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: A computing device comprises a memory and a control unit coupled to the memory. The control unit is configured to receive a patient model and identify a plurality of port locations on the patient model for accessing a workspace using a plurality of instruments controlled by a computer-assisted device. For each of the port locations, the control unit determines a collision volume for portions of the computer-assisted device proximal to the port location, a reachability metric, and an anthropomorphic metric. For each combination of the plurality of port locations, the control unit determines a collision metric based on overlaps of the collision volumes for the port locations in the combination, and an aggregate metric for the combination. The control unit is also configured to display one or more of the combinations of the plurality of port locations to a user along with a corresponding aggregate metric.

Abstract: A cannula is provided that includes a head portion that defines a proximal opening sized to receive one or more surgical instruments; an elongated inner tube rigidly fastened to the head portion defines an elongated conduit; a surgical instrument can be inserted within the conduit; an elongated overtube rigidly fastened to the head portion is coaxially aligned with the inner tube and extends about a portion of the inner tube; an inner wall of the overtube is spaced apart from an outer wall of the inner tube; sensors are disposed on the overtube to provide an indication of forces applied to the outer wall of the overtube in a direction generally transverse to the longitudinal dimension of the overtube.

Abstract: A method for creating space in a joint formed at the convergence of two bones, the method comprising: applying force to a body part so as to separate the two bones from one another by a distance which is greater than the distance that they are normally separated from one another when the joint is in a healthy state, whereby to distract the joint and create an intrajoint space; inserting an assembly of three balloons into the intrajoint space while the assembly of three balloons is in a contracted condition; expanding the assembly of three balloons within the intrajoint space; and reducing the force applied to the body part so that the joint is supported on the assembly of three balloons, with the two bones remaining separated from one another by a distance which is greater than the distance that they are normally separated from one another when the joint is in a healthy state.

Abstract: A cannula is provided that includes a head portion that defines a proximal opening sized to receive one or more surgical instruments; an elongated inner tube rigidly fastened to the head portion defines an elongated conduit; a surgical instrument can be inserted within the conduit; an elongated overtube rigidly fastened to the head portion is coaxially aligned with the inner tube and extends about a portion of the inner tube; an inner wall of the overtube is spaced apart from an outer wall of the inner tube; sensors are disposed on the overtube to provide an indication of forces applied to the outer wall of the overtube in a direction generally transverse to the longitudinal dimension of the overtube.

Abstract: A computing device comprises a memory and a control unit coupled to the memory. The control unit is configured to receive a patient model and identify a plurality of port locations on the patient model for accessing a workspace using a plurality of instruments controlled by a computer-assisted device. For each of the port locations, the control unit determines a collision volume for portions of the computer-assisted device proximal to the port location, a reachability metric, and an anthropomorphic metric. For each combination of the plurality of port locations, the control unit determines a collision metric based on overlaps of the collision volumes for the port locations in the combination, and an aggregate metric for the combination. The control unit is also configured to display one or more of the combinations of the plurality of port locations to a user along with a corresponding aggregate metric.

Abstract: A method for creating space in a joint formed at the convergence of two bones, the method comprising: applying force to a body part so as to separate the two bones from one another by a distance which is greater than the distance that they are normally separated from one another when the joint is in a healthy state, whereby to distract the joint and create an intrajoint space; inserting an assembly of three balloons into the intrajoint space while the assembly of three balloons is in a contracted condition; expanding the assembly of three balloons within the intrajoint space; and reducing the force applied to the body part so that the joint is supported on the assembly of three balloons, with the two bones remaining separated from one another by a distance which is greater than the distance that they are normally separated from one another when the joint is in a healthy state.

