Abstract: The present disclosure provides a system and method for controlling an articulating member including a tool. The method includes determining a first confidence indicator based on a manual control mode for the articulating member, determining a second confidence indicator based on an autonomous control mode for the articulating member, generating an allocation function based on the first confidence indicator and the second confidence indicator, and generating a control command for the articulating member based on the allocation function.

Abstract: The present disclosure provides a system and method for controlling an articulating member including a tool. The system may include a dual camera system that captures near-infrared (NIR) images and point cloud images of a tissue or other substance that includes NIR markers. The system may generate a three-dimensional (3D) path based on identified positions of the NIR markers, may filter the generated path, and may generate a 3D trajectory for controlling the articulated arm of a robot having a tool to create an incision along the filtered path. In a shared control mode, an operator may generate manually control commands for the robot to guide the tool along such a path, while automated control commands are generated in parallel. One or more allocation functions may be calculated based on calculated manual and automated error models, and shared control signals may be generated based on the allocation functions.

Abstract: In some embodiments, systems and methods for remote trauma assessment are provided, a system comprising, a robot arm; an ultrasound probe and a depth sensor coupled to the robot arm; and a processor programmed to: cause the depth sensor to acquire depth data indicative of a three dimensional shape of at least a portion of a patient; generate a 3D model of the patient; automatically identify scan positions using the 3D model; cause the robot arm to move the ultrasound probe to a first identified scan position; receive movement information indicative of input provided via a remotely operated haptic device; cause the robot arm to move the ultrasound probe from the first scan position to a second position based on the movement information; cause the ultrasound probe to acquire ultrasound data at the second position; and transmit an ultrasound image based on the ultrasound data to the remote computing device.