Abstract: A surgical device comprises a tube including a proximal segment and a distal segment and a plurality of force transmission elements coupled to the tube. The force transmission elements are actuatable to alter the distal segment of the tube between a flexible state and a stiffened state. The device also comprises a plurality of routing members. Each routing member is coupled to a wall of the tube. The routing members are configured to receive and route the force transmission elements along a length of the tube while permitting the length of the tube to flex and compress. The device also comprises a decoupling structure that generates a reduced force transmitted to the proximal segment when an applied force is applied to the distal segment by the force transmission elements.

Abstract: A medical device includes a tube, a plurality of tensions elements, a plurality of routing members, and an actuation mechanism. The tube includes a wall with a plurality of slits oriented generally transverse to a longitudinal axis of the tube. The tube includes a proximal portion and a distal portion. The plurality of tension elements are coupled to the tube and actuatable to alter the tube between a bendable state and a rigid state. The plurality of routing members are configured to receive and route the plurality of tension elements along the tube while permitting the tube to flex and compress. The actuation mechanism is configured to simultaneously apply a first tension force to a first tension element and a second tension force equal to the first tension force to a second tension element to compress the tube, shortening a length of the tube and creating the rigid state.

Abstract: A system comprises a teleoperated manipulator, a manually operated instrument, and a position sensor coupled to the manually operated instrument. The position sensor is configured to generate pose information for the manually operated instrument. The system further comprises a controller configured to map a pose of the manipulator to a fixed world reference frame based on three-dimensional pose information for the manipulator known internally within the system. The controller is further configured to map a pose of the manually operated instrument to the fixed world reference frame based on the pose information for the manually operated instrument.

Abstract: A system comprises a teleoperated manipulator, a manually operated surgical instrument coupled to the teleoperated manipulator, a teleoperated surgical instrument coupled to the teleoperated manipulator, and a shape sensor comprising a first portion and a second portion. The first portion of the shape sensor is coupled to a proximal end of a cannula, and the second portion of the shape sensor is coupled to the manually operated surgical instrument. The shape sensor is configured to provide a sensor input to a controller, and the sensor input comprises information representing an insertion depth of the manually operated surgical instrument into the cannula.

Abstract: A surgical device comprises a tube including a proximal segment and a distal segment and a plurality of force transmission elements coupled to the tube. The force transmission elements are actuatable to alter the distal segment of the tube between a flexible state and a stiffened state. The device also comprises a plurality of routing members. Each routing member is coupled to a wall of the tube. The routing members are configured to receive and route the force transmission elements along a length of the tube while permitting the length of the tube to flex and compress. The device also comprises a decoupling structure that generates a reduced force transmitted to the proximal segment when an applied force is applied to the distal segment by the force transmission elements.

Abstract: A medical device comprises a tube including a wall with a plurality of slits oriented generally transverse to a longitudinal axis of the tube and defined by opposing surfaces. A pair of force transmission elements is actuatable to alter the tube between a flexible state and a stiffened state. A first force transmission element of the pair is coupled to an opposite side of the tube from the second force transmission element of the pair. The surgical device also includes a plurality of routing members coupled to the wall of the tube and configured to receive and route the force transmission elements along a length of the tube while permitting the length of the tube to flex and compress. Equal tension forces applied to the pair of force transmission elements compress the tube to create the stiffened state by deforming regions of the tube disposed between the plurality of slits.

Abstract: An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.

Abstract: A surgical system comprises a surgical instrument having distal and proximal portions. The surgical system also comprises a reference fixture positioned in a first reference frame and a shape sensor extending from the distal portion through the proximal portion to the reference fixture. The surgical system also comprises a processor configured to perform a registration step to register the first reference frame to a fixed world reference frame. The registration step includes receiving a set of shape information of the shape sensor with a distal point of the surgical instrument located at a patient reference point. A first portion of the shape sensor is in a known geometrical shape at a fixed location along a length of the shape sensor. The registration step also includes computing a location of the patient reference point and computing a pose of the first reference frame relative to the fixed world reference frame.

Abstract: A system comprises a first cannula comprising a proximal end and a cannula opening at the proximal end. The system further comprises a teleoperated surgical instrument, and a manually operated surgical instrument configured to be inserted into the cannula opening. The system further comprises a teleoperated manipulator, a controller, and a first position sensor coupled to the teleoperated surgical instrument, the first position sensor configured to provide a first sensor input to the controller. The system further comprises a second position sensor coupled to the manually operated surgical instrument, the second position sensor configured to provide a second sensor input to the controller, the second sensor input comprising an insertion depth of the manually operated surgical instrument into the first cannula.

Abstract: An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.

Abstract: A surgical device comprises a tube including a proximal segment and a distal segment and a plurality of force transmission elements coupled to the tube. The force transmission elements are actuatable to alter the distal segment of the tube between a flexible state and a stiffened state. The device also comprises a plurality of routing members. Each routing member is coupled to a wall of the tube. The routing members are configured to receive and route the force transmission elements along a length of the tube while permitting the length of the tube to flex and compress. The device also comprises a decoupling structure that generates a reduced force transmitted to the proximal segment when an applied force is applied to the distal segment by the force transmission elements.

Abstract: An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.

Abstract: An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.

Abstract: An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.

Abstract: An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.

Abstract: A surgical device comprises a tube including a proximal segment and a distal segment and a plurality of force transmission elements coupled to the tube. The force transmission elements are actuatable to alter the distal segment of the tube between a flexible state and a stiffened state. The device also comprises a plurality of routing members. Each routing member is coupled to a wall of the tube. The routing members are configured to receive and route the force transmission elements along a length of the tube while permitting the length of the tube to flex and compress. The device also comprises a decoupling structure that generates a reduced force transmitted to the proximal segment when an applied force is applied to the distal segment by the force transmission elements.

Abstract: A surgical device can include a tube comprising a wall having a plurality of slits oriented generally transverse to a longitudinal axis of the tube. Each of the slits may be defined by opposing surfaces. The surgical device can further include a force transmission element coupled to the tube. In a flexible state of the tube, at least some of the opposing surfaces defining respective slits are separated from one another, and in a stiffened state of the tube, a force exerted on the force transmission element causes the opposing surfaces of each slit to contact one another.

Abstract: A surgical device can include a tube comprising a wall having a plurality of slits oriented generally transverse to a longitudinal axis of the tube. Each of the slits may be defined by opposing surfaces. The surgical device can further include a force transmission element coupled to the tube. In a flexible state of the tube, at least some of the opposing surfaces defining respective slits are separated from one another, and in a stiffened state of the tube, a force exerted on the force transmission element causes the opposing surfaces of each slit to contact one another.

Abstract: An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.