultrasonic instrument draws a first current to cause the end effector to produce heat or 2) a low-power state in which the ultrasonic instrument draws a second current, which is less than the first current that does not cause the end effector to produce heat. The method determines a temperature of the end effector by applying the change in resonance frequency to a hysteresis model that includes a hysteretic relationship between changes in resonance frequency of the end effector and corresponding temperatures of the end effector, and outputs a notification based on the temperature.

Abstract: A surgical robotic user input apparatus has a fiber optic cable with a handheld user input device attached at one end, and a connector attached at another end. Multiple intrinsic sensors, such as fiber Bragg grating sensors, are in the fiber optic cable. The intrinsic sensors are used to detect a pose of the handheld user input device. Other embodiments are also described and claimed.

Abstract: Systems and methods for intraoperative tracking and visualization are disclosed. A current minimally invasive surgical (MIS) instrument pose may be determined based on a live intraoperative input video stream comprising a current image frame captured by a MIS camera. In addition, an instrument activation state and at least one parameter value associated with the instrument may also be determined. Intraoperative graphic visualization enhancements may be determined based on the activation state of the instrument, and/or a comparison of parameter values with corresponding parametric thresholds. The visualization enhancements may be applied to a current graphics frame. The current graphics frame may also include visualization enhancements related to proximate anatomical structures with proximity determined from the instrument pose and an anatomical model.

Abstract: A surgical robotic system that includes a robotic arm, glove configured to be worn on a hand of a user and including a force-feedback mechanism, a tracking device, a processor, and memory. The memory includes instructions which when executed by the processor causes the system to determine that the user is performing a hand gesture with the glove to grasp a virtual user input device (UID) based on the tracking device, and in response to the user grasping the virtual UID, apply, via the force-feedback mechanism, a force upon the glove that corresponds to a physical representation of the virtual UID, and engage the robotic arm to be controlled by the virtual UID.

Abstract: A surgical robotic system has a tool drive coupled to a distal end of a robotic arm that has a plurality of actuators. The tool drive has a docking interface to receive a trocar. The system also includes one or more sensors that are operable to visually sense a surface feature of the trocar. One or more processors determine a position and orientation of the trocar, based on the visually sensed surface feature. In response, the processor controls the actuators to orient the docking interface to the determined orientation of the trocar and to guide the robotic arm toward the determined position of the trocar. Other aspects are also described and claimed.

Abstract: Errors in a blended stream that would result in non-display or obscuring of a live video stream from a medical device may be automatically detected, and a failover stream corresponding to the first live video stream may be displayed to medical personnel. For example, one or more second input streams that are being blended may contain no data or invalid data which may result in the blended stream not displaying (or obscuring) the live video stream (if the blended were displayed). Switching from blending to a failover buffer may occur within the time to process a single video image frame. Upon detection (prior to display) that the blended stream would not display the live video stream, display of the live video stream from the failover buffer may be initiated. Other aspects are also described and claimed.

Abstract: A surgical stapler for a surgical robotic system, the surgical stapler including a jaw coupled to a base, the jaw having a first anvil that moves relative to a second anvil between an open position and a closed position; and a force sensor operable to detect a force applied to the jaw.

Abstract: An energy tool for a surgical robotic system, the energy tool comprising: a jaw coupled to a base, the jaw having a first anvil that moves relative to a second anvil between an open position and a closed position; and at least one of a force sensor, a temperature sensor and an acoustic sensor coupled to the jaw.

Abstract: A user console for a surgical robotic system has a seat having an armrest and an electromagnetic (EM) transmitter coupled to the armrest to generate an EM field in an EM tracking space around the armrest. A user input device having a handheld housing is to be positioned within the EM tracking by an operator who is seated in the seat, during a surgical procedure. Other aspects are also described and claimed.

Abstract: For control about a remote center of motion (RCM) of a surgical robotic system, possible configurations of a robotic manipulator are searched to find the configuration providing a greatest overlap of the workspace of the surgical instrument with the target anatomy. The force at the RCM may be measured, such as with one or more sensors on the cannula or in an adaptor connecting the robotic manipulator to the cannula. The measured force is used to determine a change in the RCM to minimize the force exerted on the patient at the RCM. Given this change, the configuration of the robotic manipulator may be dynamically updated. Various aspects of this RCM control may be used alone or in combination, such as to optimize the alignment of workspace to the target anatomy, to minimize force at the RCM, and/or to dynamically control the robotic manipulator configuration based on workspace alignment and force measurement.

Abstract: A surgical robotic system including a surgical table, a surgical robotic manipulator coupled to the surgical table and comprising a plurality of links coupled together by a plurality of joints that are operable to move with respect to one another to move the surgical robotic manipulator, at least one of the plurality of links or the plurality of joints having a portion that faces another of the plurality of links or the plurality of joints, a proximity sensing assembly coupled to the portion of the at least one of the plurality of links or the plurality of joints, the proximity sensing assembly operable to detect an object prior to the surgical robotic manipulator colliding with the object and to output a corresponding detection signal, and a processor operable to receive the corresponding detecting signal and cause the manipulator or the object to engage in a collision avoidance operation.