Abstract: A method for attaching a surgical instrument to an instrument carriage includes engaging an instrument sterile adapter with an instrument carriage using a first latch mechanism of the instrument sterile adapter; and engaging a surgical instrument with the instrument sterile adapter using a second latch mechanism of the instrument sterile adapter. In an engaged state of the second latch mechanism with surgical instrument the first latch mechanism is not disengageable from the instrument carriage. The first latch mechanism and the second latch mechanism are coupled to a frame portion of the instrument sterile adapter via a connecting member.

Abstract: A build plate assembly for a three-dimensional printer includes: a lighting panel having individually addressable pixels configured to selectively emit light and/or transmit light from illumination below the pixels to a top surface top surface of the lighting panel; a rigid, optically transparent, gas-impermeable planar screen or base having an upper surface having an uneven surface topology and a lower surface that is affixed to the top surface of the lighting panel; and a flexible, optically transparent, gas-permeable sheet having upper and lower surfaces, the upper surface comprising a build surface for forming a three-dimensional object, the sheet lower surface positioned opposite the base, wherein the build plate is configured to permit gas flow to the build surface.

Abstract: A method of separating excess resin from at least one object, includes: (a) stereolithographically producing at least one object on at least one carrier platform, each carrier platform having a planar build surface to which at least one object is connected, each object carrying excess resin on a surface thereof; then (b) mounting each carrier platform to a rotor; (c) centrifugally separating excess resin from each object by spinning the rotor with each carrier platform connected thereto while each object remains connected to each carrier platform; and then (d) removing each carrier platform from the rotor with each object thereon, with excess resin separated therefrom.

Abstract: An instrument sterile adapter couples a surgical instrument and an instrument carriage. The instrument sterile adapter includes an instrument plate that provides a first surface to receive the surgical instrument and a latch plate joined to the instrument plate. The latch plate includes a second surface to receive the instrument carriage and latch structures. Each latch structure has a carriage latch arm that extends away from the second surface of the latch plate and an instrument latch arm joined to the carriage latch arm. The instrument latch arm extends through the instrument plate and away from the first surface of the instrument plate. A connecting member flexibly connects the carriage latch arm and the instrument latch arm to a remainder of the latch plate. The connecting member may be perpendicular to the latch arms. The latch arms may engage fixed locking surfaces in the instrument carriage and the surgical instrument.

Abstract: A method of separating excess resin from at least one object, includes: (a) stereolithographically producing at least one object on at least one carrier platform, each carrier platform having a planar build surface to which at least one object is connected, each object carrying excess resin on a surface thereof; then (b) mounting each carrier platform to a rotor; (c) centrifugally separating excess resin from each object by spinning the rotor with each carrier platform connected thereto while each object remains connected to each carrier platform; and then (d) removing each carrier platform from the rotor with each object thereon, with excess resin separated therefrom.

Abstract: In one embodiment of the invention, a robotic surgical system includes a combined laser imaging robotic surgical tool, a control console, and a laser generator/controller. The tool is mounted to a first robotic arm of a patient side cart. The tool has a wristed joint and an end effector coupled together. The end effector has a laser-emitting device to direct a laser beam onto tissue in a surgical site and an image-capturing device to capture images of the tissue in the surgical site. The control console, in communication with the tool, receives the captured images of tissue in the surgical site and displays the captured images on a display device to a user. The laser generator/controller is coupled to the tool and the control console to control the emission of the laser beam onto tissue of the surgical site.

Abstract: A medical robotic assembly configured to support, insert, retract, and actuate a surgical instrument. The medical robotic assembly includes a surgical instrument carriage configured for detachably mounting a surgical instrument to the surgical instrument carriage. The surgical instrument carriage includes a motor housing, a first output assembly in the motor housing, a second output assembly in the motor housing, a first sensor assembly configured to sense a rotational orientation of a first output drive coupling, and a second sensor assembly configured to sense a rotational orientation of a second output drive coupling.

Abstract: Minimally invasive surgical methods employ an offset drive shaft to actuate an end effector. A minimally invasive surgical method includes introducing an end effector to an internal surgical site. The end effector includes an end effector base that is coupled to the instrument shaft via a wrist. An end effector articulation mechanism is operated to reorient the end effector base relative to the instrument shaft. A surgical task is performed by operating a motor to rotate an offset drive shaft relative to the instrument shaft to actuate the end effector.

Abstract: A surgical instrument that can include a proximal control mechanism that includes an opening through which a resilient latch arm is inserted into the proximal control mechanism and engages a locking surface of a fixed latch structure contained within the proximal control mechanism; means for receiving a release tool through an outer periphery of the proximal control mechanism and beyond the opening through which the resilient latch arm enters the proximal control mechanism, the means for receiving the release tool remaining uncovered when the resilient latch arm is attached to the fixed latch structure, and means for providing a fulcrum for the release tool on the outer periphery of the proximal control mechanism such that the release tool can release the surgical instrument by prying the resilient latch arm away from the locking surface of the fixed latch structure using the release tool as a lever.

Abstract: A system includes first and second manipulating means, and a means for detecting mounting of an imaging means to the first manipulating means, a means for determining a first reference frame for the imaging means while the imaging means is mounted to the first manipulating means, a means for controlling a tool means relative to the first reference frame by maintaining a position and orientation of a distal portion of the tool means relative to the imaging means in the first reference frame based on a position and orientation of an input means relative to a display means, a means for detecting mounting of the imaging means to the second manipulating means, a means for determining a second reference frame for the imaging means while the imaging means is mounted to the second manipulating means, and a means for controlling the tool means relative to the second reference frame.

