Abstract: Methods, systems, and devices for calibrating a medical instrument are discussed herein. For example, a first instrument can be configured to access an anatomical site via a first access path and a second instrument can be configured to access the anatomical site via a second access path. The second instrument can include an imaging component configured to provide image data representative of the anatomical site and the first instrument. A difference can be identified between a first coordinate frame associated with the first instrument and a second coordinate frame associated with the second instrument. A control frame of reference associated with the first instrument can be updated based at least in part on the difference.

Abstract: A robotic system includes a robotic manipulator configured to: manipulate a medical instrument having a basket; open the basket at a first opening speed and a second, faster opening speed; and close the basket at a first closing speed and a second, faster closing speed. The system includes an input device configured to receive one or more user interactions and initiate one or more actions by the robotic manipulator, including directly controlled movement and/or pre-programmed motions. Control circuitry of the robotic system is configured to: in response to receiving a first user interaction via the input device, trigger a first pre-programmed motion of the robotic manipulator to open the basket at the second, faster opening speed; and in response to receiving a second user interaction via the input device, trigger a second pre-programmed motion to close the basket at the second, faster closing speed.

Abstract: Methods, systems, and devices for controlling a medical instrument are discussed herein. For example, image data can be received from a first instrument that is configured to access an anatomical site via a first access path. The image data can be representative of the anatomical site and a second instrument that is configured to access the anatomical site via a second access path. A visual representation of the image data can be displayed in a user interface and a first directional input signal can be received from an input device. An orientation of the first instrument relative to the second instrument can be determined. Movement of the second instrument can be controlled based at least in part on the first directional input signal and the orientation of the first instrument relative to the second instrument.

Abstract: A robotic system capable of performing a protrusion calibration of an endoscope is disclosed herein. The endoscope includes an elongated scope with a sensor proximate a distal end and a tubular sheath, coaxially aligned with the elongated scope, which surrounds the elongated scope. The sheath and scope are movable relative to one another on a coaxial axis. The sensor may be a camera capable of capturing an opening formed by an inner lumen of the sheath positioned at a distal end of the sheath when the scope is retracted into the sheath such that the opening is made visible to the camera. A transition position where the sheath becomes visible from hidden may be detected based on analysis of readings from the sensor. Based on the transition position, distal ends of the sheath and the scope can be calibrated to provide a particular protrusion.

Abstract: A surgical robotic system automatically calibrates tubular and flexible surgical tools such as endoscopes. By compensating for unideal behavior of an endoscope, the surgical robotic system can accurately model motions of the endoscope and navigate the endoscope while performing a surgical procedure on a patient. During calibration, the surgical robotic system moves the endoscope to a target position and receives data describing an actual position and/or orientation of the endoscope. The surgical robotic system determines gain values based at least on the discrepancy between the target position and the actual position. The endoscope can include tubular components referred to as a sheath and leader. An instrument device manipulator of the surgical robotic system actuates pull wires coupled to the sheath and/or the leader, which causes the endoscope to articulate.

Abstract: Systems and methods for electromagnetic (EM) distortion detection and compensation are disclosed. In one aspect, the system includes an instrument, the system configured to: determine a reference position of the distal end of the instrument at a first time based on EM location data, determine that the distal end of the instrument at a second time is static, and determine that the EM location data at the second time is indicative of a position of the distal end of the instrument having changed from the reference position by greater than a threshold distance. The system is further configured to: determine a current offset based on the distance between the position at the second time and the reference position at the first time, and determine a compensated position of the distal end of the instrument based on the EM location data and the current offset.

Abstract: Methods, systems, and devices for calibrating a medical instrument are discussed herein. For example, a first instrument can be configured to access an anatomical site via a first access path and a second instrument can be configured to access the anatomical site via a second access path. The second instrument can include an imaging component configured to provide image data representative of the anatomical site and the first instrument. A difference can be identified between a first coordinate frame associated with the first instrument and a second coordinate frame associated with the second instrument. A control frame of reference associated with the first instrument can be updated based at least in part on the difference.

Abstract: Methods, systems, and devices for controlling a medical instrument are discussed herein. For example, image data can be received from a first instrument that is configured to access an anatomical site via a first access path. The image data can be representative of the anatomical site and a second instrument that is configured to access the anatomical site via a second access path. A visual representation of the image data can be displayed in a user interface and a first directional input signal can be received from an input device. An orientation of the first instrument relative to the second instrument can be determined. Movement of the second instrument can be controlled based at least in part on the first directional input signal and the orientation of the first instrument relative to the second instrument.

Abstract: Certain aspects relate to systems and techniques for docking medical instruments. For example, a medical system can include an instrument drive mechanism having a drive output that rotates and engages a corresponding drive input on a robotic medical instrument, a motor configured to rotate the drive output, and a torque sensor configured to measure torque imparted on the drive output. The robotic medical instrument can include a pre-tensioned pull wire actuated by the drive input. The system can activate the motor associated with the drive output to rotate the drive output in response to a torque signal from the torque sensor associated with the drive output in order to align the drive output with the drive input.

Abstract: Disclosed herein are systems and techniques for compensating for insertion of an instrument into a working channel of another instrument in a surgical system. According to one embodiment, a method of compensation includes: detecting insertion of an insertable instrument into a working channel of a flexible instrument; detecting, based on a data signal from at least one sensor, a position change of a distal portion of the flexible instrument from an initial position: generating a control signal based on the detected position change; and adjusting a tensioning of a pull wire based on the control signal to return the distal portion to the initial position.

