Abstract: A surgical robotic system includes: a surgical table; a plurality of movable carts being oriented toward the surgical table, each of which includes a robotic arm, and an alignment unit configured to determine an orientation of the movable cart and the robotic arm relative to the surgical table; and a computer coupled to each of the plurality of movable carts and configured to calculate a yaw angle for each of the plurality of movable carts.

Abstract: A surgical robotic system includes a surgical console and a training simulation console operably coupled to the surgical console. The surgical console includes a display and a user input device configured to generate a user input. The training simulation console includes a memory, a simulator, a master slave controller, and a simulation controller operably coupled to the simulator and the master slave controller. The memory is configured to store session data and instrument information. The simulator is configured to initialize a session. The master slave controller is configured to receive input positions from the user input device and to determine desired drive commands for the robotic arm or instrument drive unit. The simulation controller is configured to simulate in the session, operating of at least one of the robotic arm or the instrument drive unit.

Abstract: A surgical system includes an instrument drive unit having a plurality of motors, two of which are high-side motors and two of which are low-side motors. The instrument drive unit is coupled to an instrument having an end effector with a first jaw and a second jaw. The instrument also includes a plurality of cables, two of which are high-side cables actuatable by the high-side motors and two of which are low-side cables actuatable by the low-side motors. The high-side cables are used to close the first and second jaw members and the low-side cables are used to open the first and second jaw members. The system also includes a controller for determining whether one of the low-side cables is broken based on a derivative of jaw angle between the first and second jaws exceeding a jaw angle derivative threshold and a sum of motor torques of the high-side motors exceeding combined high-side torque threshold.

Abstract: A computer-implemented method for clinical workplace simulation includes capturing a surgical parameter from one or more robotic surgical operations, based on a sensor; and determining an optimized surgical parameter based on the captured surgical parameter. The surgical parameter includes a patient habitus, a port location in a first patient, and/or a robotic arm placement relative to the first patient. The optimized surgical parameter includes an optimized port placement location in a second patient, and/or an optimized robotic arm placement location relative to the second patient.

Abstract: A computer-implemented method for clinical workspace simulation includes capturing a real-world environment by an imaging device of an augmented reality headset and generating a composite view by rendering a first virtual object relative to a surgical table in the real-world environment. Captured real-world environment and the rendered first virtual object are combined in the composite view, which is displayed on a display of the augmented reality headset worn by a user.

Abstract: A computer-implemented method for clinical workspace simulation includes capturing a real-world environment by an imaging device of an augmented reality headset and generating a composite view by rendering a first virtual object relative to a surgical table in the real-world environment. Captured real-world environment and the rendered first virtual object are combined in the composite view, which is displayed on a display of the augmented reality headset worn by a user.

Abstract: According to one embodiment of the present disclosure, a surgical robotic system includes a robotic arm having an instrument drive unit and a surgical instrument rotatable by the instrument drive unit about an instrument axis. The system also includes a surgical console including at least one handle controller having a handle rotatable about a handle axis and configured to receive a user input for moving the surgical instrument. The system further includes a controller configured to receive the user input and to instruct the robotic arm to flip the surgical instrument in response to the user input, wherein the user input is an angle of rotation of the handle about the handle axis that is less than an angle of rotation of the surgical instrument of about 180°.

Abstract: A surgical robotic system includes surgeon console having a user input device configured to generate a user input for controlling a simulated instrument, a primary display configured to display a graphical surgical simulation including a simulated instrument, and a secondary display configured to display a graphical user interface providing exchange of the simulated instrument. The system also includes a training simulation computing device operably coupled to the surgeon console having a master controller configured to receive input positions from the user input device and to output a drive command for the simulated instrument, and a simulation controller configured to simulate the simulated instrument.