Abstract: A cannula is provided that includes a head portion that defines a proximal opening sized to receive one or more surgical instruments; an elongated inner tube rigidly fastened to the head portion defines an elongated conduit; a surgical instrument can be inserted within the conduit; an elongated overtube rigidly fastened to the head portion is coaxially aligned with the inner tube and extends about a portion of the inner tube; an inner wall of the overtube is spaced apart from an outer wall of the inner tube; sensors are disposed on the overtube to provide an indication of forces applied to the outer wall of the overtube in a direction generally transverse to the longitudinal dimension of the overtube.

Abstract: A method for creating space in a joint formed at the convergence of two bones, the method comprising: applying force to a body part so as to separate the two bones from one another by a distance which is greater than the distance that they are normally separated from one another when the joint is in a healthy state, whereby to distract the joint and create an intrajoint space; inserting an assembly of three balloons into the intrajoint space while the assembly of three balloons is in a contracted condition; expanding the assembly of three balloons within the intrajoint space; and reducing the force applied to the body part so that the joint is supported on the assembly of three balloons, with the two bones remaining separated from one another by a distance which is greater than the distance that they are normally separated from one another when the joint is in a healthy state.

Abstract: A method for creating space in a joint formed at the convergence of two bones, the method comprising: applying force to a body part so as to separate the two bones from one another by a distance which is greater than the distance that they are normally separated from one another when the joint is in a healthy state, whereby to distract the joint and create an intrajoint space; inserting an assembly of three balloons into the intrajoint space while the assembly of three balloons is in a contracted condition; expanding the assembly of three balloons within the intrajoint space; and reducing the force applied to the body part so that the joint is supported on the assembly of three balloons, with the two bones remaining separated from one another by a distance which is greater than the distance that they are normally separated from one another when the joint is in a healthy state.

Abstract: A method for creating space in a joint formed at the convergence of two bones, comprising applying force to a body part so as to separate the two bones from one another by a distance which is greater than the distance that they are normally separated from one another when the joint is in a healthy state, whereby to distract the joint and create an intrajoint space; inserting an assembly of three balloons into the intrajoint space while the assembly is in a contracted condition; expanding the assembly of three balloons within the intrajoint space; and reducing the force applied to the body part so that the joint is supported on the assembly of three balloons, with the two bones remaining separated from one another by a distance which is greater than the distance that they are normally separated from one another when the joint is in a healthy state.

Abstract: A method for creating space in a joint formed at the convergence of two bones, the method comprising: applying force to a body part so as to separate the two bones from one another by a distance which is greater than the distance that they are normally separated from one another when the joint is in a healthy state, whereby to distract the joint and create an intrajoint space; inserting an assembly of three balloons into the intrajoint space while the assembly of three balloons is in a contracted condition; expanding the assembly of three balloons within the intrajoint space; and reducing the force applied to the body part so that the joint is supported on the assembly of three balloons, with the two bones remaining separated from one another by a distance which is greater than the distance that they are normally separated from one another when the joint is in a healthy state.

Abstract: Deflectable instrument shafts are formed of alternating segments, each of which has a first end or face contacting an adjacent segment along a first plane, and a second end or face contacting an adjacent segment along a second plane that is transverse to the first plane. In some embodiments, the alternating segments are first and second segments having differently shaped contacting ends/faces. In other embodiment the alternating segments are identical to one another but are positioned such that segments having their first contacting end/face facing distally are alternated with segments having their second contacting ends/faces facing distally.

Abstract: An instrument port for a single instrument comprises an elongate tube having a lumen. The elongate tube has a rigid section of fixed shape, and a more distal deflectable section. An actuator is coupled to the rigid section of the elongate tube. The actuator has an instrument pathway in communication with the lumen of the tube. The instrument pathway is positioned such that a distal end of a medical instrument may be inserted through the instrument pathway and the lumen and out the distal end of the lumen into a body cavity. Manipulation of the instrument handle engages actuation elements that extend between the actuator and the deflectable section, causing movement of deflectable section and thus moving the instrument tip within the body. The port includes a mount that can be coupled to a stabilization arm within the operating room, allowing the port to be supported and maintained in a chosen position and orientation.