Abstract: A system for determining relative positions of subsystems of a robot-assisted surgical system includes a subsystem component including a plurality of manipulator arms and a surgeon console. Each subsystem component includes at least one of an optical tracker and a light emitter. Image data from the optical trackers is analyzed to determine the relative positions of the subsystems.

Abstract: A user input system for providing input to a robotic surgical system for use in commanding motion of the robotic manipulator utilizes a surgeon input tool configured to be worn or held by a user. The surgeon input tool includes a plurality of LEDs, each emitting at different blink frequency and duty cycle. Event-based cameras disposed around a surgeon console are used to capture user movement of the surgeon input tool. The system receives input from the event cameras in response to sensing of light from the LEDs on the surgeon input tool, and uses that information to estimated position and/or orientation of the surgeon input tool. Motion commands corresponding to desired movement of the surgical instrument by the robotic manipulator arm are generated based on the estimated position or pose.

Abstract: A surgical robotic manipulator includes a proximal assembly having a vertical column and a horizontal boom, and proximal joints in a prismatic-revolute-prismatic configuration allowing the horizontal boom to be raised, lowered and rotated about the vertical axis of the column. A distal assembly carries an instrument receiver configured to receive a surgical instrument. Joints of the distal assembly are configured to maneuver the surgical instrument in an additional four degrees of freedom.

Abstract: A system for determining relative positions of subsystems of a robot-assisted surgical system includes a subsystem component including a plurality of manipulator arms and a surgeon console. Each subsystem component includes at least one of an optical tracker and a light emitter. Image data from the optical trackers is analyzed to determine the relative positions of the subsystems.

Abstract: A waterjet necrosectomy device for providing a controllable waterjet force capable of fragmenting necrosis without damage to healthy tissue. The device includes a housing having an actuator and a connector coupled to the housing. The connector includes a first channel and a second channel. The device also includes a length of tubing coupled to the connector, a nozzle coupled to the tubing, and a wire extending through the housing, the connector, and the tubing, the wire being configured to articulate the nozzle upon movement of the actuator.

Abstract: Systems and methods are provided for controlling lateral movement of a medical capsule system. A capsule housing is configured to be inserted into an anatomical structure of a patient. The multichannel tether is coupled to a rear of the capsule and includes at least one liquid exhaust channel conveying liquid to the capsule housing. The plurality of liquid exhaust ports are positioned around an outer circumference of the capsule housing and each configured to controllably expel liquid laterally from the capsule housing at varying rates to affect lateral movement of the capsule housing.

Abstract: Systems and methods are provided for controlling lateral movement of a medical capsule system. A capsule housing is configured to be inserted into an anatomical structure of a patient. The multichannel tether is coupled to a rear of the capsule and includes at least one liquid exhaust channel conveying liquid to the capsule housing. The plurality of liquid exhaust ports are positioned around an outer circumference of the capsule housing and each configured to controllably expel liquid laterally from the capsule housing at varying rates to affect lateral movement of the capsule housing.