Abstract: A computer readable media, a method, and a system registering a third party application providing an available communication system between a local user and a remote user identity, storing information related to the available communication system in a first database, obtaining contact information for the remote user identity from the third party application, determining a communication type for the third party application, pairing the remote user identity with a contact, and updating a graphical representation of contact information.

Abstract: A surgical drape assembly can include a surgical drape; and a cinch assembly affixed to the surgical drape. The cinch assembly can include a folding mechanism having a plurality of links and at least two hinge joints respectively connecting respective adjacent links of the plurality of links. The plurality of links can be foldable relative to one another about the at least two hinge joints between an unfolded configuration and a folded configuration. A first portion of the surgical drape is in an extended configuration in the unfolded configuration with a portion of the drape being in a gathered configuration in the folded configuration of the plurality of links.

Abstract: A drape includes a first drape portion configured to receive a manipulator arm of a surgical system and a pocket coupled to a distal portion of the first drape portion. The pocket is configured to receive a manipulator of the surgical system. The pocket includes a flexible membrane positionable between an output of the manipulator and an input of a surgical instrument mountable to the manipulator. In some embodiments, the flexible membrane is located at a distal end of the pocket. In some embodiments, the flexible membrane is configured to allow an actuating force to be transmitted from the output of the manipulator to the input of the surgical instrument. In some embodiments, the pocket provides a sterile barrier between the manipulator and the surgical instrument. In some embodiments, the drape further includes a rotatable seal configured to couple a proximal opening of the pocket to the first drape portion.

Abstract: Techniques for controlling a moveable component include a moveable component and a controller. The controller is configured to control motion of the moveable component according to a state machine comprising a first and second state. In the first state, the controller holds the moveable component at a current position. The controller transitions the state machine from the first state to the second state in response to detecting a displacement of the moveable component, due to a disturbance, from the current position for longer than a first predetermined duration of time. In the second state, the controller commands the moveable component to perform a motion. The controller remains in the second state until a stop condition is detected, even if the disturbance ends before the stop condition is detected. The controller transitions the state machine from the second state to the first state in response to detecting the stop condition.

Abstract: Techniques for controlling a moveable component include a system, a method, and/or a non-transitory computer-readable medium. A controller coupled to the moveable component is configured to hold the moveable component at a first position, detect a disturbance that moves the moveable component from the first position, in response to a detection of the disturbance, move the moveable component according to a first motion, continue to move the moveable component according to the first motion until a stop condition is detected, even if the disturbance ends before the stop condition is detected, and in response to a detection of the stop condition, hold the moveable component at a second position.

Abstract: A drape includes a first drape portion configured to receive a manipulator arm of a surgical system and a pocket coupled to a distal portion of the first drape portion. The pocket is configured to receive a manipulator of the surgical system. The pocket includes a flexible membrane positionable between an output of the manipulator and an input of a surgical instrument mountable to the manipulator. In some embodiments, the flexible membrane is located at a distal end of the pocket. In some embodiments, the flexible membrane is configured to allow an actuating force to be transmitted from the output of the manipulator to the input of the surgical instrument. In some embodiments, the pocket provides a sterile barrier between the manipulator and the surgical instrument. In some embodiments, the drape further includes a rotatable seal configured to couple a proximal opening of the pocket to the first drape portion.

Abstract: An instrument manipulator may comprise a frame comprising an outer shell and an inner frame, the inner frame being movably coupled to the outer shell. The instrument manipulator may also include a plurality of actuator outputs protruding in a distal direction from the frame and an instrument support feature coupled to the outer shell. The instrument manipulator may further comprise a latching mechanism, the latching mechanism being configured to move the inner frame, the outer shell, or both relative to one another, so as to operably engage the plurality of actuator outputs with a plurality of actuator inputs of an instrument supported by the instrument support feature.

Abstract: Disclosed are medical devices for surgical procedures, especially procedures that involve the manipulation of surgical instrument end effectors close to the skin surface at an incision site. In accordance with some embodiments, an instrument access device is configured to couple to a wound retractor at a distal end of the device and to receive a multiple instrument entry guide in a port at the proximal end of the instrument access device, with an envelope between the distal and proximal ends defining a sealed cavity for maintaining insufflation pressure. Various embodiments provide means for rotating an assistant port in the envelope about a port that receives the instrument entry guide without twisting the envelope. Also disclosed are various envelope shapes. Also disclosed is an instrument entry guide that aligns surgical instrument shafts.

Abstract: A cannula cap is disclosed. A cannula cap according to some embodiments of the invention includes an instrument guide attachment; a cannula attachment; and a seal captured between the instrument guide attachment and the cannula attachment. In some embodiments, a cannula cap can include a lid; a locking ring; a base; and a cannula seal captured between the lid and the base.

Abstract: Disclosed are medical devices for surgical procedures, especially procedures that involve the manipulation of surgical instrument end effectors close to the skin surface at an incision site. In accordance with some embodiments, an instalment access device is configured to couple to a wound retractor at a distal end of the device and to receive a multiple instrument entry guide in a port at the proximal end of the instrument access device, with an envelope (822) between the distal (804) and proximal (812) ends defining a sealed cavity for maintaining insufflation pressure. Various embodiments provide means for rotating an assistant port in the envelope about a port that receives the instrument entry guide without twisting the envelope. Also disclosed are various envelope shapes. Also disclosed is an instrument entry guide that aligns surgical instrument shafts.

