Abstract: A control system for controlling a surgical robot by a surgeon console remote from the surgical robot, the control system being configured to: receive one or more state signal associated with a plurality of instruments, each of the plurality of instruments being attachable to the surgical robot, the one or more state signal indicating a selectability of each of the plurality of instruments for control by the surgeon console, and a control mode of each of the plurality of instruments from a group of modes, the group of modes comprising a manipulation mode in which an instrument of the plurality of instruments is controllable by the surgeon console, and a selection mode in which an instrument of the plurality of instruments is selectable for control by the surgeon console; determine a graphical arrangement of icons for display in dependence on the received one or more state signal, where each icon represents a respective one of the plurality of instruments, and output a display signal to cause the graphical arr

Abstract: Various aspects of the present disclosure generally relate to user devices. In some aspects, a user device may generate, using a fingerprint sensor of the user device, fingerprint information associated with a finger press of a user of the user device. The user device may authenticate the user in association with the fingerprint information. The user device may determine, in association with force information generated by a force sensor of the user device, an amount of force applied to a display screen of the user device by the finger press. The user device may perform, in association with authenticating the user, an action that is associated with the amount of force applied to the display screen. Numerous other aspects are described.

Abstract: A control system for controlling manipulation of a surgical instrument in response to manipulation of a remote surgeon input device at a remote surgeon's console, the surgical instrument being supported by a surgical robot arm, the surgical instrument comprising an end effector connected to a distal end of a shaft by an articulated coupling, the articulated coupling comprising one or more joints enabling the end effector to adopt a range of attitudes relative to the distal end of the shaft, the control system configured to: receive a command from an input actuated by a user to straighten the surgical instrument; and in response to the received command, to command driving forces to be applied to joint(s) of the articulated coupling to drive the instrument to adopt a predetermined configuration in which the profile of the end effector is most closely aligned with the profile of the distal end of the shaft.

Abstract: A dispensing unit for personal care products and personal protective equipment includes one or more dispensing assemblies contained within a single housing. The dispensing unit may contain dispensing assemblies that independently dispense two different types of products. Each dispensing assembly includes an actuator that mechanically injects a time delay between dispensings. Products are bundled together with support structures that are removed when the bundles are placed into a dispensing assembly.

Abstract: Various aspects of the present disclosure generally relate to wireless communication. In some aspects, a controller of a user device having a rollable display device may obtain fingerprint information associated with a user interaction with a contact area of the rollable display device. The controller may obtain touch information associated with the user interaction with the contact area of the rollable display device. The controller may output, based on the fingerprint information and the touch information, actuation information that causes actuation of a display extending component of the rollable display device to change an extension state of the rollable display device. Numerous other aspects are described.

Abstract: A method for controlling a mechanical system having a plurality of components interlinked by a plurality of driven joints, the method comprising: measuring torques or forces about or at the driven joints and forming a load signal representing the measured torques or forces; receiving a motion demand signal representing a desired state of the system; implementing an impedance control algorithm in dependence on the motion demand signal and the load signal to form a target signal indicating a target configuration for each of the driven joints; measuring the configuration of each of the driven joints and forming a state signal representing the measured configurations; and forming a set of drive signals for the joints by, for each joint, comparing the target configuration of that joint as indicated by the target signal to the measured configuration of that joint as indicated by the state signal.

Abstract: A method for limiting joint velocity of a plurality of joints of a surgical robotic system, the surgical robotic system comprising a robot having a base and an arm extending from the base to an attachment for an instrument, the arm comprising a plurality of joints whereby the configuration of the arm can be altered, the method comprising: obtaining joint states for a first group of k joints of the arm, where k>1; for each of the k joints: determining from the obtained joint state a permitted range of motion for that joint; deriving, using the permitted range of motion, a joint velocity limit for that joint; selecting the minimum joint velocity limit of the k joints to be a common joint velocity limit used to limit each of the k joints individually; and calculating drive signals for driving the k joints wherein the velocity of each of the k joints is limited using the common joint velocity limit.

Abstract: Methods, systems, and apparatus, including medium-encoded computer program products, for computer aided design of physical structures include, in at least one aspect, a fully automatic method of converting a generative design into an editable, watertight B-Rep by leveraging the generative solver input and representation to: (1) embed the exact input solid boundary surfaces where the design coincides with the input, (2) approximate everywhere else the design boundary with globally smooth, editable “organic” surfaces, and (3) join all surfaces to form a generative design output B-Rep.

Abstract: A control system configured to control manipulation of a surgical instrument in response to manipulation of a remote surgeon input device. The surgical instrument comprises an end effector having opposable first and second end effector elements connected to a shaft by an articulated coupling. The control system receives a command from the surgeon input device to both (i) change the orientation of the end effector, and (ii) open the first and second end effector elements relative to each other. In response to the command to change the orientation of the end effector, the control system determines an angle ? between the longitudinal axis of the articulated coupling and the end effector. In response to the command to open the first and second end effector elements, the control system determines an opening angle ? between the first and second end effector elements.

Abstract: An electrosurgical connection unit for a surgical robot arm to connect an electrosurgical instrument attached to the arm to an electrosurgical generator. The electrosurgical connection unit includes an input port connectable to the electrosurgical generator, the input port configured to receive a driving electrosurgical signal and output one or more activation signals; an output port connectable to the electrosurgical instrument, the output port configured to output the driving electrosurgical signal received on the input port; one or more activation switch units, wherein activation of an activation switch unit causes an activation signal to be output from the input port indicating a driving electrosurgical signal with a desired waveform is to be activated; and a control unit configured to selectively activate one of the one or more activation switch units in response to a control signal.

