Abstract: Methods and systems for automatically augmenting an endoscope video for a task based on status data that describes the status of a surgical robot system that was used to at least partially perform the task. The system comprises an event detector and an augmenter. The event detector is configured to: receive the status data; and identify one or more patterns in the status data that indicate an event occurred during the task. The augmenter is configured to receive an endoscope video captured during the task, the endoscope video being time synchronised with the status data; and in response to the event detector identifying a pattern in the status data that indicates an event occurred, automatically augment metadata that forms part of or is associated with the endoscope video with information identifying the event and the time the event occurred with respect to the endoscope video.

Abstract: Described herein are techniques for reducing control flow divergence. The method includes identifying two or more shader programs having commonalities, generating a merged shader program that implements functionality of the identified two or more shader programs, wherein the functionality implemented includes a first execution option for a first shader program of the two or more shader programs and a second execution option for a second shader program of the two or more shader programs, modifying shader programs that call the first shader program to instead call the merged shader program and select the first execution option, modifying shader programs that call the second shader program to instead call the merged shader program and select the second execution option.

Abstract: A surgical robotic drape for enveloping a surgical robotic arm includes a covering for enveloping the robotic arm to define a sterile boundary thereover; an interface element attached to the covering, the interface element being configured to engage a drive assembly interface and an instrument interface to couple the drive assembly to an instrument to thereby provide drive to the instrument through the drape; and a guiding structure attached to the covering for locating the interface element relative to the drive assembly interface. The guiding structure is deformable between a storage configuration for when the drape is to be stored, and an operative configuration in which the guiding structure is configured to attach to the robotic arm to position the interface element with respect to the interface of the drive assembly for engagement therewith.

Abstract: This disclosure relates generally to downhole tools and, more particularly, embodiments related to incorporation of a pumpdown relief valve into a downhole tool that is responsive to changes in differential fluid pressure along a downhole tool. Disclosed is a system for pumpdown regulation in a wellbore. The system may include a downhole tool having a tool body with a tool head that is attachable to a line, the line being attached to a point at a surface of the wellbore. The system may further include a pumpdown relief valve coupled to the tool body that is operable to allow fluid to bypass the downhole tool in direct response to a differential fluid pressure across a length of the downhole tool.

Abstract: A downhole tool, comprising: a tool mandrel; a pad comprising a transmitter operable to transmit an electric current into a formation and a receiver operable to receive at least a portion of the electric current from transmitter; an extension from the tool mandrel that couples pad to tool mandrel; and a signal filter positioned in the downhole tool to suppress passage of mandrel leakage current that passes through tool mandrel to pad. A method of resistivity imaging, comprising: disposing a downhole tool into borehole; transmitting a current into formation surrounding the borehole with a transmitter that is extended from tool mandrel of the downhole tool towards borehole wall; and recording at least a portion of the current that returns to receiver of downhole tool, wherein a signal filter suppress passages of mandrel leakage current that passes through the tool mandrel to a pad on which the transmitter is disposed.

Abstract: In some embodiments, a negative pressure wound therapy device includes a negative pressure source and a controller configured to, in response to determining that the negative pressure source is directly fluidically connected to a wound dressing without a canister between the two, operate the negative pressure source in a first mode; otherwise, operate the negative pressure source in a second, different mode. The controller can be further configured to, in response to determining that a level of activity of the negative pressure source over a first time duration satisfies at least one of a leak or blockage condition, provide an indication of at least one of a leak or blockage and, in response to determining that the level of activity does not satisfy the at least one of the leak or blockage condition over a second time duration subsequent to the first time duration, discontinue providing the indication.

Abstract: A locator of a surgical port of a surgical robot system, the surgical robot system comprising an instrument attached to a robot arm, the instrument having an instrument shaft able to pass through the surgical port to a surgical site, the locator comprising: an interface configured to couple to the surgical port; a mechanism configured to permit relative linear and/or rotational motion of the interface and the instrument shaft; and a controller comprising a processor operable to estimate the position of a part of the robot arm, the controller configured to control the mechanism in dependence on the estimated position of the part of the robot arm such that as the robot arm retracts the instrument from the patient, the locator moves the port away from the robot arm and provides a reaction force to keep the port in place.

Abstract: A collar assembly comprising a collar comprising a duct receiving portion, a first seal positioned on an outer surface of the collar and a second seal positioned on an inner surface of the collar, wherein the collar comprises a plurality of collar portions sealingly connectable to one another to form the collar.

Abstract: A method and system for estimating a resistivity of a formation. A method for estimating a resistivity of a formation may comprise disposing a downhole tool into a borehole, wherein the downhole tool comprises a pad, an injector electrode, and a return electrode, injecting a current signal into the formation from the injector electrode, measuring a voltage signal between the injector electrode and the return electrode; and determining a formation resistivity and a formation dielectric constant from at least one of the voltage signal, at least one property of the downhole tool, and at least one property of the borehole. A system for estimating a resistivity of a formation may comprise a downhole tool. The downhole tool may comprise a pad, wherein the pad comprises an injector electrode and a return electrode. The system may further comprise a conveyance for disposing the downhole tool in a borehole and an information handling system.

Abstract: A method for characterising the environment of a robot, the robot having a flexible arm having a plurality of joints, a datum carried by the arm, a plurality of drivers arranged to drive the joints to move and a plurality of position sensors for sensing the position of each of the joints, the method comprising: contacting the datum carried by the arm with a first datum on a second robot in the environment of the first robot, wherein the second robot has a flexible arm having a plurality of joints, and a plurality of drivers arranged to drive those joints to move; calculating in dependence on the outputs of the position sensors a distance between a reference location defined in a frame of reference local to the robot and the first datum; and controlling the drivers to reconfigure the first arm in dependence on at least the calculated distance.

