Abstract: A highly intuitive physician input device for communication with a minimally invasive endoscopic concentric tube surgical robot. The physician input device can comprise a user interface handle assembly, a user interface linear joint assembly, a user interfaced bearing block assembly, and a user interface base assembly, and sensors distributed throughout to measure each of these axes, possibly redundantly for safety. Due to the network of sensors and encoders built in to the physician input device, it is capable of triggering a movement in the endoscopic concentric tube robot corresponding to that of the movements made on the physician input device. There are at least four movement controls the physician input device is capable of communicating to the concentric tube robot, those being translation, pan, tilt, and axial rotation. In some embodiments a fifth control includes actuation of a tool such as a gripper.

Abstract: An insertable robot for minimally invasive surgery includes a tube array having a guide tube housed within a straightening tube. The guide tube includes a curved working end. The guide tube may be axially translated and rotated relative to the straightening tube such that the curved working end is constrained inside the straightening tube, causing the curved working end to achieve a smaller dimension. The tube array is inserted into a working channel on an endoscope, resectoscope or trocar. Once the tube array is inserted, the curved working end of the guide tube is translated forward beyond the distal end of the working channel, allowing the curved working end to return to its pre-formed shape. A surgical tool is inserted through the guide tube for an operation. The straightening tube allows the guide tube curved working end to be temporarily straightened during insertion and removal of the tube array.

Abstract: An insertable robot for minimally invasive surgery includes a tube array having a guide tube housed within a straightening tube. The guide tube includes a curved working end. The guide tube may be axially translated and rotated relative to the straightening tube such that the curved working end is constrained inside the straightening tube, causing the curved working end to achieve a smaller dimension. The tube array is inserted into a working channel on an endoscope, resectoscope or trocar. Once the tube array is inserted, the curved working end of the guide tube is translated forward beyond the distal end of the working channel, allowing the curved working end to return to its pre-formed shape. A surgical tool is inserted through the guide tube for an operation. The straightening tube allows the guide tube curved working end to be temporarily straightened during insertion and removal of the tube array.

Abstract: An insertable robot for minimally invasive surgery includes a tube array having a guide tube housed within a straightening tube. The guide tube includes a curved working end. The guide tube may be axially translated and rotated relative to the straightening tube such that the curved working end is constrained inside the straightening tube, causing the curved working end to achieve a smaller dimension. The tube array is inserted into a working channel on an endoscope, resectoscope or trocar. Once the tube array is inserted, the curved working end of the guide tube is translated forward beyond the distal end of the working channel, allowing the curved working end to return to its pre-formed shape. A surgical tool is inserted through the guide tube for an operation. The straightening tube allows the guide tube curved working end to be temporarily straightened during insertion and removal of the tube array.

Abstract: The present disclosure is directed to performing work on a working surface based on a desired path using a working member. The disclosed system advances the working member with respect to the desired path using a first positioning system and a second positioning system. The first positioning system comprises a frame and actuators operable to advance the working member with respect to a portion of the desired path within an adjustment region. The second positioning system comprises actuators operable to move the frame. By moving the frame using the second positioning system, the first positioning system advances the working member with respect to a portion of the desired path that was outside the adjustment region before the frame was moved.

Abstract: A position sensing tool for enabling topographical measurements of a working surface is provided. The tool includes sensors for mapping the tool environment and for positioning of the tool within the environment. The tool enables tracking of tool activity within the environment. The tool enables design and fabrication collaboration with other computer systems. The tool enables user and tool environment safety using tool positional, user position and tool environment awareness. Certain embodiments of the tool permit automated guidance of tasks in the tool environment.

Abstract: A position sensing tool for enabling topographical measurements of a working surface is provided. The tool includes sensors for mapping the tool environment and for positioning of the tool within the environment. The tool enables tracking of tool activity within the environment. The tool enables design and fabrication collaboration with other computer systems. The tool enables user and tool environment safety using tool positional, user position and tool environment awareness. Certain embodiments of the tool permit automated guidance of tasks in the tool environment.

Abstract: A system for performing minimally invasive surgery includes a holding arm, a holding arm interface, an actuation unit detachably disposed on the holding arm interface, and an endoscopic sheath assembly disposed on the holding arm interface opposite the actuation unit. The actuation unit includes a component bay configured to receive a camera, lens and first and second removable and disposable cartridges. Each cartridge includes a concentric tube array extending therefrom, each array including at least one guide tube and a surgical tool disposed inside the guide tube. Numerous safety and communication features are disposed on the various components of the system to ensure failsafe operation and to prevent damage to equipment or harm to patients.