Abstract: A medical robotic assembly configured to support, insert, retract, and actuate a surgical instrument. The medical robotic assembly includes a surgical instrument carriage configured for detachably mounting a surgical instrument to the surgical instrument carriage. The surgical instrument carriage includes a motor housing, a first output assembly in the motor housing, a second output assembly in the motor housing, a first sensor assembly configured to sense a rotational orientation of a first output drive coupling, and a second sensor assembly configured to sense a rotational orientation of a second output drive coupling.

Abstract: A surgical instrument includes a proximal control mechanism. The proximal control mechanism has an opening through which a resilient latch arm can be inserted to engage a locking surface of a fixed latch structure contained within the proximal control mechanism. The resilient latch arm is contained entirely within the proximal control mechanism when engaged. A release channel extends from an outer periphery of the proximal control mechanism to the resilient latch arm entrance opening. The release channel provides a passage through which a release tool can be inserted to engage the resilient latch arm and provides a fulcrum for the release tool where the release channel is joined to the outer periphery of the proximal control mechanism. The surgical instrument can be released by prying the resilient latch arm away from the locking surface of the fixed latch structure with the release tool used as a lever on the fulcrum.

Abstract: Implementations relate to actuated grips for a controller. In some implementations, a controller includes a central member, a grip member coupled to the central member and moveable in a grip degree of freedom, a shaft coupled to the grip member, and an actuator coupled to the shaft and operative to output an actuator force on the shaft. The actuator force causes a grip force to be applied via the shaft to the grip member in the grip degree of freedom.

Abstract: Inter-operative switching of tools in a robotic system includes a system with a plurality of manipulators and a controller. The controller is configured to detect mounting of a first imaging device to a first manipulator of the plurality of manipulators, the first imaging device having a first reference frame; in response to detecting the mounting of the first imaging device, control a tool relative to the first reference frame using a second manipulator of the plurality of manipulators, the tool being mounted to the second manipulator; detect mounting of a second imaging device to a third manipulator of the plurality of manipulators, the second imaging device having a second reference frame; and in response to detecting the mounting of the second imaging device, control the tool relative to the second reference frame using the second manipulator.

Abstract: A method of engaging a medical instrument with a medical instrument manipulator comprises receiving an indication that a first input coupling of the medical instrument is positioned adjacent to a first drive output of the manipulator. The first drive output is driven by a first actuating element. In response to receiving the indication, the first drive output is rotated in a first rotational direction. A determination is made, by one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating the first drive output in the first rotational direction. If the resistance torque is not experienced by the first actuating element after rotating of the first drive output in the first rotational direction, the first drive output is rotated in a second rotational direction.

Abstract: Minimally invasive surgical methods employ an offset drive shaft to actuate an end effector. A minimally invasive surgical method includes introducing an end effector to an internal surgical site. The end effector includes an end effector base that is coupled to the instrument shaft via a wrist. An end effector articulation mechanism is operated to reorient the end effector base relative to the instrument shaft. A surgical task is performed by operating a motor to rotate an offset drive shaft relative to the instrument shaft to actuate the end effector.

Abstract: Implementations relate to actuated grips for a controller. In some implementations, a controller includes a central member, a grip member coupled to the central member and moveable in a grip degree of freedom, a shaft coupled to the grip member, and an actuator coupled to the shaft and operative to output an actuator force on the shaft. The actuator force causes a grip force to be applied via the shaft to the grip member in the grip degree of freedom.

Abstract: A medical system includes a control system and an instrument manipulator. The instrument manipulator is configured to receive an instrument and includes a first drive output and a first actuating element configured to drive movement of the first drive output. The first drive output is configured to drive a first input coupling of the instrument. The control system is configured to receive an indication that the first input coupling of the instrument is positioned adjacent to the first drive output of the manipulator, in response to receiving the indication, command the first actuating element to cause movement of the first drive output, receive a feedback associated with a force experienced by the first actuating element during the movement of the first drive output, determine an instruction signal for the first actuating element based on the feedback, and transmit the instruction signal to the first actuating element.

Abstract: A medical instrument comprises an instrument control surface configured to mate with an instrument sterile adapter to receive input drive forces through the sterile adapter to control actuation of the surgical instrument, the instrument control surface comprising a first opening defined in the instrument control surface. A latch structure of the instrument comprises a locking surface configured to engage a latch arm in response to the latch arm being received in the opening, wherein in an engaged state of the latch arm with the locking surface the medical instrument is attached to the instrument sterile adapter and the latch structure prevents movement of the latch arm in a first direction. A latch release is moveable in the engaged state of the latch arm with the locking surface to exert a force causing movement of the latch arm in a second direction to disengage the latch arm from the locking surface.

Abstract: A method of separating excess resin from at least one object, includes: (a) stereolithographically producing at least one object on at least one carrier platform, each carrier platform having a planar build surface to which at least one object is connected, each object carrying excess resin on a surface thereof; then (b) mounting each carrier platform to a rotor; (c) centrifugally separating excess resin from each object by spinning the rotor with each carrier platform connected thereto while each object remains connected to each carrier platform; and then (d) removing each carrier platform from the rotor with each object thereon, with excess resin separated therefrom.