Abstract: A control system for a surgical robotic system, the surgical robotic system comprising a remote surgeon console and an articulated surgical robot arm comprising a series of joints extending from a base to a terminal end for attaching to an articulated surgical instrument. The control system comprises a central controller communicatively coupled to and remotely located from an arm controller of the surgical robot arm, the central controller also communicatively coupled to a surgeon input device of the surgeon console.

Abstract: Methods, systems, and apparatus, including medium-encoded computer program products, for computer aided design of physical structures include, in at least one aspect, a fully automatic method of converting a generative design into an editable, watertight B-Rep by leveraging the generative solver input and representation to: (1) embed the exact input solid boundary surfaces where the design coincides with the input, (2) approximate everywhere else the design boundary with globally smooth, editable “organic” surfaces, and (3) join all surfaces to form a generative design output B-Rep.

Abstract: An electrosurgical connection unit for a surgical robot arm to connect an electrosurgical instrument attached to the arm to an electrosurgical generator. The electrosurgical connection unit includes an input port connectable to the electrosurgical generator, the input port configured to receive a driving electrosurgical signal and output one or more activation signals; an output port connectable to the electrosurgical instrument, the output port configured to output the driving electrosurgical signal received on the input port; one or more activation switch units, wherein activation of an activation switch unit causes an activation signal to be output from the input port indicating a driving electrosurgical signal with a desired waveform is to be activated; and a control unit configured to selectively activate one of the one or more activation switch units in response to a control signal.

Abstract: Some disclosed methods involve controlling a display system to present one or more restricted access virtual buttons in a secure region. The restricted access virtual buttons may correspond to functionality of the apparatus or functionality of a software application for which access is restricted. Some disclosed methods involve controlling the display system to present one or more unrestricted access virtual buttons in a non-secure region. The unrestricted access virtual buttons may correspond to functionality of the apparatus or functionality of the software application for which access is not restricted. Responsive to the selection of a virtual button displayed in the secure region, some methods involve performing an authentication process and executing the functionality of the device or functionality of a software application for which access is restricted after successful authentication.

Abstract: An electrosurgical connection unit for a surgical robot arm to connect an electrosurgical instrument attached to the arm to an electrosurgical generator. The electrosurgical connection unit includes an input port connectable to the electrosurgical generator, the input port configured to receive a driving electrosurgical signal and output one or more activation signals; an output port connectable to the electrosurgical instrument, the output port configured to output the driving electrosurgical signal received on the input port; one or more activation switch units, wherein activation of an activation switch unit causes an activation signal to be output from the input port indicating a driving electrosurgical signal with a desired waveform is to be activated; and a control unit configured to selectively activate one of the one or more activation switch units in response to a control signal.

Abstract: A control system for a surgical robotic system, the surgical robotic system comprising a remote surgeon console and an articulated surgical robot arm comprising a series of joints extending from a base to a terminal end for attaching to an articulated surgical instrument. The control system comprises a central controller communicatively coupled to and remotely located from an arm controller of the surgical robot arm, the central controller also communicatively coupled to a surgeon input device of the surgeon console.

Abstract: A control system configured to control manipulation of a surgical instrument in response to manipulation of a remote surgeon input device. The surgical instrument comprises opposable first and second end effector elements connected to a shaft by an articulated coupling. The articulated coupling comprises a first joint driveable by a first pair of driving elements so as to permit the first end effector element to rotate, and a second joint driveable by a second pair of driving elements so as to permit the second end effector element to rotate.

Abstract: A method of controlling movement of the tip of a surgical endoscope from a first position (E) to an intermediate position (E?), the field of view from the tip of the endoscope being at an angle (?) relative to a longitudinal shaft of the endoscope, the method comprising: receiving a command to move from the first position in a first direction; identifying a nominal view point (N) from the tip of the endoscope in the first position; calculating a tip movement path from the first position based on the received command, the identified nominal view point and the angle (?); determining the intermediate position; and moving the tip to the intermediate position, the intermediate position being such that the nominal view point remains within the field of view from the tip.

Abstract: A surgical robot comprising a surgical robot arm and a surgical robot arm controller. The surgical robot arm comprises a set of joints and a joint controller. The joint controller is configured to drive a joint of the set of joints. The surgical robot arm controller comprises a processor and watchdog circuitry. The processor is configured to send joint driving signals to the joint controller on a communication link. The watchdog circuitry is configured to: receive sequence values from the processor; determine whether each received sequence value matches a next expected value of a predetermined sequence; and if the received sequence value does not match the next expected value of the predetermined sequence, disable the communication link between the processor and the joint controller.

Abstract: A surgical robot comprising: a surgical robot arm comprising: a series of joints extending from a base to a terminal end for attaching to a surgical instrument for inserting through a port into a patients body to a surgical site, the series of joints comprising a first set of joints, wherein for each joint of the first set of joints, there is a configuration of the surgical robot arm for which that joint experiences a gravitational torque or force and a movement of that joint complying with the gravitational torque or force would cause the surgical instrument to advance into the patients body towards the surgical site; and joint motors for driving the series of joints; and a robot arm controller configured to send drive signals to drive the joint motors, wherein the surgical robot arm controller is configured to, in response to detecting a power loss, send drive signals to drive the joint motors so as to hold the position of each joint of the first set ofjoints against gravity, thereby preventing the surgical