Abstract: A computer-assisted medical system includes robotic manipulators, a user input system operable to generate signals to control the manipulators, and a controller configured to execute instructions to perform operations. A portion of the user input system is movable relative to the plurality of manipulators. The operations include, in a pairing mode, associating a first manipulator of the plurality of manipulators with the portion of the user input system based on movement of the portion of the user input system relative to the first manipulator, and, in a following mode, controlling motion of the first manipulator in accordance with an indication generated by the user input system in response to operation of the portion of the user input system by a user.

Abstract: A computer-assisted medical system includes manipulators, a user input system, a user output system comprising a display device, and a controller configured to execute instructions to perform operations. The operations include, in a pairing mode and in response to a first set of signals generated by the user input system, causing a virtual selector shown on the display device to move relative to an imagery shown on the display device. The operations further include, in the pairing mode, associating a first manipulator with a portion of the user input system based on movement of the virtual selector relative to a represented location of the first instrument, and, in a following mode, controlling motion of the first instrument in accordance to a second set of signals generated by the user input system in response to operation of the portion of the user input system by a user.

Abstract: Systems and methods for minimally invasive computer-assisted telesurgery are described. A computer-assisted teleoperated surgery system includes a teleoperated instrument actuation pod. The surgical instrument actuation pod includes a plurality of linear actuators arranged around a surgical instrument. The linear actuators engage with actuator engagement members on the instrument and so drive movable parts on the instrument. The actuation pod is mounted on a teleoperated manipulator. Instrument pod mass is close to the teleoperated manipulator to minimize the pod's inertia, momentum, and gravity effects on the manipulator.

Abstract: Technology described herein can be embodied in a method of displaying a visual representation of a portion of a surgical scene. The method includes receiving data representing information captured using a first sensor of a camera associated with a surgical device, the information being indicative of a first quantity representing an amount of fluorescence emitted from the portion of the surgical scene. The method also includes obtaining information indicative of a second quantity representing an amount of excitation signal causing the fluorescence to be emitted from the portion of the surgical scene, and generating a normalized fluorescence signal as a function of the first quantity and the second quantity. The method further includes generating the visual representation of the portion of the surgical scene based on the normalized fluorescence signal, and presenting the visual representation on a display device associated with the surgical device.

Abstract: An example method includes causing an illuminator to simultaneously illuminate tissue with a first visible color illumination component, a second visible color illumination component, and a fluorescence excitation illumination component; and causing a display unit to display, based on the illumination, a display scene that includes: a reduced color scene component corresponding to the first and second visible color illumination components, and a highlighted scene component corresponding to the fluorescence excitation illumination component.

Abstract: Techniques for image detection during grasping and stapling include a computer-assisted device comprising an end effector having a first jaw and a second jaw, an imaging sensor mounted to the end effector and configured to capture one or more images of a material graspable by the end effector, and one or more processors coupled to the end effector and the imaging sensor. The one or more processors are configured to determine an orientation of a view of the imaging sensor relative to a workspace, generate orientation hints based on the orientation of the view, and cause display of the one or more orientation hints proximate to a first image of the end effector, on a user interface to provide an indication of the orientation of the end effector within a workspace.

Abstract: An illustrative apparatus includes an objective lens system mounted in a distal end of the apparatus, the objective lens system having a lengthwise axis; and a window mounted in a distal face of the apparatus, the window having a surface oriented at an angle to the lengthwise axis of the objective lens system.

Abstract: A system for identifying a location of a lumen of a tubular body structure in a patient's body includes a flexible, longitudinally extending probe configured to be inserted through the lumen in the tubular body structure in the patient. A detection system may include an antenna arranged to receive signals from a longitudinally extending detectable portion of the probe. A processing system may process the received signals and identify a longitudinally extending position of the longitudinally extending detectable portion of the probe in a three dimensional reference frame.

Abstract: An illustrative method may include receiving images of a site captured at a same time by a camera, the images comprising a single visible color component image, a first non-visible image associated with first excitation illumination having a first wavelength outside a visible spectrum, and a second non-visible image associated with second excitation illumination having a second wavelength outside the visible spectrum and different than the first wavelength; generating, based on the single visible color component image, a monochromatic image; generating, based on the single visible color component image and the first non-visible image, a first alternate image representative of a first alternate imaging characteristic of the site; generating, based on the single visible color component image and the second non-visible image, a second alternate image representative of a second alternate imaging characteristic of the site; and displaying the monochromatic image combined with the first and second alternate images.

Abstract: An exemplary image viewing system includes a display device configured to emit visible light representative of an image provided for display by the image viewing system, an infrared light source configured to emit infrared light, a viewing lens, and a black glass mirror provided between the infrared light source and the viewing lens. The black glass mirror comprises black glass and a coating on an outer surface of the black glass. The coating is configured to reflect a first portion of the visible light emitted from the display device towards the viewing lens, pass a second portion of the visible light emitted from the display device to the black glass, and pass a portion of the infrared light emitted from the infrared light source toward the viewing lens. The black glass is configured to pass the portion of the infrared light and absorb the second portion of the visible light.