Abstract: Described herein are techniques for reducing divergence of control flow in a single-instruction-multiple-data processor. The method includes, at a point of divergent control flow, identifying control flow targets for different execution items, sorting the execution items based on the control flow targets, reorganizing the execution items based on the sorting, and executing after the point of divergent control flow, with the reorganized execution items.

Abstract: A surgical robotic system comprising: a surgical robot arm (7, 8, 9) having at least six degrees of freedom, the arm having a distal end for attachment to a surgical tool (5) and a proximal end; and a mounting structure (10, 11, 12) configured to mate to the proximal end of the arm for holding the proximal end of the arm spatially fixed, the mounting structure comprising an electrical connection for powering the surgical robot arm; wherein the system comprises a manually operable latching mechanism (6) whereby the arm can be attached to and released from the mounting structure.

Abstract: This disclosure describes a Descemet's membrane endothelial keratoplasty (DMEK) graft prepared using paired incisions; compositions including the incised DMEK graft; an injector including the incised DMEK graft; a viewing chamber including the incised DMEK graft, methods of preparing the incised DMEK graft; and methods of using the DMEK graft, the compositions, the injectors, and the viewing chambers including to facilitate placement of DMEK grafts during cornea transplant surgery.

Abstract: A robotic surgical instrument including: a shaft; an end effector including a first end effector element and a second end effector element; an articulation connecting the end effector to the shaft, the articulation including: a first joint driveable by a first pair of driving elements, the first joint permitting the end effector to rotate about a first axis transverse to a longitudinal axis of the shaft; a second joint driveable by a second pair of driving elements, the second joint permitting the first end effector element to rotate about a second axis transverse to the first axis; and a third joint driveable by a third pair of driving elements, the third joint permitting the second end effector element to rotate about the second axis; the robotic surgical instrument further including a pulley arrangement around which the second and third pairs of driving elements are constrained to move, the second and third pairs of driving elements having symmetrically opposing paths around the pulley arrangement.

Abstract: A robotic surgical instrument including: a shaft; an end effector element; an articulation connecting the end effector element to the shaft, the articulation including: joints permitting the end effector element to adopt a range of orientations relative to a longitudinal axis of the shaft; pairs of driving elements configured to drive the joints; a supporting body having a bevelled surface; and are directing pulley mounted on the bevelled surface such that the redirecting pulley rotates about a redirecting pulley axis transverse to the bevelled surface.

Abstract: A method for characterising the environment of a robot, the robot having a flexible arm having a plurality of joints, a datum carried by the arm, a plurality of drivers arranged to drive the joints to move and a plurality of position sensors for sensing the position of each of the joints, the method comprising: contacting the datum carried by the arm with a first datum on a second robot in the environment of the first robot, wherein the second robot has a flexible arm having a plurality of joints, and a plurality of drivers arranged to drive those joints to move; calculating in dependence on the outputs of the position sensors a distance between a reference location defined in a frame of reference local to the robot and the first datum; and controlling the drivers to reconfigure the first arm in dependence on at least the calculated distance.

Abstract: A robot comprising: a base; an articulated arm extending distally of the base and including two arm members coupled by a joint; a motor; a gearbox having an input shaft coupled to an output of the motor and an output shaft configured to drive relative motion of the arm members about the joint; a position sensor configured to sense relative position of the arm members about the joint; and a control system coupled to the arm configured to drive the motor, the control system being arranged to perform a calibration operation to estimate torque loss in the gearbox by the steps of (i) estimating the inertia of the portion of the arm distal of the joint for motion about the joint; (ii) applying a determined drive power to the motor; (iii) receiving from the position sensor position data indicating the motion of the arm in response to the applied drive power; and (iv) estimating the torque loss in the gearbox in dependence on the estimated inertia, the determined drive power and the position data.

Abstract: A robotic surgical instrument comprising: a shaft; an articulation at a distal end of the shaft for articulating an end effector, the articulation driveable by a pair of driving elements; and an instrument interface at a proximal end of the shaft, the instrument interface comprising an instrument interface element for driving the pair of driving elements, the instrument interface element displaceable over a first displacement range, the instrument interface element comprising a body receivable in a drive assembly interface element of a robot arm when the robotic surgical instrument engages with the surgical robot arm, the drive assembly interface element displaceable over a second displacement range, the length of the body in the displaceable direction being greater than one of the maximum travel of the body over the first displacement range and the maximum travel of the drive assembly interface element over the second displacement range.

Abstract: A robot comprising an arm extending between a base and an attachment for an end effector, the arm comprising: a first arm part; a second arm part distal of the first arm part; and a joint whereby the first and second arm parts are coupled together, the joint permitting the first and second arm parts to rotate relative to each other about at least two mutually offset axes; a control rod attached to the second part of the arm at a location spaced from the first and second axes, the control rod extending distally of that location along the first arm part; and a drive mechanism for driving the control rod to move relative to the first arm part and thereby alter the attitude of the second arm part relative to the first arm part.

Abstract: A self-heating or self-cooling towel is disclosed that includes a moistened cloth material surrounding and attached to a flexible reaction vessel which comprises two compartments containing reactants which are separated by a frangible seal. Manipulating the disclosed towel ruptures the frangible seal, joining the compartments and mixing the reactants, and causing an exothermic or endothermic reaction. The reaction heats or cools the moistened cloth-like outer material and keeps it at an elevated or depressed temperature for a period of time, during which the towel article may be used for various personal care, cleaning, medical, therapeutic, and other purposes.