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: A system and method of assisting operator engagement with input devices includes a repositionable structure configured to support a physical input device, a hand detection system, and a control unit. The repositionable structure includes one or more actuators. The physical input device is configured to be operated by a hand of an operator. The control unit is configured to detect the hand of the operator using the hand detection system and in response to a trigger condition, command the one or more actuators to move the input device from a first orientation to a second orientation, wherein the second orientation is closer to a grasping orientation of the hand than the first orientation is to the grasping orientation of the hand.

Abstract: A computer-assisted device includes a first articulated arm and a control unit coupled to the first articulated arm. The first articulated arm is configured to support an end effector. The control unit is configured to determine a virtual coordinate frame, the virtual coordinate frame being of an imaging device for capturing images of a workspace of the end effector, and the virtual coordinate frame being detached from an actual imaging coordinate frame of the imaging device; receive, from an input control configured to be manipulated by a user, a first instrument motion command to move the end effector; and drive the first articulated arm to move the end effector relative to the virtual coordinate frame based on the first instrument motion command.

Abstract: A system may comprise an image capture device to capture an image of a work site. The system may also comprise a processor to determine whether a tool disposed at the work site is energized and determine a first area of the captured image of the work site, including or adjacent to an image of a portion of the tool in the captured image. The processor may also determine a second area of the captured image including a remainder of the captured image that does not include the first area. Conditioned upon determining that the tool is energized, at least one of the first area and the second area of the captured image of the work site may be processed to indicate that the tool in the first area is being energized. The image of the work site with the first area and the second area may be displayed.

Abstract: Techniques for monitoring control points of a computer-assisted device include a first articulated arm associated with a first control point and a control unit coupled to the first articulated arm. The control unit is configured to determine a first expected path representative of expected positions of the first control point over time when a movement of the first control point is caused by a movement of a table that moves the first articulated arm, the table being separate from the computer-assisted device; determine a first actual path representative of actual positions of the first control point over time when the movement of the first control point is caused by the movement of the table; determine whether to perform a first remedial action based on the first actual path and the first expected path; and in response to a determination to perform the first remedial action, perform the first remedial action.

Abstract: A teleoperational medical system for performing a medical procedure in a surgical field includes a teleoperational assembly having a plurality of motorized surgical arms configured to assist in a surgical procedure. The motorized surgical arms have a motion limit defining a boundary beyond which the surgical arm cannot pass when the surgical arm is attached to a patient. The teleoperational medical system also includes a control system having a surgical threshold limit stored therein. The surgical threshold limit is an edge of a boundary to be potentially travelled by the surgical arm to suitably perform a surgical procedure. The control system is configured to compare the motion limit to the surgical threshold limit and notify an operator via an output device when the threshold limit is outside a range of motion bounded by the motion limit.

Abstract: A computer-assisted device includes an articulated arm configured to support an end effector and a control unit configured to, when coupled to the articulated arm and a table: determine a virtual coordinate frame before a first joint of the articulated arm is set to a floating mode, configure the first joint to the floating mode, detect movement of the first joint, determine a movement of the table, and drive a second joint of the articulated arm based on the movement of the first joint and the movement of the table. In some embodiments, the virtual coordinate frame is based on a pose of an imaging device and/or is detached from the imaging device. In some embodiments, the control unit is further configured to maintain the virtual coordinate frame in fixed relationship to a top of the table based on motion data received from the table.

Abstract: A system and method of monitoring control points during reactive motion includes a computer-assisted device. The computer-assisted device includes the one or more articulated arms and a control unit coupled to the one or more articulated arms. The control unit is configured to perform operations comprising determining, before movement of a table separate from the computer-assisted device, a latched spatial configuration of a plurality of control points associated with the one or more articulated arms; determining one or more geometric attributes of the latched spatial configuration; determining an actual spatial configuration of the plurality of control points as the one or more articulated arms track the movement of the table; determining a difference between the one or more geometric attributes of the latched spatial configuration and corresponding one or more geometric attributes of the actual spatial configuration; and performing, based on the determined difference, a remedial action.