Abstract: A display system includes a display panel, a first reflector, and a second reflector. The display panel provides first image light representative of a displayed image to the first reflector and provides second image light representative of at least a portion of the displayed image to the second reflector without first being reflected by the first reflector. The first reflector reflects the first image light toward the second reflector. The second reflector reflects the first image light toward an eyepiece. The second reflector is positioned relative to the second image light and a polarization direction of the second image light incident on the second reflector has a first orientation such that reflectance of a portion of the second image light from the second reflector is approximately zero. A light control device behind the display panel may control a distribution angle of image light from the display panel.

Abstract: A stereoscopic endoscope comprises at least one image sensor for sensing a first image and a second image of a pair of stereo images. The first image is sensed based on light passing through a first aperture within the stereoscopic endoscope. The second image is sensed based on light passing through a second aperture within the stereoscopic endoscope. The stereoscopic endoscope further comprises a liquid crystal layer disposed between two layers of glass. The two layers of glass comprise a first arrangement of electrodes, such that each of the first aperture and the second aperture is created in the liquid crystal layer using a portion of the first arrangement of electrodes. A polarization state associated with each of the first and second apertures are controlled using corresponding control signals provided through the first arrangement of electrodes.

Abstract: A system directs an imaging device to continuously capture visible light and fluorescence illumination from a surgical area. The system generates a visible light image stream based on the captured visible light and a fluorescence image stream based on the captured fluorescence illumination. The system operates in a first display mode by directing a display device to display a first video stream based on a first set of at least one of the visible light image stream and the fluorescence image stream. In response to detecting an event that occurs within the surgical area, the system switches from operating in the first display mode to operating in a second display mode by directing the display device to display a second video stream based on a second set of at least one of the visible light image stream and the fluorescence image stream, the first Instructions set being different than the second set.

Abstract: An apparatus including a pixel array comprising two or more photo-sensor elements; a first optical filter disposed on a first photo-sensor element of the pixel array, the first optical filter configured such that a spectral response of the first optical filter includes: a first passband in a first wavelength range, and a second passband in a second wavelength range, the first passband and the second passband being separated by a first stop band; and a second optical filter disposed on a second photo-sensor element of the pixel array, the second optical filter configured such that a spectral response of the second optical filter includes: a third passband in the first wavelength range, and a fourth passband in the second wavelength range, the third passband and the fourth passband being separated by a second stop band; wherein the second passband and the fourth passband are discrete passbands in an infrared range.

Abstract: Systems and methods for minimally invasive computer-assisted telesurgery are described. A computer-assisted teleoperated surgery system includes a teleoperated instrument actuation pod. The surgical instrument actuation pod includes a plurality of linear actuators arranged around a surgical instrument. The linear actuators engage with actuator engagement members on the instrument and so drive movable parts on the instrument. The actuation pod is mounted on a teleoperated manipulator. Instrument pod mass is close to the teleoperated manipulator to minimize the pod's inertia, momentum, and gravity effects on the manipulator.

Abstract: The technology described in this document can be embodied in a viewing apparatus for a surgical device, the apparatus including a lens assembly including a first circular polarizer, a display device configured to present an image of a scene, a reflective surface oriented at an acute angle with respect to the display device such that light from the display device is reflected from the reflective surface towards the lens assembly, and a second circular polarizer configured to impart a circular polarization to the light from the display device. The first polarizer in the lens assembly is configured such that light reflected from the reflective surface passes through the first circular polarizer, and line-of-sight light reaching the first circular polarizer without being reflected from the reflective surface is substantially blocked.

Abstract: An illustrative surgical system may access a plurality of images captured outside a structure within a patient; detect a difference between spectral reflectances of scenes captured in the plurality of images; and identify, based on the detected difference between the spectral reflectances of the scenes captured in the plurality of images, pixels in at least one of the plurality of images that correspond to structure tissue of the structure.

Abstract: Systems and methods for image detection during grasping and stapling include an end effector having a first jaw and a second jaw, an imaging sensor mounted to the end effector and configured to capture images of a material graspable by the end effector, and one or more processors coupled to the end effector and the imaging sensor. The one or more processors are configured to receive the images from the imaging sensor, determine one or more properties of the material based on the images, and display the one or more properties of the material on an interface. In some embodiments, the end effector is part of a medical tool and the material is anatomical tissue. In some embodiments, the end effector further includes one or more of a stapling mechanism configured to staple the material or a cutting mechanism configured to cut the material.

Abstract: An image capture unit has mounted in a frame: a first imaging assembly, a first circuit board, a second imaging assembly, and a second circuit board. The first imaging assembly is mounted on the first circuit board. The second imaging assembly is mounted on the second circuit board. A portion of the first circuit board and a portion of the second circuit board have a stacked configuration with the portion of the first circuit board being approximately parallel to the portion of the second circuit board. An end of another portion of the first circuit board is adjacent to an end of another portion of the second circuit board.

Abstract: An endoscopic system may comprise a first objective lens assembly extending along a first side of a central longitudinal axis through the endoscopic system and a second objective lens assembly extending along a second side of the central longitudinal axis. The endoscopic system may also comprise a prism assembly at a proximal end of the first and second objective lens assemblies, a first image capture sensor coupled to the prism assembly on the first side of the central longitudinal axis, and a second image capture sensor coupled to the prism assembly on the second side of the central longitudinal axis. The prism assembly may direct first light from the first objective lens assembly to the second image capture sensor.