Abstract: A surgical system comprises a base, an arm assembly operably coupled to the base, and an instrument manipulator assembly coupled to a distal link of the arm assembly. The instrument manipulator assembly comprises an instrument manipulator interface to removably couple with a medical instrument and transfer actuation forces to the medical instrument. The instrument manipulator interface comprises a mounting surface and a plurality of actuator outputs to operably engage with respectively corresponding inputs of the medical instrument. The actuator outputs extend from the mounting surface along directions substantially parallel to a shaft of the medical instrument in a mounted state of the medical instrument to the instrument manipulator interface. In the mounted state of the medical instrument, the instrument manipulator interface and medical instrument are rotatable together about a roll axis of rotation relative to the distal link of the arm assembly.

Abstract: A drape includes a first drape portion configured to receive a manipulator arm of a surgical system and a pocket coupled to a distal portion of the first drape portion. The pocket is configured to receive a manipulator of the surgical system. The pocket includes a flexible membrane positionable between an output of the manipulator and an input of a surgical instrument mountable to the manipulator. In some embodiments, the flexible membrane is located at a distal end of the pocket. In some embodiments, the flexible membrane is configured to allow an actuating force to be transmitted from the output of the manipulator to the input of the surgical instrument. In some embodiments, the pocket provides a sterile barrier between the manipulator and the surgical instrument. In some embodiments, the drape further includes a rotatable seal configured to couple a proximal opening of the pocket to the first drape portion.

Abstract: A method of operating a manipulator arm comprising a manipulator interface configured to removably couple with and transmit actuation force to a medical instrument includes mounting a cannula to a cannula mount coupled to the manipulator arm; mounting a medical instrument to the manipulator interface; inserting a shaft of the medical instrument through an entry guide mounted to the cannula; rotating the manipulator interface and the medical instrument relative to the cannula mount; and rotating the entry guide relative to the cannula mount about a longitudinal axis of the cannula.

Abstract: An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.

Abstract: Techniques for controlling a moveable component include a system, a method, and/or a non-transitory computer-readable medium. A controller coupled to the moveable component is configured to hold the moveable component at a first position, detect a disturbance that moves the moveable component from the first position, in response to a detection of the disturbance, move the moveable component according to a first motion, continue to move the moveable component according to the first motion until a stop condition is detected, even if the disturbance ends before the stop condition is detected, and in response to a detection of the stop condition, hold the moveable component at a second position.

Abstract: A controller in a computer-assisted teleoperated surgical system automatically moves a part of the system, in response to a user tapping the part, to facilitate draping of that part. This speeds the draping process and diminishes the likelihood that the sterile surgical drape is damaged or contaminated during the draping of that part of the system.

Abstract: An integrated circuit (IC) can be configured to provide a managed power distribution to circuits within a plurality of regions of the IC. Each region of the plurality of regions can include a corresponding set of circuits that are electrically connected to a corresponding virtual power island (VPI) within said each region. A global power distribution structure within the IC can be configured to be electrically interconnected to an off-chip voltage supply. The IC can also include a plurality of sets of vertical interconnects (VIs), each set of VIs electrically interconnected to a VPI within a corresponding region. Each set of VIs can also be connected to the global power distribution structure, and can be used to provide a specifically managed voltage through a VPI to a set of circuits within a corresponding region of the IC.

Abstract: A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft of at least one of the surgical instruments be bent between the base of the surgical instrument and the point where the shaft contacts a channel in an entry guide. Each surgical instrument is positioned by an instrument manipulator positioning system so that when the shaft is inserted in a channel of the entry guide, any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.

Abstract: A drape includes a first drape portion configured to receive a manipulator arm of a surgical system and a pocket coupled to a distal portion of the first drape portion. The pocket is configured to receive a manipulator of the surgical system. The pocket includes a flexible membrane positionable between an output of the manipulator and an input of a surgical instrument mountable to the manipulator. In some embodiments, the flexible membrane is located at a distal end of the pocket. In some embodiments, the flexible membrane is configured to allow an actuating force to be transmitted from the output of the manipulator to the input of the surgical instrument. In some embodiments, the pocket provides a sterile barrier between the manipulator and the surgical instrument. In some embodiments, the drape further includes a rotatable seal configured to couple a proximal opening of the pocket to the first drape portion.

Abstract: An instrument manipulator may comprise a frame comprising an outer shell and an inner frame, the inner frame being movably coupled to the outer shell. The instrument manipulator may also include a plurality of actuator outputs protruding in a distal direction from the frame and an instrument support feature coupled to the outer shell. The instrument manipulator may further comprise a latching mechanism, the latching mechanism being configured to move the inner frame, the outer shell, or both relative to one another, so as to operably engage the plurality of actuator outputs with a plurality of actuator inputs of an instrument supported by the instrument support feature.