Abstract: A system comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to display a surgical environment image. The surgical environment image includes a virtual control element for controlling a component of a surgical system. The virtual control element includes a real-time image of the component of the surgical system in the surgical environment image. The computer readable instructions also cause the system to display an image of a body part of a user used to interact with the virtual control element, receive a gesture of the body part of the user in a predetermined motion via a gesture based input device, and adjust a setting of the component of the surgical system based on the received gesture.

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: A robotic system includes a processor that is programmed to determine and cause work site measurements for user specified points in the work site to be graphically displayed in order to provide geometrically appropriate tool selection assistance to the user. The processor is also programmed to determine an optimal one of a plurality of tools of varying geometries for use at the work site and to cause graphical representations of at least the optimal tool to be displayed along with the work site measurements.

Abstract: A system may comprise an image capture device disposed to capture an image of a work site, a display, and a processor. The processor may be configured to determine whether a tool disposed at the work site is energized and determine an area of the captured image of the work site, including or adjacent to an image of a portion of the tool in the captured image, to be filtered to indicate the tool has been energized. Conditioned upon determining that the tool is energized, the processer may also filter the area of the captured image of the work site to generate a filtered area of the captured image of the work site so as to create a glowing effect on the image of the portion of the energized tool, indicating that the tool is being energized. The image of the work site with the filtered area may be displayed on the display.

Abstract: A medical imaging system comprises a teleoperational assembly which includes a medical instrument including an instrument tip and an imaging instrument including an imaging instrument tip. The medical imaging system also comprises a processing unit including one or more processors. The processing unit may be configured to determine an instrument tip position for the instrument tip, determine an instrument tip position error relative to the imaging instrument, and determine at least one instrument tip bounding volume based on the determined instrument tip position, the determined instrument tip position error, and a ratio between an error radius of the instrument tip position error and a size of a display screen.

Abstract: A bifurcated navigation control system defines a path whereby a manipulator cart is to navigate from an initial location to a target location, and identifies a navigation condition associated with a navigation of the manipulator cart along the path. Based on the navigation condition, the bifurcated navigation control system defines a propulsion limitation for the manipulator cart during the navigation of the manipulator cart along the path. The bifurcated navigation control system directs the manipulator cart to navigate along at least part of the path in a bifurcated navigation control mode in which the bifurcated navigation control system is configured to autonomously control a steering of the manipulator cart while allowing operator control of a propulsion of the manipulator cart in accordance with the propulsion limitation. Corresponding methods and systems are also disclosed.

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: An exemplary processing system of a computer-assisted surgical system identifies an object in a surgical space, accesses a model of the object, identifies a pose of the object in the surgical space, aligns the model with the pose of the object to define depth data for the model in the surgical space, and generates a depth map in the surgical space for at least a portion of the object based on the depth data for the model. Corresponding systems and methods are also described.

Abstract: A method comprises displaying a surgical environment image. The surgical environment image includes a virtual control element for controlling a component of a surgical system, and the virtual control element includes a real-time image of the component of the surgical system in the surgical environment image. The method further comprises displaying an image of a body part of a user. The body part is used to interact with the virtual control element. The method further comprises receiving a gesture of the body part of the user in a predetermined motion, via a gesture based input device registering movement of the body part of the user, while the body part interacts with the virtual control element. The method further comprises adjusting a setting of the component of the surgical system based on the received gesture.

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 medical imaging system comprises a teleoperational assembly configured to control the movement of a medical instrument including an instrument tip and a processing unit including one or more processors. The processing unit is configured to determine an instrument tip position and determine a position error associated with the instrument tip position. The processing unit is also configured to determine at least one instrument tip bounding volume based upon the position error and determine if the instrument tip is within a field of view of an imaging instrument.

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.