Abstract: Disclosed herein are techniques for implementing an intelligent assistance (“IA”) or extended intelligence (“EI”) ecosystem for soft tissue luminal applications. In various embodiments, a computing system analyzes first layer input data (indicating movement, position, and/or relative distance for a person(s) and object(s) in a room) and second layer input data. The second layer input data includes sensor and/or imaging data of a patient. Based on the analysis, the computing system generates one or more recommendations for guiding a medical professional in navigating a surgical device(s) with respect to one or more soft tissue luminal portions of the patient. The recommendation(s) include at least one mapped guide toward, in, and/or around the one or more soft tissue luminal portions. The mapped guide can include data corresponding to at least three dimensions, e.g., a 3D image/video. The computing system can present the recommendation(s) as image-based output, using a user experience device.

Abstract: Novel tools and techniques are provided for implementing intelligent assistance (“IA”) or extended intelligence (“EI”) ecosystem for pulmonary procedures. In various embodiments, a computing system might analyze received one or more first layer input data (i.e., room content-based data) and received one or more second layer input data (i.e., patient and/or tool-based data), and might generate one or more recommendations for guiding a medical professional in guiding a surgical device(s) toward and within a lung of the patient to perform a pulmonary procedure, based at least in part on the analysis, the generated one or more recommendations comprising 3D or 4D mapped guides toward, in, and around the lung of the patient. The computing system might then generate one or more XR images, based at least in part on the generated one or more recommendations, and might present the generated one or more XR images using a UX device.

Abstract: A surgical robotic system includes: a surgical table; a plurality of movable carts being oriented toward the surgical table, each of which includes a robotic arm, and an alignment unit configured to determine an orientation of the movable cart and the robotic arm relative to the surgical table; and a computer coupled to each of the plurality of movable carts and configured to calculate a yaw angle for each of the plurality of movable carts.

Abstract: A surgical robotic system includes a surgical console and a training simulation console operably coupled to the surgical console. The surgical console includes a display and a user input device configured to generate a user input. The training simulation console includes a memory, a simulator, a master slave controller, and a simulation controller operably coupled to the simulator and the master slave controller. The memory is configured to store session data and instrument information. The simulator is configured to initialize a session. The master slave controller is configured to receive input positions from the user input device and to determine desired drive commands for the robotic arm or instrument drive unit. The simulation controller is configured to simulate in the session, operating of at least one of the robotic arm or the instrument drive unit.

Abstract: A computer-implemented method for clinical workspace simulation includes capturing a real-world environment by an imaging device of an augmented reality headset and generating a composite view by rendering a first virtual object relative to a surgical table in the real-world environment. Captured real-world environment and the rendered first virtual object are combined in the composite view, which is displayed on a display of the augmented reality headset worn by a user.

Abstract: A robotic surgical instrument includes a housing having a shaft extending therefrom configured to receive a first end effector including jaw members moveable between a fully open position wherein the jaw members are spaced a maximum distance relative to one another and a closed position wherein a closure pressure between the jaw members is within a predetermined range. A drive rod actuates the first end effector upon translation thereof. The housing includes a spring compression assembly having proximal and distal hubs with the compression spring disposed therebetween. A jaw drive input rotates a drive gear to translate the distal hub relative to the proximal hub to compress the compression spring and actuate the end effector. Once the jaw members are fully open, the jaw drive input rotates a preset number of degrees to compress the compression spring and approximate the jaw members to a closure pressure within the predetermined range.

Abstract: A robotic surgical instrument includes a housing having a shaft extending therefrom configured to receive a first end effector including jaw members moveable between a fully open position wherein the jaw members are spaced a maximum distance relative to one another and a closed position wherein a closure pressure between the jaw members is within a predetermined range. A drive rod actuates the first end effector upon translation thereof. The housing includes a spring compression assembly having proximal and distal hubs with the compression spring disposed therebetween. A jaw drive input rotates a drive gear to translate the distal hub relative to the proximal hub to compress the compression spring and actuate the end effector. Once the jaw members are fully open, the jaw drive input rotates a preset number of degrees to compress the compression spring and approximate the jaw members to a closure pressure within the predetermined range.