Abstract: A surgical system includes methods and systems for damping vibrations. The surgical system can include one or several moveable set-up linkages. A passive, active, or semi-active damper can be connected with one or several of the set-up linkages. The damper can mitigate a vibration arising in one of the set-up linkages and the damper can prevent a vibration arising in one of the linkages from affecting another of the set-up linkages. The active and semi-active dampers can be controlled with a feedback or a feed-forward model. In some embodiments, the system includes a first link supported by a base, a second link, a damper having a variable portion coupling the first link to the second link, and a processor. The processor is configured to detect a movement or a vibration of the second link and adjust the variable portion of the damper based on the detected movement or vibration.

Abstract: A surgical instrument and control console include connectors that provide coupling for at least two operational channels for the surgical instrument. By incorporating discrete engagement elements for each operational channel in a single connector housing, robust, reliable, and efficient connections can be made.

Abstract: A system includes manipulators and a controller. The controller is configured to detect mounting of an imaging device to a first manipulator of the manipulators, determine a first reference frame for the imaging device based on the mounting of the imaging device to the first manipulator, control a tool relative to the first reference frame by controlling a relative position and orientation of a tip of the tool relative to the imaging device in the first reference frame by correlating movement of a master input control to movement of the tool in the first reference frame, detect mounting of the imaging device to a second manipulator of the manipulators, the second manipulator being different from the first manipulator, determine a second reference frame for the imaging device based on the mounting of the imaging device to the second manipulator, and control the tool relative to the second reference frame.

Abstract: A surgical cart assembly may comprise a base portion; a plurality of wheels coupled to the base portion; a column extending vertically from the base portion; a manipulator arm coupled to an end portion of the column; a stabilization device coupled to the base portion, the stabilization device moveable between a retracted position and a deployed position; an actuation device to cause movement of the stabilization device between the retracted position and the deployed position; and a biasing element coupled to the stabilization device, the biasing element exerting a biasing force to bias the stabilization device toward the retracted position. The stabilization device may comprise a stabilization surface, the stabilization surface contacting the ground surface on which the surgical cart assembly is supported in the deployed position of the stabilization device, and the stabilization surface spaced from the ground surface in the retracted position of the stabilization device.

Abstract: A surgical flux transmission conduit comprises a data signal transmission pathway; a surgical flux transmission pathway; and a connector interface. The connector interface comprises a data signal transmission terminal feature in communication with the data signal transmission pathway, and a surgical flux transmission terminal feature in communication with the surgical flux transmission pathway. The connector interface of the surgical flux transmission conduit is configured to selectively mate with a first device connector interface having at least one device surgical flux transmission terminal feature and at least one device data signal terminal feature, and with a second device connector interface having at least one device surgical flux transmission terminal feature and without a device data signal transmission terminal feature.

Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.

Abstract: A surgical cart assembly may comprise a base portion. The base portion also includes a plurality of wheels coupled to the base portion and arranged to permit wheeled movement of the surgical cart assembly. The cart also includes a column extending vertically from the base portion, and a manipulator arm coupled to an end portion of the column opposite to a location of the base portion. The cart further comprises a stabilization assembly coupled to the base portion, the stabilization assembly may include a piston assembly moveable between a retracted position and a deployed position, and an actuation device operably coupled to the piston assembly to actuate the piston assembly between the retracted position and the deployed position. The piston assembly in the retracted position is retracted away from a ground surface on which the cart assembly is supported, and the piston assembly in the deployed position is in contact with the ground surface.

Abstract: A system comprises an instrument carriage configured to support an instrument. The instrument comprises a joint output and an input coupling configured to move the joint output. The instrument carriage comprises an actuating element. The actuating element comprises a drive input and an actuator coupled to drive the drive input. The drive input is configured to engage the input coupling. The system also comprises a control system configured to drive the drive input with the actuator and determine whether the drive input has engaged the input coupling based on a determination of whether the actuator experiences a resistance greater than a resistance threshold.

Abstract: A medical device comprises an end effector for performing a medical procedure, a first connector, and a second connector. The first connector comprises a housing, a first interface, and a second interface. The first interface is coupled to the housing and includes a rod through which a first operational channel extends. The second interface is coupled to the housing and includes a second operational channel. The second connector comprises a housing, a first socket, and a second socket. The housing comprises a cavity bounded by an inner surface including a back surface. The first socket is sized and shaped to receive the rod; the second socket is sized and shaped to receive the second interface and projects from the back surface. The rod engages with the first socket to at least partially align the second interface with the second socket before the second interface engages with the second socket.

