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 method comprises receiving an input coupling adjacent to a drive input, the drive input being driven by an actuating element, the input coupling being coupled to a joint output, the joint output being connected to a movable object. The method further comprises rotating the actuating element until a resistance torque is experienced by the actuating element and determining, based upon the resistance torque, whether the drive input has engaged the input coupling.

Abstract: A robotic medical system that includes a quick-connect/disconnect feature to facilitate the connecting and disconnecting of a robotic medical arm to and from a set-up arm is disclosed. The robotic medical system includes a robotic medical arm including an interface having a downward-oriented hook located at an upper portion thereof, and an electrical connector located at a lower portion thereof. The system further includes a set-up arm including an interface having an upward-oriented hook located at an upper portion thereof, and an electrical connector located at a lower portion thereof. To connect the robotic medical arm to the set-up arm, a user links the downward-oriented hook to the upward-oriented hook, and pivots the robotic medical arm until the respective electrical connectors mate with each other. To disconnect the robotic medical arm from the set-up arm, a user pivots the robotic medical arm to disconnect the electrical connectors, and then de-links the hooks.

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: A patient side cart for a teleoperated surgical system may include a base, a column connected to the base, a boom connected to the column, a manipulator arm connected to the boom, and a vibration reduction member. The manipulator arm may be configured to support a surgical instrument. The vibration reduction member may be configured to be moved between deployed and retracted positions relative to the base. The vibration reduction member may engage a ground surface in the deployed position and not be in contact with the ground surface in the retracted position. Various exemplary embodiments also relate to carts including a vibration reduction member and methods of controlling a vibration reduction member.

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.

Abstract: A robotic medical system that includes a quick-connect/disconnect feature to facilitate the connecting and disconnecting of a robotic medical arm to and from a set-up arm is disclosed. The robotic medical system includes a robotic medical arm including an interface having a downward-oriented hook located at an upper portion thereof, and an electrical connector located at a lower portion thereof. The system further includes a set-up arm including an interface having an upward-oriented hook located at an upper portion thereof, and an electrical connector located at a lower portion thereof. To connect the robotic medical arm to the set-up arm, a user links the downward-oriented hook to the upward-oriented hook, and pivots the robotic medical arm until the respective electrical connectors mate with each other. To disconnect the robotic medical arm from the set-up arm, a user pivots the robotic medical arm to disconnect the electrical connectors, and then de-links the hooks.

Abstract: Methods, apparatus, and systems for controlling a telesurgical system are disclosed. In accordance with a method, a first tool connected to a first manipulator of the system, and a second tool connected to a second manipulator of the system, are controlled. A swap of the tools such that the first tool is connected to the second manipulator and the second tool is connected to the first manipulator is then detected. The first tool connected to the second manipulator and the second tool connected to the first manipulator are then controlled.

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 n 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 method for their use are also provided.

Abstract: Methods, apparatus, and systems for controlling a telesurgical system are disclosed. In accordance with a method, a first tool connected to a first manipulator of the system, and a second tool connected to a second manipulator of the system, are controlled. A swap of the tools such that the first tool is connected to the second manipulator and the second tool is connected to the first manipulator is then detected. The first tool connected to the second manipulator and the second tool connected to the first manipulator are then controlled.

Abstract: A medical robotic system having non-ideal actuator-to-joint linkage characteristics, includes a control system including a proximal control loop with actuator sensor feedback to control dynamic response of an actuator coupled to a distal joint which in turn, is coupled to an end effector to provide a degree of freedom movement of the end effector, a distal control loop with distal joint sensor feedback and feedforward to the actuator to ensure steady-state convergence of the distal joint position, and an end effector control loop with end-point sensor feedback to control the end effector position to reach a commanded end effector position.

Abstract: Methods and systems for damping vibrations in a surgical system are disclosed herein. The surgical system can include one or several moveable set-up linkages. A damper can be connected with one or several of the set-up linkages. The damper can be a passive, active, or semi-active damper. 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 model and a feed-forward model.

Abstract: Methods and systems for damping vibrations in a surgical system are disclosed herein. The damping of these vibrations can increase the precision of surgery performed using the surgical system. The surgical system can include one or several moveable set-up linkages. A damper can be connected with one or several of the set-up linkages. The damper can be a passive damper and can mitigate a vibration arising in one or more of the set-up linkages. The damper can additionally prevent a vibration arising in one of the linkages from affecting another of the set-up linkages.

Abstract: A minimally invasive surgical instrument includes a U-turn mechanism that transmits actuating forces around a U-turn. The U-turn mechanism is coupled between segments of the instrument and has a bend radius that is smaller than flexible arms having a similar cross section diameter. The actuating forces transmitted by the U-turn mechanism are used to move distal components of the instrument, such as an end effector and a wrist mechanism.

Abstract: A robotic surgical system comprises a manipulator arm including a spring loaded input and a spring loaded plunger. The system also comprises a sterile adaptor. The sterile adaptor includes a housing, an electrical contact coupled to the housing, and a retractor plate assembly including a top retractor plate and a bottom retractor plate. The retractor plate assembly is movably disposed relative to the housing and adapted to engage the spring loaded plunger. The sterile adaptor also includes a disc captured between and rotatable relative to the top retractor plate and the bottom retractor plate. The disc has a first surface adapted to engage the spring loaded input and a second rotatable surface adapted to engage a surgical instrument in a sterile field.

Abstract: A medical robotic system having non-ideal actuator-to-joint linkage characteristics, includes a control system including a proximal control loop with actuator sensor feedback to control dynamic response of an actuator coupled to a distal joint which in turn, is coupled to an end effector to provide a degree of freedom movement of the end effector, a distal control loop with distal joint sensor feedback and feedforward to the actuator to ensure steady-state convergence of the distal joint position, and an end effector control loop with end-point sensor feedback to control the end effector position to reach a commanded end effector position.

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 n 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 method for their use are also provided.

Abstract: A latch mechanism selectively retains a first assembly to a second assembly. The first and second assemblies are configured for sliding engagement along an engagement axis. The latch mechanism includes a latch shaft mounted to the first assembly to rotate about a latch shaft axis, a torsion spring to bias the latch shaft relative to the first assembly, and a transverse latch member coupled with the second assembly. The latch mechanism is configured to automatically latch in response to the first assembly being pushed toward the second assembly. The transverse latch member interacts with the latch shaft to rotate the latch shaft in a first direction in response to movement of the first assembly toward the second assembly. Further motion of the first assembly toward the second assembly results in rotation of the latch shaft opposite to the first direction into a retention configuration that retains the transverse latch member.

Abstract: A medical robotic system having non-ideal actuator-to-joint linkage characteristics, includes a control system including a proximal control loop with actuator sensor feedback to control dynamic response of an actuator coupled to a distal joint which in turn, is coupled to an end effector to provide a degree of freedom movement of the end effector, a distal control loop with distal joint sensor feedback and feedforward to the actuator to ensure steady-state convergence of the distal joint position, and an end effector control loop with end-point sensor feedback to control the end effector position to reach a commanded end effector position.

Abstract: Methods, apparatus, and systems for controlling a telesurgical system are disclosed. In accordance with a method, a first tool connected to a first manipulator of the system, and a second tool connected to a second manipulator of the system, are controlled. A swap of the tools such that the first tool is connected to the second manipulator and the second tool is connected to the first manipulator is then detected. The first tool connected to the second manipulator and the second tool connected to the first manipulator are then controlled.