Abstract: A method for generating a calibration parameter for light sources includes activating at least one LED of a plurality of multicolor LEDs of a light source and measuring a color of the at least one LED in a first color space. The method also includes scaling the color of the at least one LED relative to the plurality of multicolor LEDs, obtaining a plurality of scaled color measurements, and calculating a calibration matrix based on the plurality of scaled color measurements.

Abstract: A method of using inverse kinematics to control a robotic system includes receiving an input pose from a user interface to move an arm of the robotic system, calculating a remote center of motion for a desired pose from the input pose in a tool center-point frame, checking when the desire pose needs correction, correcting the desired pose of the arm, and moving the am to the desired pose in response to the input pose. The am of the robotic system including a tool having a jaw disposed at an end of the arm. Checking when the desired pose needs correction includes verifying that the remote center of motion is at or beyond a boundary distance in the desired pose. Correcting the desired pose of the arm occurs when the remote center of motion is within the boundary distance.

Abstract: A method of controlling an end effector of a surgical robot includes receiving a desired pose, generating motor torques, transmitting the motor torques, generating null torques, generating desired torques, and transmitting the desired torques to an IDU such that the IDU moves the end effector to the desired pose. A primary controller receives the desired pose of the end effector in three DOF. The primary controller generates the motor torques in response to receiving the desired pose. The primary controller transmits the motor torques which are received in a secondary controller. The secondary controller generates null torques to maintain tension in cables of a differential drive mechanism of the IDU. The desired torques are generated for each motor of the IDU to include a sum of the motor torques and the null torques.

Abstract: A method of using inverse kinematics to control a robotic system includes receiving an input pose from a user interface to move an arm of the robotic system, calculating a remote center of motion for a desired pose from the input pose in a tool center-point frame, checking when the desire pose needs correction, correcting the desired pose of the arm, and moving the arm to the desired pose in response to the input pose. The arm of the robotic system including a tool having a jaw disposed at an end of the arm. Checking when the desired pose needs correction includes verifying that the remote center of motion is at or beyond a boundary distance in the desired pose. Correcting the desired pose of the arm occurs when the remote center of motion is within the boundary distance.

Abstract: An ultrasonic surgical instrument is disclosed, and includes a handle assembly, an elongate tubular member, and an end effector. The elongate tubular member extends from the handle assembly and defines a channel therethrough. The end effector is coupled with a distal end of the elongate tubular member and includes a first jaw member pivotably attached to the tubular member, and a second jaw member longitudinally movable within the channel of the elongate tubular member. One of the first jaw member and the second jaw member includes at least one ultrasonic transducer.

Abstract: An ultrasonic surgical instrument is disclosed, and includes a handle assembly, an elongate tubular member, and an end effector. The elongate tubular member extends from the handle assembly and defines a channel therethrough. The end effector is coupled with a distal end of the elongate tubular member and includes a first jaw member pivotably attached to the tubular member, and a second jaw member longitudinally movable within the channel of the elongate tubular member. One of the first jaw member and the second jaw member includes at least one ultrasonic transducer.

Abstract: The present invention provides a method and a system for producing an image using an imaging system by weighting: i) the signals transmitted from at least one element of a transducer array to form limited diffraction transmitted beams or the transmitted beams are steered with linear time delay over transducer aperture; and, ii) weighting the echo signals received at the separate elements to form limited diffraction receive beams or doing Fourier transformations of the echo signals over the transducer aperture. Fourier transformations of the weighted or Fourier transformed signals form multi-dimensional k-space data sets which are used to interpolate into a rectilinear k-space of the object to be imaged. Inverse Fourier transformation along each dimension of the rectilinear k-space to produce an image.

Abstract: A system for producing a high frame rate image includes transmitting a single weighted spatial frequency signal of energy toward an object to be imaged; weighting multiple receive spatial frequency signals from the object, or by performing a spatial Fourier transform; reconstructing an image data set from the single transmitted spatial frequency signal and the multiple receive spatial frequency signals; and, reconstructing the high frame rate, high resolution and high contrast image from the image data set.