Abstract: A method of supplying flux may include receiving first data at a control system identifying which of a plurality of remotely-controllable kinematic flux delivery structures is operationally coupled to which of a plurality of flux supply pathways and receiving second data at the control system identifying which of the remotely-controllable kinematic flux delivery structures is operationally coupled to which of a plurality of kinematic support structures. A system for supplying flux may include a plurality of flux supply pathways, a plurality of remotely-controllable kinematic flux delivery structures, and a control system receiving first data identifying which of the remotely-controllable kinematic flux delivery structures is operationally coupled to which of the flux supply pathways and receiving second data identifying which of the remotely-controllable kinematic flux delivery structures is operationally coupled to which of a plurality of kinematic support structures.

Abstract: A cannula sterile adaptor for a surgical system includes a first portion comprising a rigid material and a second portion comprising a compliant material. one of the first portion and the second portion comprises a depression arranged to receive a clamping arm of a cannula mount of the surgical system.

Abstract: A surgical cart assembly may comprise a base portion. The base portion also includes a plurality of wheels coupled to the base portion and arranged to permit wheeled movement of the surgical cart assembly. The cart also includes a column extending vertically from the base portion, and a manipulator arm coupled to an end portion of the column opposite to a location of the base portion. The cart further comprises a stabilization assembly coupled to the base portion, the stabilization assembly may include a piston assembly moveable between a retracted position and a deployed position, and an actuation device operably coupled to the piston assembly to actuate the piston assembly between the retracted position and the deployed position. The piston assembly in the retracted position is retracted away from a ground surface on which the cart assembly is supported, and the piston assembly in the deployed position is in contact with the ground surface.

Abstract: A method comprising receiving an input coupling adjacent to a drive input driven by an actuating element, the input coupling being coupled to a joint output and the joint output being connected to a movable object. The method further comprising rotating the actuating element to drive the drive input and determining, by a control system, whether a resistance torque greater than an inherent drivetrain resistance torque is experienced by the actuating element. The inherent drivetrain resistance torque is for a drivetrain including the input coupling, the drive input, and the joint output. The method also includes determining, by the control system, whether the drive input has engaged the input coupling based on the determination that the resistance torque greater than the inherent drivetrain resistance torque has been experienced by the actuating element.

Abstract: A surgical instrument support arm of a teleoperated patient side cart may include a first arm portion including a first connector end and a second a second arm portion including a second connector end. The second arm portion may be removably connectable to the first arm portion via mating engagement of the first and second connector ends. The first and second connector ends may each include complementary mechanical connections and complementary electrical connections. At least one of the electrical connections of the first and second connector ends may include electrical shielding to protect against electrical interference in a position in which the electrical connections are matingly engaged. The electrical shielding may be configured to axially compress when the electrical connections of the first and second connector ends are matingly engaged.

Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.

Abstract: A medical imaging system comprises a teleoperational assembly and a processing unit configured for receiving a roll position indicator for an imaging instrument coupled to the teleoperational assembly. The imaging instrument has a view angle other than 0° relative to an optical axis of the imaging instrument, and the imaging instrument is a stereoscopic imaging instrument including first and second image sources. The processing unit is further configured for: obtaining first image data from the imaging instrument at a first roll position; obtaining subsequent image data from the imaging instrument at a second roll position; and, responsive to a roll movement of the imaging instrument between the first and second roll positions, transitioning between presentation of the first image data on a user display and presentation of the subsequent image data on the user display. The transition includes changing a position of presentation of the first and second image sources.

Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.

Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.

Abstract: A method of controlling a vibration reduction member of a patient side cart for a teleoperated surgical system includes detecting an occurrence of a first event corresponding to preparation of the patient side cart for a surgical procedure, and issuing a command signal to an actuation device to deploy the vibration reduction member to contact a ground surface upon which the patient side cart is located.

Abstract: A cannula mount for a surgical system may include a body having an aperture to receive a portion of a cannula. The cannula mount may further include a pivotable clamping arm to engage the portion of the cannula received in the aperture. The clamping arm may include a cam follower surface. The cannula mount may further include a block moveable between a first position and a second position. The block may include a cam surface. The cam surface of the block may engage the cam follower surface of the clamping arm in the first position to actuate the clamping arm to a closed position in which the clamping arm engages the portion of the cannula received in the aperture. The clamping arm may be permitted to move to an open position in which the clamping arm does not engage the cannula when the block is in the second position.