Abstract: A smoke evacuation management system may include a memory storing instructions and a processor communicatively coupled to the memory. The processor may be configured to access a model generated based on data representative of one or more attributes associated with one or more energy application events during which energy is applied by one or more energy instruments to one or more subjects. The processor may be further configured to set, based on the model, a parameter of a smoke evacuation time window for use during a medical session in which an energy instrument applies intraoperative energy to a subject, the smoke evacuation time window specifying a time period during which a smoke evacuation procedure is performed. The processor may be further configured to direct, based on the smoke evacuation time window, a performance of the smoke evacuation procedure in response to the energy instrument applying the intraoperative energy.

Abstract: A method is provided for use with a teleoperated surgical system, the method comprising: determining patient position information during a setup for a performance of the surgical procedure within an instance of the surgical system; determining a match between the determined patient position and a patient position signature; and launching a support arm control signal within the surgical system that corresponds to the matched support arm signature.

Abstract: Techniques are disclosed for imaging device control in a computer-assisted device that includes a repositionable structure configured to support an imaging device, and a control system configured to determine a position of a first reference point associated with a first input modality; in a first mode, determine a position of a target reference point for the imaging device based on the first reference point; in a second mode, determine a position of a second reference point associated with a second input modality, and determine the position of the target reference point based on the position of the first reference point and the position of the second reference point; determine a movement of the first repositionable structure that moves the imaging device such that a third reference point associated with the imaging device moves toward the target reference point; and cause actuation of the repositionable structure based on the movement.

Abstract: Systems and methods are described herein for providing reminders with a computer-assisted robotic system. In one example, a robotic system comprises a hand input devices, one or more hand input sensor, and a control system. The hand input sensor is configured to sense hand inputs provided by a hand of the operator and to provide hand input signals indicative of the hand inputs. The control system is configured to, in a teleoperation mode, command motion of a tool based on the hand input signals. The control system is further configured to provide a reminder for the operator to reposition the hand input device based on parameters comprising (i) a change in a position or an orientation of a head of the operator and (ii) an amount of movement of the hand input device.

Abstract: A system comprises a teleoperational assembly configured to support a plurality of instruments, a display system configured to display a field of view of an imaging device, a master controller configured to receive input from an operator to control at least one of the plurality of instruments, and a control system configured to reassign control by the master controller of a first instrument of the plurality of instruments to a second instrument of the plurality of instruments. The control system reassigns control by detecting activation of an instrument reassignment input, causing the display system to present indicators, receiving a user input at the master controller, causing the display system to update one or more of the indicators based on the received user input, and assigning control of the second instrument to the master controller based on the received user input.

Abstract: Techniques are disclosed for imaging device control in a computer-assisted device that includes a first repositionable structure comprising joints, links coupled by the joints, and actuators coupled to drive motion of the first repositionable structure, the first repositionable structure configured to support an imaging device and a control system coupled to the first repositionable structure. The control system is configured to determine a first position of a first reference point, the first reference point being located at a first offset from a display unit; convert the first position to a target position; determine, based on the target position, a movement command of the first repositionable structure that moves the imaging device such that the imaging device moves toward a second position that is located at a second offset from the target position; and cause, using the actuators, actuation of the first repositionable structure based on the movement command.

Abstract: A teleoperational system comprises a teleoperational control system and a teleoperational manipulator configured for operating an instrument in an environment. The teleoperational system also comprises an operator controller in communication with the teleoperational control system. The teleoperational control system includes a processing unit including one or more processors. The processing unit is configured to determine whether an operator of the operator controller has a head portion directed toward a display region of a display device and based on a determination that the operator's head portion is directed toward the display region, initiate an operator following mode in which movement of the operator controller provides a corresponding movement to the teleoperational manipulator. The teleoperational system may be a teleoperational medical system.

Abstract: An exemplary system determines an insertion trajectory that a surgical instrument is positioned to follow when inserted into a surgical space. The system provides, for display by a display device, an image that depicts a portion of the surgical space captured by an imaging device and at least a portion of a representation of the insertion trajectory in the surgical space.

Abstract: A medical system comprises a mobile medical apparatus having a column extending from a base; a surgical instrument manipulator arm coupled proximate to the second end of the column; and one or more object detection devices mounted on the mobile medical apparatus and arranged to detect one or more objects object in an environment surrounding the mobile medical apparatus and over an angular range of locations relative to the column. The medical system further includes a control system configured to determine a potential for interference between the mobile medical apparatus and an object detected by the one or more object detection devices.

Abstract: Systems and methods are described herein for providing reminders with a computer-assisted robotic system. In one example, a robotic system comprises head and hand input devices, and a control system. The head input device comprises a sensor configured to sense head inputs provided by a head of an operator. The hand input device comprises a hand input sensor configured to sense hand inputs provided by a hand of the operator. The control system is configured to, in a teleoperation mode, command a change in a display of an image based on head input signals provided by the head input device, where the image is obtained by an imaging device, and command motion of a tool based on hand input signals provided by the hand input device. The control system is further configured to, in a clutch mode, provide a reminder for the operator to reposition the hand input device.