Abstract: A minimally invasive surgery device includes a guide tube with a highly-curved distal end housed within a channel. The highly-curved distal end is configured with a curvature optimized for improved triangulation in a tissue workspace. The highly-curved distal end of the guide tube extends from a curved channel inside an endoscopic device on a surgical robot. The combination of the curved channel and the highly-curved distal end of the guide tube provides improved maneuverability in the workspace. In some embodiments, the highly-curved distal end includes nitinol and shapeset to a desired curvature. The highly-curved distal ends may be curved to achieve a stable shape with repeatable performance. In some embodiments, each first and second guide tube includes a double-curvature configuration.

Abstract: A highly intuitive physician input device for communication with a minimally invasive endoscopic concentric tube surgical robot. The physician input device can comprise a user interface handle assembly, a user interface linear joint assembly, a user interfaced bearing block assembly, and a user interface base assembly, and sensors distributed throughout to measure each of these axes, possibly redundantly for safety. Due to the network of sensors and encoders built in to the physician input device, it is capable of triggering a movement in the endoscopic concentric tube robot corresponding to that of the movements made on the physician input device. There are at least four movement controls the physician input device is capable of communicating to the concentric tube robot, those being translation, pan, tilt, and axial rotation. In some embodiments a fifth control includes actuation of a tool such as a gripper.

Abstract: The present disclosure is directed to performing work on a working surface based on a desired path using a working member. The disclosed system advances the working member with respect to the desired path using a first positioning system and a second positioning system. The first positioning system comprises a frame and actuators operable to advance the working member with respect to a portion of the desired path within an adjustment region. The second positioning system comprises actuators operable to move the frame. By moving the frame using the second positioning system, the first positioning system advances the working member with respect to a portion of the desired path that was outside the adjustment region before the frame was moved.

Abstract: An insertable robot for minimally invasive surgery includes a tube array having a guide tube housed within a straightening tube. The guide tube includes a curved working end. The guide tube may be axially translated and rotated relative to the straightening tube such that the curved working end is constrained inside the straightening tube, causing the curved working end to achieve a smaller dimension. The tube array is inserted into a working channel on an endoscope, resectoscope or trocar. Once the tube array is inserted, the curved working end of the guide tube is translated forward beyond the distal end of the working channel, allowing the curved working end to return to its pre-formed shape. A surgical tool is inserted through the guide tube for an operation. The straightening tube allows the guide tube curved working end to be temporarily straightened during insertion and removal of the tube array.

Abstract: A position sensing tool for enabling topographical measurements of a working surface is provided. The tool includes sensors for mapping the tool environment and for positioning of the tool within the environment. The tool enables tracking of tool activity within the environment. The tool enables design and fabrication collaboration with other computer systems. The tool enables user and tool environment safety using tool positional, user position and tool environment awareness. Certain embodiments of the tool permit automated guidance of tasks in the tool environment.

Abstract: Arrangements for bone conduction transducers (BCTs) that couple to wearable devices are described herein. An example BCT couples to a wearable device via a moveable member, and is arranged on the wearable such that the BCT member moves so as to provide an indication as to whether or not the wearable device is being worn.

Abstract: Arrangements for bone conduction transducers (BCTs) that couple to wearable devices are described herein. An example BCT couples to a wearable device via a moveable member, and is arranged on the wearable such that the BCT member moves so as to provide an indication as to whether or not the wearable device is being worn.

Abstract: Arrangements for bone conduction transducers (BCTs) that couple to wearable devices are described herein. An example BCT couples to a wearable device via a moveable member, and is arranged on the wearable such that the BCT member moves so as to provide an indication as to whether or not the wearable device is being worn.

Abstract: An example method includes detecting a signal that represents a strain of a frame of a wearable computing device and causing the wearable computing device to perform a function based on the detected signal. The method may also include generating a representation of the detected signal, comparing the representation of the signal to a threshold value, and causing the wearable computing device to perform a function based on the comparison to the threshold value. An example wearable computing device and an example non-transitory computer readable medium related to the example method are also disclosed herein.

Abstract: An example of a waterproof hinge and button configuration for a head mounted device is provided. A magnet may be attached to the button, and a sensor may be positioned adjacent to the button to detect movement of the button. For example, the sensor may detect when the button is fully pressed, partially pressed, or not pressed at all by the level of magnetic flux density detected by the sensor. In addition, the sensor may detect an opened or closed position of the hinge based on the magnetic field polarity of the magnet. Due to the implementation of the sensor, the electrical components of the button are able to be removed so as to make the button-hinge configuration waterproof.