Abstract: Systems and methods for computer-assisted systems using robotic technology are described. For example, this disclosure describes systems and methods that can be used in various contexts such as, but not limited to, minimally invasive computer-assisted tele-operated surgery using robotic technology. The disclosure describes instruments and mechanisms for actuating and controlling the motions of such instruments. The instruments and actuator mechanisms may be used in medical operations and non-medical operations.

Abstract: A method comprises grasping material between a pair of jaw members of a medical instrument; sensing light transmitted from the material grasped between the pair of jaw members to a location exterior to the pair of jaw members; and altering a grasping force exerted by the pair of jaw members on the material being grasped based on the sensing of the light transmitted.

Abstract: An apparatus configured to deliver electrical energy to energize an end effector coupled via a clevis to a shaft of a medical instrument comprises an electrical transmission conduit configured to extend along the shaft from a proximal portion to a distal portion and configured to deliver electrical energy to energize the end effector, and a connector assembly configured to couple to the end effector. The connector assembly comprises an electrically conductive contact portion configured to electrically couple the electrical transmission conduit to the end effector, the electrically conductive contact portion defining a pivot surface about which the end effector is rotatable in a coupled state of the connector assembly to the end effector; and an electrically insulating member configured to electrically insulate the end effector from the clevis in a coupled state of the connector assembly to the end effector.

Abstract: A device management system includes a device including a drive assembly having a plurality of drive elements including a first drive element, a control system, and a memory storing instructions. The drive assembly is configured to physically couple with an instrument when the instrument is mounted to the device. One or more processors of the control system are caused to perform operations when executing the instructions. The operations include selecting, for the first drive element, a first assignment, the first assignment pairing the first drive element with a first input element of the instrument so that the first drive element can drive the first input element, a second assignment pairing the first drive element with a second input element of the instrument so the first drive element can drive the second input element instead of the first input element; and causing the first drive element to adopt the first assignment.

Abstract: A teleoperable manipulator system can comprise a table assembly, a rail coupled to the table assembly, and a manipulator coupled to the rail. The table assembly comprises a platform configured to support a body, the platform having lateral and longitudinal dimensions. The manipulator is translatable relative to the rail along a longitudinal dimension of the rail. The manipulator comprises a proximal link assembly comprising a proximal arm coupled to the rail by one or more proximal joints. The proximal arm is extendable in length.

Abstract: A method comprises performing a cleaning operation on a teleoperated component of a teleoperated surgical manipulator assembly to produce a cleaned teleoperated component. The method further comprises placing the cleaned teleoperated component into a storage container. The method further comprises sterilizing both the storage container and the cleaned teleoperated component in the storage container together to produce a sterilized teleoperated component in a sterile interior environment of the storage container.

Abstract: Techniques for controlling an end effector include a first engagement member coupled to a first actuator, a second engagement member coupled to a second actuator; and a control unit. The control unit is configured to engage the first engagement member with a third engagement member of an instrument, where movement of the third engagement member causes a movement of a degree of freedom (DOF) of an end effector in a first direction; engage the second engagement member with a fourth engagement member of the instrument, where movement of the fourth engagement member causes a movement of the DOF in a second direction opposite the first direction; actuate the DOF in the first direction to a first detectable position; actuate the DOF in the second direction to a second detectable position; and actuate the DOF to a third position between the first and second detectable positions.

Abstract: A device management system can include a device comprising a drive assembly configured to removably couple with an instrument. The drive assembly can include a plurality of drive elements configured to cause movement of the instrument by driving a plurality of input elements of the instrument. A control system can include a processor configured select, for a first drive element of the plurality of drive elements, a first assignment from a plurality of assignments, the first assignment being available to at least two drive elements of the plurality of drive elements. The first assignment can be associated with a first pairing of the first drive element with a first input element of the plurality of input elements. The processor can be configured to cause the first drive element to adopt the first assignment.

