Abstract: An automatically locking safety device, e.g., for use in a blood collection procedure, can include a housing, first and second needle covers that are at least partly received in the housing, and a needle that is at least partly received in at least one of the first and second needle covers. The needle can include a proximal tip configured for placement into a patient and a distal tip configured for placement into a blood collection vial. In some embodiments, the first and second needle covers are biased by a biasing member. In some cases, one or both of the first and second needle covers can be locked to prevent axial movement thereof after the blood collection procedure. In certain embodiments, a distal end of the device is configured to connect with a medical connector, such as a needleless IV access device.

Abstract: A powered user interface for a robotic surgical system operates in accordance with a mode of operation in which the actuators are operated to permit motion of the handle in pitch and yaw motion constrained with respect to a virtual fulcrum in a work space of the user interface, and insertion motion is constrained along an axis passing through the virtual fulcrum. In a virtual fulcrum setting mode, a user is prompted to give input to the system selecting a desired point in space for the virtual fulcrum. The selected point in space is then set as the virtual fulcrum.

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 powered user interface for a robotic surgical system operates in accordance with a mode of operation in which the actuators are operated to permit motion of the handle in pitch and yaw motion constrained with respect to a virtual fulcrum in a work space of the user interface, and insertion motion is constrained along an axis passing through the virtual fulcrum. In a virtual fulcrum setting mode, a user is prompted to give input to the system selecting a desired point in space for the virtual fulcrum.

Abstract: A powered user interface for a robotic surgical system includes a base, a handle mounted to the base and moveable relative to the base in at least six degrees of freedom, and actuators. The interface operates in accordance with a first mode of operation in which the 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 powered user interface for a robotic surgical system having a manipulator and a surgical instrument mounted to the manipulator includes a base and a linkage assembly that includes two two-bar linkage mechanisms. The linkage assembly is rotatably mounted to the base at a base joint, and a handle mounted to each of the two-bar linkage mechanisms. Sensors and actuators are arranged to measure and actuate the position and orientation of the user interface.

Abstract: A surgical system includes a drive unit on a support. The drive unit includes motors or other actuators and a plurality of output elements arranged such that operation of each drive unit linearly translates a corresponding one of the output elements. A surgical device has an input subsystem carried at the proximal end of the shaft. The input subsystem includes linearly translatable input elements or pistons. The input and output elements are positioned such that operation of an actuator linearly translates an output element, causing linear translation of a corresponding input element. The input elements deliver linear motion to a rotary conversion system which converts the linear motion to rotary motion and delivers the rotary motion to a shaft of the surgical device, causing axial rolling of the surgical device or its distal end effector. A sterile drape is positionable between the input elements and the output elements.

Abstract: A mechanical assembly is used to communicate to a robotic system information about a type of instrument mounted to a robotic manipulator arm. The assembly includes a sensor and a receiving component on the robotic manipulator arm. The receiving component includes a member moveable relative to said at least one sensor. A first surgical instrument is attachable to the robotic manipulator arm and is provided with a first mechanical identification feature positioned to cause movement of the moveable member relative to the sensor, causing a first response at the sensor. A second surgical instrument is similarly attachable, but causes a second response at the sensor that differs from the first response. This allows the robotic system to determine instrument type based on the response of the sensor from attachment of an instrument.

Abstract: A surgical system includes a drive unit on a support. The drive unit includes motors or other actuators and a plurality of output elements arranged such that operation of each drive unit linearly translates a corresponding one of the output elements. A surgical device has an input subsystem carried at the proximal end of the shaft. The input subsystem includes linearly translatable input elements or pistons. The input and output elements are positioned such that operation of an actuator linearly translates an output element, causing linear translation of a corresponding input element. The input elements deliver linear motion to a rotary conversion system which converts the linear motion to rotary motion and delivers the rotary motion to a shaft of the surgical device, causing axial rolling of the surgical device or its distal end effector. A sterile drape is positionable between the input elements and the output elements.

Abstract: An automatically locking safety device, e.g., for use in a blood collection procedure, can include a housing, first and second needle covers that are at least partly received in the housing, and a needle that is at least partly received in at least one of the first and second needle covers. The needle can include a proximal tip configured for placement into a patient and a distal tip configured for placement into a blood collection vial. In some embodiments, the first and second needle covers are biased by a biasing member. In some cases, one or both of the first and second needle covers can be locked to prevent axial movement thereof after the blood collection procedure. In certain embodiments, a distal end of the device is configured to connect with a medical connector, such as a needleless IV access device.

Abstract: A shaft for a surgical instrument includes a tubular shaft and an end effector comprising a pair of jaw members. The end effector is formed by laser cutting a distal end of the tubular shaft to form the jaws and to form a pivot. The pivot enables movement of the a jaw about the pivot relative to a more proximal portion of the shaft.

Abstract: A powered user interface for a robotic surgical system having a manipulator and a surgical instrument mounted to the manipulator includes a base and a linkage assembly that includes two two-bar linkage mechanisms. The linkage assembly is rotatably mounted to the base at a base joint, and a handle mounted to each of the two-bar linkage mechanisms. Sensors and actuators are arranged to measure and actuate the position and orientation of the user interface.

Abstract: A powered user interface for a robotic surgical system includes a base, a handle mounted to the base and moveable relative to the base in at least six degrees of freedom, and actuators. The interface operates in accordance with a first mode of operation in which the 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 surgical system includes a drive unit on a support. The drive unit includes motors or other actuators and a plurality of output elements arranged such that operation of each drive unit linearly translates a corresponding one of the output elements. A surgical device has an input subsystem carried at the proximal end of the shaft. The input subsystem includes linearly translatable input elements or pistons. The input and output elements are positioned such that operation of an actuator linearly translates an output element, causing linear translation of a corresponding input element. The input elements deliver linear motion to a rotary conversion system which converts the linear motion to rotary motion and delivers the rotary motion to a shaft of the surgical device, causing axial rolling of the surgical device or its distal end effector. A sterile drape is positionable between the input elements and the output elements.

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 surgical system comprises a surgical instrument moveable by a robotic manipulator within a work area. A processor is configured to receive input identifying a structure at the operative site to be avoided by the surgical instrument, to automatically determine whether the surgical instrument is approaching contact with the structure, and to initiate an avoidance step if the system determines that the surgical instrument is approaching contact with the structure.

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 mechanical assembly is used to communicate to a robotic system information about a type of instrument mounted to a robotic manipulator arm. The assembly includes a sensor and a receiving component on the robotic manipulator arm. The receiving component includes a member moveable relative to said at least one sensor. A first surgical instrument is attachable to the robotic manipulator arm and is provided with a first mechanical identification feature positioned to cause movement of the moveable member relative to the sensor, causing a first response at the sensor. A second surgical instrument is similarly attachable, but causes a second response at the sensor that differs from the first response. This allows the robotic system to determine instrument type based on the response of the sensor from attachment of an instrument.

Abstract: A robotic surgical system is configured to determine whether a surgical instrument has been properly mounted to an arm of the surgical system. As the surgical instrument is moved into engagement with the arm, a magnet on the arm exerts an attractive force on a plate on the surgical instrument. As the instrument engages to the arm, load cell measurements and inertial measurement unit (IMU) information from one or more sensors on the arm are monitored to determine the mass of the instrument as well as the acceleration of the instrument as it mates with the instrument engagement interface. The system compares the load cell measurements and IMU information with what those parameters are expected to be when a surgical device assembly or instrument of that type is mounted. If the load cell measurements and IMU information deviates from what is expected, the system provides a notification to the user and prevents use of the manipulator arm until the surgical device assembly or instrument is properly positioned.

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.