Abstract: Integrated table motion includes a computer-assisted device. The computer-assisted device includes articulating means; means for receiving, via a means for communicatively coupling the computer-assisted device with a table means, a table movement request from a table command means, the table means being separate from the computer-assisted device; means for determining whether the table movement request should be allowed; and means for allowing the table means to perform the table movement request based on determining that the table movement request should be allowed.

Abstract: Integrated table motion includes a computer-assisted device. The computer-assisted device includes an articulated arm and a control unit coupled to the articulated arm. To support integrated motion with a table physically separate from and communicatively coupled to the computer-assisted device via a communications connection, the control unit is configured to receive a table movement request from a table command unit of the table, determine whether the table movement request should be allowed, and allow the table to perform the table movement request based on determining that the table movement request should be allowed.

Abstract: Techniques are disclosed for imaging device control in a computer-assisted device that includes a repositionable structure configured to support an imaging device, and a control system configured to determine a position of a first reference point associated with a first input modality; in a first mode, determine a position of a target reference point for the imaging device based on the first reference point; in a second mode, determine a position of a second reference point associated with a second input modality, and determine the position of the target reference point based on the position of the first reference point and the position of the second reference point; determine a movement of the first repositionable structure that moves the imaging device such that a third reference point associated with the imaging device moves toward the target reference point; and cause actuation of the repositionable structure based on the movement.

Abstract: Techniques are disclosed for imaging device control in a computer-assisted device that includes a repositionable structure configured to support an imaging device, and a control system coupled to the repositionable structure. The control system is configured to: determine a position of a reference point offset from a display unit, convert the position of the reference point to a target position of another reference point offset from the imaging device, determine a movement command of the first repositionable structure that moves the imaging device such that the another reference point moves toward the target position, and cause actuation of the repositionable structure based on the movement command.

Abstract: Embodiments relate to a computer-assisted robotic system, In some embodiments, the system includes a head input device, the head input device comprising a head input sensor configured to provide head input signals indicative of a an operator's head inputs, and a foot input device comprising a foot input sensor configured to provide foot input signals indicative of the operator's foot inputs. The system further includes a controller, configured to process the head input signals and the foot input signals, and identify, based on the processed head and foot input signals, that the operator has provided a combination of head and foot inputs corresponding to a steerable viewer mode activation command. The controller is further configured to cause the robotic system to enter a steerable viewer mode in response to identifying that the operator has provided a combination.

Abstract: Disturbance compensation in computer-assisted devices include an articulated arm comprising one or more first joints and one or more second joints and one or more processors coupled to the articulated arm. The articulated arm is configured to support an end effector. The one or more processors when executing instructions are configured to: detect a disturbance to the one or more first joints, the disturbance causing a point of interest associated with the end effector to move; determine a predicted motion of the point of interest based on the detected disturbance; and drive the one or more second joints to move the point of interest based on an error in a position of the point of interest indicated by the predicted motion.

Abstract: A computer-assisted device includes a first repositionable arm configured to support a first end effector, a second repositionable arm configured to support a second end effector, and a control unit. The control unit configured to monitor an actual motion of at least one structure selected from the group consisting of the first repositionable arm and the first end effector; determine a deviation between the actual motion and a desired motion of the at least one structure; and in response to determining that the deviation is greater than a deviation threshold, select whether to halt motion of the first repositionable arm and the first end effector or the second repositionable arm and the second end effector based on a mode of operation of the first repositionable arm the first end effector, the second repositionable arm, or a mode of operation of the second end effector.

Abstract: Disturbance compensation in computer-assisted devices include a first articulated arm configured to support an imaging device a second articulated arm configured to support an end effector, and a control unit coupled to the first articulated arm and the second articulated arm. The control unit is configured to set a first reference frame, where the first reference frame is based on a first position of the imaging device at a first time. The control unit is further configured to detect a first disturbance to the first articulated arm moving the imaging device away from the first position, receive a command to move the end effector, and transform the command to move the end effector from a command in the first reference frame to a command in a reference frame for the end effector.

Abstract: A computer-assisted device includes a first repositionable arm configured to support a first end effector, a second repositionable arm configured to support a second end effector, and a control unit. The control unit configured to monitor an actual motion of at least one structure selected from the group consisting of the first repositionable arm and the first end effector, determine a deviation threshold based on at least one parameter selected from the group consisting of a mode of operation of the first end effector and a mode of operation of the computer-assisted device, and in response to determining that the actual motion of the at least one structure deviates from a desired motion of the at least one structure by more than the deviation threshold, halt motion of the first repositionable arm and the first end effector or halt motion of the second repositionable arm and the second end effector.

Abstract: Techniques for maintaining instrument position and orientation include a computer-assisted device having a control unit and an articulated structure. The articulated structure includes a plurality of joints and is configured to support an instrument. The control unit is configured to determine an error that is introduced, by movement of a first joint of the plurality of joints, to a position of the instrument, an orientation of the instrument, or both the position of the instrument and the orientation of the instrument; and in response at least to determining that a second joint of the plurality of joints is at a range of motion limit or is about to reach the range of motion limit drive one or more joints of the plurality of joints to partially reduce the error, the one or more joints not comprising the second joint, and provide feedback that not all of the error is reduced.