Abstract: A clamping apparatus comprises a body having a mounting location configured to support the surgical manipulator; an articulatable bracket a coupled to the body; a first jaw coupled to the body and configured to engage a first portion of the mounting structure; and a second jaw coupled to the bracket and configured to engage a second portion of the mounting structure. The articulatable bracket is configured to articulate relative to the body along a segmented path comprising multiple directions to move the second jaw from an unclamping position to a range of clamping positions. The second jaw is further from the body in the clamping positions than in the unclamping position, and is closer to the first jaw in the clamping positions than in the unclamping position.

Abstract: A system is provided including a reclosable storage container comprising an interior sterile environment. The system also includes a sterile teleoperated component of a teleoperated surgical manipulator assembly in the interior sterile environment. A communications interface enables communication between a device outside the storage container and the component inside the storage container. A viewing window allows the stored component to be seen through the storage container. Multiple storage containers can be moved and stored. In an operating room, the storage container is opened, and the component is removed and assembled into the teleoperated surgical assembly.

Abstract: A system includes a control means for receiving an input from a user, a manipulator means configured to support a tool having a tool frame, and processing means configured to perform a method. The method involves receiving, from an image capturing system with an image frame, one or more images. The tool is visible in the one or more images. The method further involves determining an estimated frame transform based on the one or more images. The estimated frame transform is used in defining an unknown frame transform between the image frame and the tool frame. The method also involves determining, in response to the input received at the control means, an output movement for the tool based on the estimated frame transform, and causing movement of the tool based on the output movement.

Abstract: A manipulator for articulating a surgical instrument may comprise an instrument holder configured to couple with the surgical instrument and to pivot about a remote center of motion. The manipulator may comprise a linkage assembly coupled to the instrument holder and configured to constrain rotational motion of the instrument holder to pivot about the remote center of motion. The linkage assembly may comprise a first, second, and third linkage arms. The second linkage arm may be rotatably coupled to the first linkage arm with a proximal end of the first linkage arm and a proximal end of the second linkage arm coupled at a proximal pivot joint. A third linkage arm may be translationally coupled to the second linkage arm. Movement of the second linkage arm and the third linkage arm may cause a distal end of the third linkage arm to trace an arc around the remote center of motion.

Abstract: An apparatus includes a wrist, an end effector, a cable pair, and a transmission. A proximal wrist portion is coupled to a distal end portion of a shaft. Actuation of the wrist moves a distal wrist portion relative to the proximal wrist portion. The end effector is coupled to the distal wrist portion, and can be actuated to move relative to the wrist. The transmission is coupled to a proximal end portion of the shaft, and can move an end of the cable pair to actuate the end effector. The end of the cable pair is routed through a transmission cable path within the transmission. The transmission includes an adjustment mechanism having an input portion that receives a force exerted by the end of the cable pair. The adjustment mechanism is configured to change a length of the transmission cable path in response to a change in the force.

Abstract: A sterile adapter for providing a sterile interface between an instrument and an instrument holder includes a fixed frame couplable to an instrument holder; a roll disk positioned within the frame and rotatable with respect to the frame; an inner disk positioned within the roll disk and rotatable with respect to the roll disk; and a light pipe positioned in the roll disk and configured to transmit light energy through the roll disk

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 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 10 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: 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 system generally includes a surgical manipulator configured to control motion of a surgical tool, and a clamping apparatus having a mounting location configured to support the surgical manipulator and couple to a mounting structure. The clamping apparatus may include a body, a first jaw coupled to the body and configured to engage a first portion of the mounting structure, and a second jaw coupled to the body and configured to engage a second portion of the mounting structure. At least one of the first jaw and the second jaw may be movably coupled to the body and configured to move along a non-linear path to clamp mounting structures of different sizes. A lever may be pivotably coupled to the body and may be movable between a unclamped position and a clamped position. Alternatively, a motor may be operable to attach the clamping apparatus to the mounting structure.

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.