Abstract: A robotic surgical system includes a fluid drive system and a surgical instrument removably positioned in operative engagement with the drive system. A sterile barrier covers non-sterile portions of the surgical system. Features of the sterile barrier are used to transfer motion output from the fluid drive system to the instrument for actuation of the instrument.

Abstract: A robotic system assembly comprises a robotic manipulator including an actuator assembly and a surgical instrument having a base body mountable to the actuator assembly. The base includes a first control input and a second control input, wherein the first and second control inputs are positioned on different sides of the base. The actuator assembly is moveable between open and closed positions to facilitate removal and replacement of surgical instruments. When in the closed positions, drive elements of the actuator assembly are positioned to drive the first and second control inputs of the surgical instrument to cause end effector movement or actuation.

Abstract: A system for visualizing and controlling tasks during surgical procedures, the system comprising a display for displaying information to a user and a user interface operable to generate input commands to a surgical system in response to surgeon movement.

Abstract: A robotic manipulator system includes a base structure and a pair of manipulator arms on the base structure. Each manipulator arm includes a plurality of arm members, including a base member that includes a central axis. The manipulator arms are arranged on the base structure such that their central axes are collinear.

Abstract: A robotic surgical system includes a hydraulic drive system and a surgical instrument removably positioned in operative engagement with the hydraulic drive system.

Abstract: A powered user interface for a robotic surgical system includes a handle on a linkage having a plurality of joints, a base, and actuators. The interface operates in accordance with a first mode of operation in which a plurality of its actuators are operated to constrain predetermined ones of the joints to permit motion of the handle in only 4DOF with respect to the base, and a second mode of operation in which the actuators permit motion of the handle in at least 6DOF with respect to the base.

Abstract: A robotic surgical system in which the system applies a scaling factor between user input from a user input device and corresponding movements of the robotic manipulator. Scaling factors may be applied or adjusted based on detected conditions such as the type of instrument being manipulated, detected distance between multiple instruments being manipulated, user biometric parameters.

Abstract: A robotic surgical system configured to control movement of a first instrument and a second instrument, each of which is on a robotic manipulator. In described modes of operation, movement of the first instrument is surgeon controlled based on surgeon input to the robotic system. Movement of the second instrument is also surgeon controlled, but its motion is defined by the chosen mode of operation which sets the amplitude and direction of the second instrument's motion relative to the actual or instructed motion of the first instrument. In this way, two instruments are simultaneously moved based on input from a single surgeon input device.

Abstract: A medical imaging system includes an image sensor, a first source positioned to direct light in a first wavelength range onto a work site, and a second source positioned to direct light in a second wavelength range onto a work site. The image sensor is configured to capture light emitted or reflected from the work site during illumination of the first source and during illumination of the second source. As a result, the user can view both broad spectrum images of the illuminated work site and narrow spectrum (e.g. fluorescent) images of the work site captured using a single image sensor on the system's camera display.

Abstract: A surgical system comprising includes a light source, a sensor for detecting light, and a surgical device including an elongate shaft having a distal part positionable at a surgical working site within a body cavity. A first optical pathway transmits transmitting light from the light source to a distal part of the elongate shaft and onto tissue within the body cavity, and a second optical pathway receives light from tissue within the body cavity and transmits the received light to the sensor. A surgical drape, such as one covering a robotic manipulator arm housing components of the system, is positioned such that at least the first or second optical pathway includes an optically transmissive portion of the surgical drape.

Abstract: A robotic surgical system includes a hydraulic drive system and a surgical instrument removably positioned in operative engagement with the hydraulic drive system.

Abstract: In a surgical system in which surgical instruments are manipulated using robotic arms that move in response to user input from a plurality of input devices. Images capturing an instrument positioned within view of a camera are received. At least one characteristic of the surgical instrument is determined by the system based on the image data. The system automatically assigns the surgical instrument to a user input device, or controls movement of the robotic manipulator carrying the instrument, based on the at least one characteristic. The surgical instrument is then robotically maneuvered by the corresponding robotic arm based on user input to the user input device.

Abstract: A system and method for augmenting an endoscopic display during a medical procedure including capturing a real-time image of a working space within a body cavity during a medical procedure. A feature of interest in the image is identified and an overlay is displayed on the image marking the feature. Computer vision is used to detect in real time changes in the image that are indicative of the feature of interest being at least partially obscured. In response to such detected changes, a quality of the overlay is altered, e.g. to make it more bright or opaque, based on the change in visibility of the feature of interest in the image.

Abstract: In a system and method of displaying peri-operative and real-time data, capturing peri-operative 3D scan data of a region of interest in a body cavity is captured using a scanning instrument. A 3D scan map is generated using the 3D scan data. During a surgical procedure real-time images of a body cavity are captured using an endoscopic camera mounted to a robotic arm and are displayed on a display.

Abstract: A robotic manipulator arm comprises a base, a robotic manipulator arm on the base, a surgical instrument removably attachable to the robotic manipulator arm. The base is mounted on a plurality of holonomic wheel to allow movement of the manipulator arm in any desired direction.

Abstract: A robot-assisted surgical system comprises a plurality of robotic system components independently positionable relative to a patient in a room, at least one of the robotic system components being a robotic manipulator configured for robotic positioning of a surgical instrument in a body cavity. Other robotic system components may include a second robotic manipulator and/or a patient bed. A camera is positioned to generate an image of a portion of the room, including the robotic manipulator, or an instrument carried by the robotic manipulator as it is moved within the body. Image processing is used to detect the robotic system components on the image captured by the camera, or the tracked portion of the instrument. Once the robotic components or tracked portion of the instruments are detected in the image, the relative positions of the bases within the room may be determined.

Abstract: A wireless power transmission system for a robotic surgical system includes features for optical data transmission. A first component of the surgical system includes a control element, a power transmission element and an optical data transmission element; and a second component of the surgical system including a wireless power receiving element and an optical data receiving element, the second component is removably mountable to the first component. In some embodiments, a barrier such as a surgical drape and/or hermetic enclosure is positioned between the first and second components. In one example, of the components is a robotic manipulator arm and another is a powered instrument removably mountable to the manipulator arm.

Abstract: In a surgical method using a robotic system, a distal end of a robotically controlled surgical instrument is positioned in a patient body cavity. Operation of the instrument is controlled in response to input provided by a surgeon at an input device. An image of the interior of the body cavity is captured for display on a display. A boundary in the body cavity is identified using the image processing software by distinguishing between different colors on the image.

Abstract: A robotic system assembly comprises a robotic manipulator including an actuator assembly and a surgical instrument having a base body mountable to the actuator assembly. The base includes a first control input and a second control input, wherein the first and second control inputs are positioned on different sides of the base. The actuator assembly is moveable between open and closed positions to facilitate removal and replacement of surgical instruments. When in the closed positions, drive elements of the actuator assembly are positioned to drive the first and second control inputs of the surgical instrument to cause end effector movement or actuation.

Abstract: A method of using a surgical robotic system includes positioning a surgical instrument in a body cavity, the surgical instrument being one that is carried by a robotic arm. An image of an operative site within the body cavity is captured and used to identify a structure to be avoided. A user uses an input device to give input to the robotic system to cause movement of the surgical instrument at the site. The system determines determining whether the surgical instrument is approaching contact with the structure and, if it is, initiates an avoidance step.