Abstract: A method may comprise receiving a model of a patient, identifying a kinematic measure for a teleoperated system, and receiving a human factors constraint for use of the teleoperated system. The method may also comprise establishing a set of port placement locations for the teleoperated system on the model based on the kinematic measure and the human factors constraint.

Abstract: An exemplary system may access head presence data and eye tracking data. The head presence data indicates a presence or an absence of a head of a user within a vicinity of a viewer console. The eye tracking data indicates whether an eye of a user is gazing at a display device. If the head presence data indicates that the head of the user is present and the eye tracking data indicates that the eye of the user is gazing at the display device, the system directs the user control system to operate in a first operating mode. If the head presence data indicates that the head of the user is present and the eye tracking data indicates that the eye of the user is not gazing at the display device, the system directs the user control system to operate in a second operating mode different from the first operating mode.

Abstract: A method may comprise displaying an interaction panel on a display device. The interaction panel having a display frame of reference and include a plurality of interaction elements. The method may also comprise constraining motion of an operator interface device to translational motion in a haptic plane with a haptic plane constraint while the interaction panel is displayed and determining a cursor position in the display frame of reference that corresponds to a position of a selection portion of the operator interface device in an operator frame of reference. The method may also comprise determining an element type for a first interaction element of the plurality of interaction elements at which the cursor position is located and removing the haptic plane constraint on the operator interface device if the element type is a three-dimensional rotation type.

Abstract: Systems and methods for reassigning control by a master controller between a plurality of teleoperational instruments is provided herein. An exemplary method includes detecting activation of an instrument reassignment input, computing proxy positions of at least a first instrument and a second instrument of the plurality of teleoperational instruments, and computing a proxy position of the master controller. The exemplary method may also include receiving input from the master controller associating the proxy position of the master controller with the proxy position of the second medical instrument and assigning control of the second instrument to the master controller based on the association between the proxy position of the master controller with the proxy position of the second instrument.

Abstract: Techniques are disclosed for imaging device control in a computer-assisted device that includes a repositionable structure configured to support an imaging device, and a control system coupled to the repositionable structure. The control system is configured to: determine a position of a reference point offset from a display unit, convert the position of the reference point to a target position of another reference point offset from the imaging device, determine a movement command of the first repositionable structure that moves the imaging device such that the another reference point moves toward the target position, and cause actuation of the repositionable structure based on the movement command.

Abstract: A computer-assisted device includes an articulated arm having a plurality of joints including a first joint and a second joint, the articulated arm configured to be coupled to an imaging device and a control unit including one or more hardware processors. The control unit is configured to, when coupled to the articulated arm and a table determine a virtual coordinate frame based on a pose of the imaging device before the first joint is set to a floating mode, configure the first joint to the floating mode, detect movement of the first joint, determine movement of the table based on motion data received from the table, transform the determined movement of the table to the virtual coordinate frame, and drive the second joint based on the movement of the first joint and the determined movement of the table in the virtual coordinate frame.

Abstract: Techniques for monitoring a computer-assisted device include a plurality of manipulators, each manipulator being associated with at least one control point of a plurality of control points; and a control unit. The control unit is configured to: determine a first spatial configuration of the plurality of control points, the first spatial configuration being prior to a movement of a table being operated concurrently with the computer-assisted device; determine the movement of the table causing motion of at least one control point; determine, based on the movement of the table and the first spatial configuration, an expected spatial configuration of the plurality of control points; compare the expected spatial configuration with an actual spatial configuration of the plurality of control points to determine whether to perform a remedial action; and perform the remedial action in response to a determination to perform the remedial action.

Abstract: An exemplary system determines an insertion trajectory that a surgical instrument is positioned to follow when inserted into a surgical space. The system provides, for display by a display device, an image that depicts a portion of the surgical space captured by an imaging device and at least a portion of a representation of the insertion trajectory in the surgical space.

Abstract: Embodiments relate to a computer-assisted robotic system, In some embodiments, the system includes a head input device, the head input device comprising a head input sensor configured to provide head input signals indicative of a an operator's head inputs, and a foot input device comprising a foot input sensor configured to provide foot input signals indicative of the operator's foot inputs. The system further includes a controller, configured to process the head input signals and the foot input signals, and identify, based on the processed head and foot input signals, that the operator has provided a combination of head and foot inputs corresponding to a steerable viewer mode activation command. The controller is further configured to cause the robotic system to enter a steerable viewer mode in response to identifying that the operator has provided a combination.

Abstract: A teleoperational system comprises a teleoperational control system and a teleoperational manipulator configured for operating an instrument in an environment. The teleoperational system also comprises an operator controller in communication with the teleoperational control system. The teleoperational control system includes a processing unit including one or more processors. The processing unit is configured to determine whether an operator of the operator controller has a head portion directed toward a display region of a display device and based on a determination that the operator's head portion is directed toward the display region, initiate an operator following mode in which movement of the operator controller provides a corresponding movement to the teleoperational manipulator. The teleoperational system may be a teleoperational medical system.