Abstract: Techniques for monitoring control points of a computer-assisted device include one or more articulated arms having one or more control points and a control unit coupled to the one or more articulated arms. Each control point of the one or more control points is located based on a kinematic configuration of the one or more articulated arms. The control unit is configured to determine, during a movement of a table that causes a change in the kinematic configuration of the one or more articulated arms, an actual spatial configuration of the one or more control points; determine, based on a comparison of the actual spatial configuration with an expected spatial configuration of the one or more control points, whether to perform a remedial action; and perform the remedial action in response to a determination to perform the remedial action.

Abstract: Techniques for monitoring control points of a computer-assisted device include a first articulated arm associated with a first control point and a control unit coupled to the first articulated arm. The control unit is configured to determine a first expected path representative of expected positions of the first control point over time when a movement of the first control point is caused by a movement of a table that moves the first articulated arm, the table being separate from the computer-assisted device; determine a first actual path representative of actual positions of the first control point over time when the movement of the first control point is caused by the movement of the table; determine whether to perform a first remedial action based on the first actual path and the first expected path; and in response to a determination to perform the first remedial action, perform the first remedial action.

Abstract: A system and method of maintaining a tool position and orientation for a computer-assisted device include a control unit and an articulated structure coupled to the control unit and including a plurality of joints. The articulated structure is configured to support an instrument. The control unit is configured to determine an error that is introduced to a position of the instrument, an orientation of the instrument, or both the position of the instrument and the orientation of the instrument by movement of a first joint of the plurality of joints; and drive at least a second joint of the plurality of joints to reduce the error.

Abstract: Techniques for monitoring control points of a computer-assisted device include a first articulated arm associated with a first control point and a control unit coupled to the first articulated arm. The control unit is configured to determine a first expected path representative of expected positions of the first control point over time when a movement of the first control point is caused by a movement of a table that moves the first articulated arm, the table being separate from the computer-assisted device; determine a first actual path representative of actual positions of the first control point over time when the movement of the first control point is caused by the movement of the table; determine whether to perform a first remedial action based on the first actual path and the first expected path; and in response to a determination to perform the first remedial action, perform the first remedial action.

Abstract: A computer-assisted device includes a plurality of articulated arms and a control unit. Each articulated arm has a plurality of brakes. The control unit is configured to determine a plurality of timing windows based on a time period for brake release and a number of articulated arms comprising the plurality of articulated arms. The plurality of timing windows include a timing window for each articulated arm of the plurality of articulated arms. The control unit is further configured to determine, for each articulated arm of the plurality of articulated arms, an order for releasing brakes of the plurality of brakes of that articulated arm. The control unit is further configured to cause release of the brakes of the plurality of brakes of each of the plurality of articulated arms according to the determined order and the plurality of timing windows.

Abstract: Integrated table motion includes a computer-assisted device. The computer-assisted device includes an articulated arm and a control unit coupled to the articulated arm. To support integrated motion with a table physically separate from and communicatively coupled to the computer-assisted device via a communications connection, the control unit is configured to receive a table movement request from a table command unit of the table, determine whether the table movement request should be allowed, and allow the table to perform the table movement request based on determining that the table movement request should be allowed.

Abstract: Implementations relate to a moveable display system. In some implementations, a control unit includes a first support and a second support coupled to the first support. The second support is linearly translatable along a first axis in a first degree of freedom with respect to the first support, and at least a portion of the second support is linearly translatable along a second axis in a second degree of freedom with respect to the first support. The control unit includes a display unit rotatably coupled to the second support. The display unit is rotatable about a third axis in a third degree of freedom with respect to the second support, and the display unit includes a display device.

Abstract: Integrated table motion includes a device including a control unit and an arm having one or more joints and a distal portion. The control unit is configured to receive a table movement request from a separate table, determine whether to allow the table movement request based on one or more of whether a type of movement in the table movement request is permitted, whether one or more instruments mounted to the device are within a field of view of an imaging device, or whether one or more instruments mounted to the device are withdrawn into respective cannulas, allow the table to perform the table movement request based on the determining; track movement of the table while the table performs the table movement request; and maintain, using the joint(s) and based on the tracked movement of the table, a position and/or an orientation of the distal portion relative to the table.

Abstract: Implementations relate to a moveable display unit on a track. In some implementations, a control unit includes a support linkage including a first support coupled to a second support, a track member coupled to a distal portion of the second support, and a display unit coupled to the track member. The display unit includes a display device. The display unit is linearly translatable in first and second degrees of freedom provided by the support linkage. The display unit is rotatable, with respect to the second support, about a tilt axis in a third degree of freedom defined by the track member.

Abstract: Techniques for monitoring control points of a computer-assisted device include a first articulated arm associated with a first control point and a control unit coupled to the first articulated arm. The control unit is configured to determine a first expected path representative of expected positions of the first control point over time when a movement of the first control point is caused by a movement of a table that moves the first articulated arm, the table being separate from the computer-assisted device; determine a first actual path representative of actual positions of the first control point over time when the movement of the first control point is caused by the movement of the table; determine whether to perform a first remedial action based on the first actual path and the first expected path; and in response to a determination to perform the first remedial action, perform the first remedial action.