Abstract: A region-based augmentation system is configured to determine that a viewpoint of a user of a display device is directed within an anchor region of a physical world containing the user. In response, the system directs the display device to present augmented content in an evident manner. The evident manner comprises anchoring the augmented content relative to the viewpoint, such that the augmented content follows the viewpoint as the user moves the viewpoint within the anchor region. The system further determines that the viewpoint is directed outside of the anchor region by the user. In response, the system directs the display device to present the augmented content in a less evident manner. The presenting of the augmented content in the less evident manner comprises presenting the augmented content less visibly than the evident manner and/or unanchoring the augmented content relative to the viewpoint. Corresponding methods and systems are also disclosed.

Abstract: A system comprises a processor and a memory having computer readable instructions stored thereon, which, when executed by the processor, cause the system to display an image of a surgical environment. The image includes an information icon corresponding to an instrument in the surgical environment. The instructions further cause the system to display an image of a body part of a user. The image of the body part is used to interact with the information icon. The instructions further cause the system to receive a gesture of the body part, via a gesture-based input device registering movement of the body part, to cause the image of the body part to interact with the information icon. The instructions further cause the system to display an information menu in the image of the surgical environment based on the interaction between the image of the body part and the information icon.

Abstract: Techniques for registering a computer-assisted device to a table include a computer-assisted device having an articulated arm and a control unit. The control unit is configured to receive information of a first motion of a table, the first motion comprising a first rotation about a first axis and causing a second motion of a point associated with the articulated arm; receive information of the second motion; receive information of a third motion of the table, the third motion of the table comprising a second rotation about a second axis different from the first axis and causing a fourth motion of the point; receive information of the fourth motion; determine a relationship between the computer-assisted device and the table based on a position of the point, the first rotation, the second motion, the second rotation, and the fourth motion; and control motion of the articulated arm based on the relationship.

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 and method of view restoration include a computer-assisted device having an imaging device and a controller coupled to the imaging device. The controller is configured to record kinematic information, imaging information, or both the kinematic information and the imaging information before movement of the imaging device from a first repositionable arm to a second repositionable arm or from a first workspace port to a second workspace port; detect the movement of the imaging device from the first repositionable arm to the second repositionable arm or from the first workspace port to the second workspace port; determine, in response to the detection, a desired position and orientation of the imaging device based on the recorded kinematic information, the recorded imaging information, or both the recorded kinematic information and the recorded imaging information; and move the imaging device based on the desired position and orientation.

Abstract: A system comprises a display configured to present a graphical user interface including a viewing area and one or more user interface elements. The system also comprises a gaze tracking device configured to detect a change in a gaze of a user while the user views the graphical user interface presented on the display. The system also comprises an audio input device configured to receive audio information. The system also comprises one or more processors configured to process the audio information received at the audio input device in accordance with a first mode to direct the received audio information as audio output to one or more audio output devices; and in response to the gaze tracking device detecting the change in the gaze of the user, process the received audio information in accordance with a second mode, the second mode being distinct from the first mode.

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: Techniques for monitoring a computer-assisted device include a plurality of manipulators, each manipulator being configured to support an instrument, each manipulator having a control point; 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 separate from the computer-assisted device, and the movement of the table causing motion of at least one control point; determine the movement of the table; determine, based on the movement of the table and the first spatial configuration, an expected spatial configuration of the plurality of control points; determine, based on a comparison of the expected spatial configuration with an actual spatial configuration of the plurality of control points, whether to perform a remedial action; and perform the remedial action in response to a determination to perform the remedial action.

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: A computer-assisted device includes an articulating means configured to support an end effector and a processing means. When coupled to the articulating means and a patient supporting means, the processing means is configured to configure a first joint of the articulating means to a first mode to allow movement of the first joint in response to an external force on the articulating means, detect movement of the first joint, determine a movement of the patient supporting means, and drive a second joint of the articulating means based on the movement of the first joint and the movement of the patient supporting means.

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: A system comprises: a robotic arm operatively coupleable to a tool comprising a working end; and an input device communicatively coupled to the robotic arm. The input device is manipulatable by an operator. The system further comprises a processor configured to cause an image of a work site, captured by an image capture device from a perspective of an image reference frame, to be displayed on a display. The image of the work site includes an image of the working end of the tool. The processor is further configured to determine a position of the working end of the tool in the image of the work site and render a tool information overlay at the position of the working end of the tool in the image of the work site. The tool information overlay visually indicates an identity of the input device.

Abstract: Techniques for ratcheting an alignment between an input means and an instrument include a teleoperated system comprising a robotic means configured to support an instrument, an input means configured to be manipulated by an operator to command motion of the instrument, and a ratcheting means. The ratcheting means is configured to determine first rotation values describing an orientation of the input means; determine second rotation values describing an orientation of the instrument; determine, based on the first rotation values and the second rotation values, an orientation error between the orientation of the input means and the orientation of the instrument; generate, based on the orientation error, a motion command for the instrument to reduce the orientation error by increasing an alignment between the input means and the instrument; and command the robotic means to move in accordance with the motion command.

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: Techniques for maintaining instrument position and orientation include a computer-assisted device having an articulated structure and a control unit. The articulated structure includes a plurality of joints and is configured to support an instrument. The control unit is configured to determine a reference frame based on a type of a disturbance that causes a movement of a first joint of the plurality of joints; determine, in the reference frame, a first change to the instrument due to the disturbance; and rive at least a second joint of the plurality of joints to reduce the first change. The first change comprises: a change in a position of the instrument, or a change in an orientation of the instrument, or a change in both the position of the instrument and the orientation of the instrument.

Abstract: Techniques for monitoring control points of a computer-assisted device include one or more articulated arms having one or more control points and a control unit coupled to the one or more articulated arms. Each control point of the one or more control points is located based on a kinematic configuration of the one or more articulated arms. The control unit is configured to determine, during a movement of a table that causes a change in the kinematic configuration of the one or more articulated arms, an actual spatial configuration of the one or more control points; determine, based on a comparison of the actual spatial configuration with an expected spatial configuration of the one or more control points, whether to perform a remedial action; and perform the remedial action in response to a determination to perform the remedial action.

Abstract: A teleoperational system comprises a teleoperational assembly configured to support an instrument and an imaging device. The instrument has an instrument tip and a processing unit including one or more processors. The processing unit is configured to determine an instrument position of the instrument, determine an instrument position error relative to the imaging device, and determine, based on the instrument position and the instrument position error, that at least a portion of the instrument is outside a field of view of the imaging device. The processing unit is further configured to in response to determining that at least a portion of the instrument is outside the field of view of the imaging device and based on a mode of operation of the teleoperational system, cause an out-of-view indication for the instrument to be presented.

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: A computer-assisted device includes an articulated arm configured to support an end effector and a control unit. When coupled to the articulated arm and a table, the control unit is configured to detect movement of the articulated arm caused by movement of the table, determine a movement of the table based on motion data received from the table, and drive one or more first joints of the articulated arm based on the movement of the articulated arm and the determined movement of the table.

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.