Abstract: Techniques for determining a preferred working distance for an imaging device include an input control for teleoperating the imaging device and a control unit. The control unit is configured to detect a start of a repositioning movement for the imaging device, the repositioning movement based on input from the input control; detect an end of the repositioning movement; determine a current working distance based on one or more first distances between the imaging device and one or more targets associated with one or more end effectors supported by the computer-assisted device that are within a view volume of the imaging device at the end of the repositioning movement, the one or more first distances being measured in a direction of view of the imaging device; and aggregate the current working distance with additional working distances determined from additional repositioning movements to determine the preferred working distance.

Abstract: A computer-assisted surgical system is configured to activate a first mode of operation in which movement of a user control mechanism is translated to movement of a surgical instrument coupled to a manipulator arm; receive, during the first mode of operation, a first user input by way of a user input mechanism associated with the user control mechanism; activate, based on the first user input, a second mode of operation in which the user control mechanism is repositionable without causing the surgical instrument to move; receive, during the first mode of operation, a second user input by way of the user input mechanism, wherein the second user input is different from the first user input; and activate, based on the second user input, a function associated with a third mode of operation different from the first and second modes of operation.

Abstract: Techniques for controlling an imaging device include a repositionable arm and a controller. The repositionable arm includes a plurality of joints and a plurality of actuators, the plurality of actuators configured to cause movement of the repositionable arm. The controller is configured to determine, while the repositionable arm is supporting an imaging device having an imaging apparatus, a position based at least on a desired direction of view of the imaging apparatus and a depth of a point of interest from the imaging apparatus; determine a orientation based on the desired direction of view and a desired view up direction; determine a physical configuration of the repositionable arm to position and orient a distal portion of the imaging apparatus based at least on the position and the orientation; and command the plurality of actuators to move at least one or more of the plurality of joints toward the physical configuration.

Abstract: Techniques for determining an ergonomic center for an input control include an input control and a control unit including one or more processors. Movement of the input control during teleoperation is usable to command corresponding movement of an end effector. One or more control points are associated with the input control. The control unit is configured to detect a start of a repositioning movement for the input control, detect an end of the repositioning movement, determine one or more corresponding end positions, each corresponding end position being a position of a control point of the one or more control points at the end of the repositioning movement, determine an input control reference point based on the one or more corresponding end positions, and aggregate the input control reference point with at least one previously obtained input control reference point to determine an ergonomic center for the input control.

Abstract: A method and apparatus for manipulating tissue. A tissue control point is displayed over an image of the tissue in a user interface. An input is received that moves the tissue control point within the user interface. A first instrument that is physically associated with the tissue is operated based on the received input to thereby manipulate the tissue.

Abstract: A system comprises a sensing means for sensing an arrangement of a manipulator assembly. The system further comprises a control means for: determining a motion limit of the manipulator assembly based on the sensed arrangement; and selecting a threshold limit from a plurality of pre-stored threshold limits based on which procedure type is to be performed with the manipulator assembly. The selected threshold limit is associated with a procedure type and defines a limit of a range to be potentially travelled by the manipulator assembly to perform a procedure. The control means are further for: comparing the motion limit to the selected threshold limit to determine whether the selected threshold limit is outside a range of motion bounded by the motion limit; and providing a notification indicative of whether the selected threshold limit is outside the range of motion bounded by the motion limit.

Abstract: Techniques are disclosed for imaging device control in a computer-assisted device that includes a repositionable structure and a control system coupled to the repositionable structure. The repositionable structure includes a plurality of joints, a plurality of links coupled by the plurality of joints, and a plurality of actuators coupled to drive motion of the first repositionable structure. The repositionable structure is configured to support an imaging device. The control system is configured to determine a first user input from input received at a hand input modality, determine a second user input from input received at a head input modality, determine a movement command of the repositionable structure that moves the imaging device based on at least the first user input and the second user input, and cause, using the plurality of actuators, actuation of the repositionable structure based on the movement command.

Abstract: An illustrative property value system may be configured to provide, for display in a user interface, an image of an anatomical scene as captured by an imaging device and identify a reference location and an additional location in the image of the anatomical scene. The system may further be configured to determine a value of a property of an anatomical object at the additional location relative to the reference location and cause display, in the user interface together with the image of the anatomical scene, of output data representative of the reference location, the additional location, and the value of the property of the anatomical object at the additional location relative to the reference location.

Abstract: A system comprises a medical tool including a shaft having proximal and distal ends and an articulatable distal portion coupled to the distal end of the shaft. The system also comprises a processing unit including one or more processors. The processing unit is configured to determine a target in a medical environment. The articulatable distal portion is directed toward the target. The processing unit is also configured to determine a motion of at least a portion of the shaft, and in response to the determined motion, control a pose of the articulatable distal portion so that the articulatable distal portion remains directed toward the target.

Abstract: Techniques for controlling an imaging device include a first repositionable arm comprising a plurality of actuators configured to cause movement of the first repositionable arm and a plurality of joints; and a controller comprising one or more hardware processors. The controller is configured to determine whether an imaging device supported by the first repositionable arm comprises an articulable joint coupling an imaging apparatus to a shaft of the imaging device; in response to a determination that the imaging device comprises the articulable joint: command the plurality of actuators to move the plurality of joints and the articulable joint to position and orient a field of view of the imaging apparatus; and in response to a determination that the imaging device does not comprises the articulable joint: command the plurality of actuators to move the plurality of joints to position and orient the field of view of the imaging apparatus.

Abstract: A system comprises a teleoperational assembly including an operator input system and a teleoperational manipulator configured for operation by the operator input system. The teleoperational manipulator is coupled to a medical instrument in a surgical environment. The system also comprises a processing unit including one or more processors. The processing unit is configured to retrieve a user profile for a user, the user profile including a parameter established during a prior teleoperational procedure. The parameter includes an ergonomic setup for an input device of the operator input system. The input device is configured to operate the teleoperational manipulator. The processing unit is also configured to provide instructions to configure an operation of the teleoperational assembly based upon the parameter. The operation includes adjusting the operator input system based on the at least one of the ergonomic setup for the operator input system.

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 medical instrument system may comprise a control system, a display device, and an operator interface device. The control system may display an interaction panel including a plurality of interaction elements on the display device. The control system may also constrain motion of the operator interface device to translational motion in a haptic plane with a haptic plane constraint while the interaction panel is displayed. The control system may also determine a cursor position that corresponds to a position of a selection portion of the operator interface device and determine an element type for a first interaction element at which the cursor position is located. The control system may also remove the haptic plane constraint on the operator interface device if the element type is a three-dimensional rotation type.

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.