Abstract: A robotic system includes one or more robotic manipulators, one or more actuators associated with at least one of the one or more robotic manipulators, one or more sensors associated with the one or more robotic manipulators and configured to generate signals indicating a force experienced by the one or more actuators, and control circuitry communicatively coupled to the one or more robotic manipulators and the one or more sensors. The control circuitry is configured to cause the basket device to advance and retract in a dithering motion, while the basket device is moving in the dithering motion, receive the signals from the one or more sensors indicating the force experienced by the one or more actuators, determine that the force is greater than a predetermined threshold, and execute a responsive action in response to the determination that the force is greater than the predetermined threshold.

Abstract: Certain aspects relate to systems and techniques for compensating for compression in elongated shafts of medical instruments. Medical instruments can include elongated shafts that may experience compression when articulated. The medical instruments can be attached to instrument positioning devices that are configured to move the medical instruments to compensate for this compression. For example, an instrument positioning device can advance a medical instrument to compensate for compression in an elongated shaft of the medical instrument. In some instances, the amount of compression is determined using a compression compensation parameter. The compression compensation parameter can be determined during a calibration process of the medical instrument.

Abstract: A method of detecting a stuck basket condition involves retracting an endoscope within an anatomical cavity of a patient, the endoscope having a basket device disposed at least partially within a working channel thereof, determining that a force reading associated with at least one of the basket device and the endoscope exceeds a predetermined threshold, and determining that the basket device is in a stuck condition based at least in part on the determination that the force reading exceeds the predetermined threshold.

Abstract: A robotic system includes an instrument comprising an outer body and an inner body configured to be driven through a lumen in the outer body, one or more instrument manipulators configured to control movement of the outer and inner bodies, and one or more computer devices configured to store data representing a model of at least a portion of a luminal network, a position of a target with respect to the luminal network, and a path to the target, identify a portion of the luminal network along the path having a shape matching a park assistance signature, and cause an output to be provided indicating an outer body parking position corresponding to the identified portion of the luminal network.

Abstract: A robotic system comprises a robotic arm and a medical instrument. The robotic arm comprises a series of linkages connected by a series of joints and one or more instrument drivers coupled to a distal end of the series of linkages. The medical instrument comprises an elongated shaft extending between a distal portion and a proximal portion, an instrument base connected to the proximal portion of the elongated shaft, the instrument base including an attachment interface configured to facilitate attachment to the robotic arm, a non-transitory computer readable medium storing a compression compensation parameter, and a pull wire connected to the distal portion of the elongated shaft, the pull wire extending along the elongated shaft between the distal portion and a drive input positioned at the instrument base, the drive input configured to actuate the pull wire to cause movement of the elongated shaft.

Abstract: Certain aspects relate to systems and techniques for luminal network navigation. Some aspects relate to incorporating respiratory frequency and/or magnitude into a navigation system to implement patient safety measures. Some aspects relate to identifying, and compensating for, motion caused by patient respiration in order to provide a more accurate identification of the position of an instrument within a luminal network.

Abstract: A robotic system includes an end effector comprising one or more drive outputs configured to cause articulation of an elongate shaft of an instrument coupled to the end effector, a memory, and a memory storing computer-executable instructions, that when executed, cause the processor to: determine a pulley rotation, when applied to a pulley coupled to the elongate shaft by the end effector, expected to articulate the elongate shaft to a desired articulation, drive the one or more drive outputs based at least in part on the pulley rotation, monitor tension on one or more pull wires coupled to the pulley, and controlling the one or more drive outputs based at least in part on the tension.

Abstract: Methods, systems, and devices for controlling a medical instrument are discussed herein. For example, image data can be received from a first instrument that is configured to access an anatomical site via a first access path. The image data can be representative of the anatomical site and a second instrument that is configured to access the anatomical site via a second access path. A visual representation of the image data can be displayed in a user interface and a first directional input signal can be received from an input device. An orientation of the first instrument relative to the second instrument can be determined. Movement of the second instrument can be controlled based at least in part on the first directional input signal and the orientation of the first instrument relative to the second instrument.

Abstract: Certain aspects relate to systems and techniques for driving a medical instrument having an inner body and an outer body. In one aspect, a system includes a medical instrument comprising an outer body and an inner body configured to be driven through a lumen in the outer body. The system may further include a set of one or more instrument manipulators configured to control movement of the outer and inner bodies and a set of one or more processors configured to: receive a change drive mode command, and in response to receiving the change drive mode command, change a drive mode of the medical instrument from a paired drive mode to an unpaired drive mode.

Abstract: Systems and methods for electromagnetic (EM) distortion detection and compensation are disclosed. In one aspect, the system includes an instrument, the system configured to: determine a reference position of the distal end of the instrument at a first time based on EM location data, determine that the distal end of the instrument at a second time is static, and determine that the EM location data at the second time is indicative of a position of the distal end of the instrument having changed from the reference position by greater than a threshold distance. The system is further configured to: determine a current offset based on the distance between the position at the second time and the reference position at the first time, and determine a compensated position of the distal end of the instrument based on the EM location data and the current offset.