Abstract: A composite medical imaging system may direct a display device to display an image captured by an imaging device and showing a view of a surgical area and display an augmentation region within the image and that shows supplemental content. The view of the surgical area shows surface anatomy located at the surgical area and an object located at the surgical area. The augmentation region creates an occlusion over at least a portion of the view of the surgical area. The system may detect an overlap in the image between at least a portion of the object and at least a portion of the augmentation region. In response to the detection of the overlap, the system may adjust the image to decrease an extent of the occlusion within the overlap by the augmentation region.

Abstract: A contact detection system is configured to classify each pixel in a plurality of pixels included in an ultrasound image captured by an ultrasound probe located within a patient as either showing tissue or showing non-tissue; determine an average pixel classification representative of a number of pixels classified as showing tissue compared to a number of pixels classified as showing non-tissue; determine, if the average pixel classification is above a first contact state threshold, that the ultrasound probe is in a first contact state that indicates that the ultrasound probe is in operative physical contact with the tissue; and determine, if the average pixel classification is below a second contact state threshold lower than the first contact state threshold, that the ultrasound probe is in a second contact state that indicates that the ultrasound probe is not in operative physical contact with the tissue.

Abstract: The technology described in this document can be embodied in a method that includes operating a surgical system to perform a surgical process, the surgical system including a display device, and receiving, at one or more processing devices, data from multiple data sources. The method also includes determining a current phase of the surgical process, and displaying, on the display device, visual representations corresponding to the data from a first set of the multiple data sources in a first arrangement within a display region of the display device. At least one of the first set of the multiple data sources and the first arrangement is associated with the current phase of the surgical process.

Abstract: Techniques for virtually recreating devices include a replay service configured to access a log associated with a first device, extract a first log entry from the log, recreate a first recreated service request for the one or more shared services based on information associated with the first log entry, and send the first recreated service request to a shared service to recreate an event associated with the first log entry; one or more shared services configured to receive and respond to a second service request from a second device coupled to the logging and replay device; and a recreation engine configured to receive the first recreated service request, a response to the first recreated service request, the second service request, and a response to the second service request and create a virtual recreation of the first device.

Abstract: A system and method of aggregating logs for replay includes a processor configured to execute a replay service. The replay service is configured to access a plurality of logs, aggregate the plurality of logs to create a composite log, extract a first log entry from the composite log, recreate a service request based on information associated with the first log entry, and send the service request to a corresponding service to recreate an event associated with the first log entry. In some embodiments, to aggregate the plurality of logs to create the composite log, the replay service is configured to aggregate a first entry from a first log of the plurality of logs with a corresponding related second entry from a second log of the plurality of logs to create a composite entry for the composite log.

Abstract: A system and method of coordinated motion among heterogeneous devices includes a medical device with one or more movable elements and one or more processors. Any of the processors uses a shared interface to access services. The medical device requests a movement token from a token service through the shared interface, receive the movement token from the token service, exchange configuration data, kinematic data, or planned motion data through the shared interface, plan a first motion for a first movable element of the movable elements based on the movement token and the configuration data, the kinematic data, or the planned motion data, and execute the first motion. In some embodiments, the movement token is selected from a group consisting of an exclusive-motion token, a master follow-me token, a slave follow-me token, a master collision-avoidance token, a slave collision-avoidance token, and a passive collision-avoidance token.

Abstract: A surgical robotic system may comprise a manipulator assembly including a manipulator arm having a distal portion. The surgical robotic system may also comprise a registration device mounted to a surgical table. The table mounted registration device includes a registration element shaped to contact with the distal portion of the manipulator arm by receiving the distal portion of the manipulator arm to define a spatial relationship between the manipulator assembly and the table mounted registration device. The distal portion of the manipulator arm moves in a plurality of degrees of freedom. The plurality of degrees of freedom is reduced by the table mounted registration device when the table mounted registration device is in contact with the distal portion of the manipulator arm. The surgical robotic system may also comprise a control system that determines the spatial relationship between the manipulator assembly and the table mounted registration device.

Abstract: Methods and systems for registering a manipulator assembly and independently positionable surgical table are provided herein. In one aspect, methods include attaching a registration device to a particular location of the surgical table and attaching a manipulator arm of the manipulator assembly to the registration device and determining a position and/or orientation of the surgical table relative the manipulator assembly using joint state sensor readings from the manipulator arm. In another aspect, methods for registration include tracking of one or more optical or radio markers with a sensor associate with the manipulator assembly to determine a spatial relationship between the surgical table and manipulator assembly.

Abstract: A surgical method is provided for use with a teleoperated surgical system (surgical system), the method comprising: recording surgical instrument kinematic information indicative of surgical instrument motion produced within the surgical system during the occurrence of the surgical procedure; determining respective kinematic signatures associated with respective surgical instrument motions; producing an information structure in a computer readable storage device that associates respective kinematic signatures with respective control signals; comparing, during a performance of the surgical procedure surgical instrument kinematic information during the performance with at least one respective kinematic signature; launching, during a performance of the surgical procedure an associated respective control signal in response to a match between surgical instrument kinematics during the performance and a respective kinematic signature.

