Abstract: A computer-assisted system includes: a first input device configured to be manipulated by an operator; a manipulator assembly configured to support an imaging device and a first instrument (the imaging device has a field of view associated with a view coordinate frame); and a control system communicatively coupled to the first input device and the manipulator assembly. The control system is configured to: perform a first association between the first input device and the first instrument; determine a first instrument vector representative of an orientation of a shaft of the first instrument; perform a first comparison between the first instrument vector and a first view frame vector, the first comparison being performed based on the first association; based on the first comparison, determine whether a mismatch condition is satisfied; and, in response to determining that the mismatch condition is satisfied, perform a mitigation action.

Abstract: A computer-assisted system includes: a manipulator assembly configured to support a first instrument and an imaging device; a first input device configured to be manipulated by an operator relative to an input device coordinate frame; and a control system communicatively coupled to the first input device and the manipulator assembly. The control system is configured to: determine a first roll orientation of the imaging device; record the first roll orientation of the imaging device in response to enablement of a first teleoperational control session of the first instrument by the first input device. During the first teleoperational control session, the control system is configured to: determine a current roll orientation of the imaging device; determine a difference between the current roll orientation and the first roll orientation; determine whether or not the difference between the current roll orientation and the first roll orientation exceeds a first threshold.

Abstract: A water flow-sensing device includes an assembly with a stationary metering rod with a cylindrical portion and a conical portion and a relatively moveable element in the shape of a hollow cylindrical toroid. The relatively moveable element is biased by a spring to a rest position wherein the cylindrical portion of the stationary metering rod blocks flow through the relatively moveable element. During fluid flow, fluid pressure moves the relatively moveable element so that the conical portion of the stationary metering rod is within the hollow portion of the relatively moveable element thereby creating a flow area and allowing flow therethrough. A toroidal ferrite is biased against the relatively moveable element and moves in unison therewith. The position of the toroidal ferrite is electromagnetically determined thereby allowing for a calculation of the fluid flow therethrough. Low flowrates indicative of a trickle leak and large flowrates indicative of a large leak can be detected.