Abstract: Technology described herein can be embodied in a method of providing visual feedback during surgery. The method includes obtaining a set of vectors representing a model of an anatomical organ, the set produced from a representation of the organ as imaged under one or more imaging modalities. The method includes obtaining a set of pixel positions of a display device, wherein the pixel positions correspond to a view of the organ. The method further includes generating, using at least a portion of the set of vectors, multiple fragment-vectors for each pixel position in the set of pixel positions, the multiple fragment-vectors each representing a corresponding portion of the organ along a line-of-sight through the organ, and generating a pixel value for each pixel position in the set of pixel positions, and presenting, on the display device, an augmented image of the view of the organ using the generated pixel values.

Abstract: A system and method of coordinated motion includes a device with one or more movable elements and one or more processors. The device is configured to discover a second device, determine a desired type of coordinated motion based on the discovery of the second device, request a movement token of a first type from a token service, the first type being selected based on the desired type of coordinated motion, receive the movement token from the token service, receive configuration data, kinematic data, or planned motion data for the second device, plan a first motion for a movable element of the movable elements based on the first type of the movement token and the configuration data, the kinematic data, or the planned motion data for the second device, and execute the first motion while the device holds the movement token. The device and the second device are different heterogeneous devices.

Abstract: A surgical method is provided for use with a teleoperated surgical system (surgical system), the method comprising: recording surgical instrument kinematic information indicative of surgical instrument motion produced within the surgical system during the occurrence of the surgical procedure; determining respective kinematic signatures associated with respective surgical instrument motions; producing an information structure in a computer readable storage device that associates respective kinematic signatures with respective control signals; comparing, during a performance of the surgical procedure surgical instrument kinematic information during the performance with at least one respective kinematic signature; launching, during a performance of the surgical procedure an associated respective control signal in response to a match between surgical instrument kinematics during the performance and a respective kinematic signature.

Abstract: An application management system may provide, while a user device detects a beacon associated with a medical system, a user of the user device with access to a first set of medical session features of an application executed by the user device. The application management system may also provide, while the user device does not detect the beacon, the user with access to a second set of medical session features of the application, the second set of medical session features being different from the first set of medical session features.

Abstract: A beacon-based metrics system may track events associated with a user device located within a medical facility, determine that the user device detects a beacon emitted by a beacon generator located within the medical facility, and identify information included in the beacon. The beacon-based metrics system may generate medical facility metrics data representative of the tracked events by identifying a set of tracked events that occur during a time period in which the user device detects the beacon and associating the information included in the beacon with the set of tracked events.

Abstract: A system and method of registration between devices includes a tracking system and a controller. The system is configured to couple to a first device and a second arm separate from the first device. The first device has a first arm configured to couple to a manipulatable device. The second arm is configured to couple to an imaging device. The controller is configured to determine, based on tracking data from the tracking system, a first pose of the first arm and a second pose of the second arm; send a movement command to the second arm that directs the second arm to move into a third pose while maintaining a safety margin between the first and second arms. In the third pose the imaging device can capture an image of at least a portion of the manipulatable device. The movement command is based on the first and second poses.

Abstract: A surgical robotic system comprises a manipulator assembly including at least one manipulator arm having a distal portion that is movable with the manipulator arm. The robotic system further comprises a registration device mounted to a surgical table. The registration device includes a registration element shaped to contact with the distal portion of the manipulator arm by receiving the distal portion to define a spatial relationship between the manipulator assembly and the surgical table. The distal portion is movable in a plurality of degrees of freedom, and the plurality of degrees of freedom is reduced by the registration device when the registration device is in contact with the distal portion. The robotic system further comprises a control system that determines the spatial relationship between the manipulator assembly and the surgical table by receiving at least one sensor reading that indicates a position or an orientation of the manipulator arm.

Abstract: A system and method of dynamic virtual collision objects includes a control unit for a medical device. The control unit includes one or more processors and an interface coupling the control unit to the medical device. The control unit is configured to determine a position of a first movable segment of the medical device, a volume occupied by the first movable segment being approximated by one or more first virtual collision objects (VCOs); adjust, based on the position and motion goals for the medical device, one or more properties of the first VCOs; determine, based on the position and the properties, first geometries of the first VCOs; receive second geometries of one or more second VCOs associated with a second segment of a second device; determine relationships between the first VCOs and the second VCOs; and adjust, based on the relationships, a motion plan for the medical device.

Abstract: A method comprises obtaining an endoscopic image dataset of a patient anatomy from an endoscopic imaging system and retrieving an anatomic model dataset of the patient anatomy obtained by an anatomic imaging system. The method also comprises mapping the endoscopic image dataset to the anatomic model dataset and displaying a first vantage point image using the mapped endoscopic image dataset. The first vantage point image is presented from a first vantage point at a distal end of the endoscopic imaging system. The method also comprises displaying a second vantage point image using at least a portion of the mapped endoscopic image dataset. The second vantage point image is presented from a second vantage point, different from the first vantage point.

Abstract: A method comprises displaying a surgical environment image. The surgical environment image includes a field of view image obtained by a first imaging system. The method also includes receiving alert information and providing an alert indication, based upon the alert information, within the surgical environment image by altering a portion of the surgical environment image.

Abstract: Systems and methods of virtual feedback include a virtual feedback device virtually coupled between a first and second device and a control unit. The control unit is configured to select a virtual feedback model (VFM) for the virtual feedback device from among a plurality of VFMs; configure the VFM; determine, based on information from one or more first sensors for detecting information related to a position of the first device and one or more second sensors for detecting information related to a position of the second device, a relative displacement between the first second devices; determine, based on the relative displacement and the VFM, a feedback level; send feedback commands, based on the feedback level, to one or more first actuators for inducing feedback on the first device and to one or more second actuators for inducing feedback on the second device.