Abstract: Techniques for operating a kinematic structure by manual motion of a link coupled to the kinematic structure include a system comprising a first manipulating means and processing means. The processing means is for detecting whether a first means for accessing an internal worksite is mounted to the first manipulating means; detecting an input indicating the system is to be in a set-up mode; and inhibiting, in response to detecting that the first means is mounted to the first manipulating means, transition of the system to the set-up mode.

Abstract: A system includes a first structure, a linkage supporting the first structure, a second structure supporting the linkage, and processor(s). The processor(s) are configured to determine, at a time when the system enters a mode, a first position of a reference location of a link of the first structure relative to the linkage and while the system is in the mode: detect a manual movement of the link that causes a first displacement of the reference location from the first position in a first direction and a second displacement of the reference location in a second direction, calculate, based on at least the first displacement, a motion of the second structure to cause movement of the linkage relative to the reference location in the first direction to reduce the first displacement while not changing the second displacement, and cause the second structure to move in accordance with the calculated motion.

Abstract: Techniques for controlling a system include a first structural means supporting a manipulating means, a second structural means supporting the first structural means, and a processing means. The processing means is configured to determine, relative to the first structural means, a first position of a reference location on the system entering into the first mode, the reference location being associated with a linking means of the manipulating means; and while the system in the first mode: detect a manual movement of the reference location that causes a first displacement of the reference location from the first position in a first direction and a second displacement of the reference location from the first position in a second direction,; and, in response, command the second structural means to move relative to the reference location in the first direction so as to reduce the first component while not changing the second component.

Abstract: According to various embodiments, there is provided a probe structure. The probe structure includes a probe configured to emit acoustic energy. The probe structure further includes a load cell underneath and aligned with the probe. The probe structure further includes a probe hub including a cavity for receiving the probe and the load cell.

Abstract: Techniques for operating a kinematic structure by manual motion of a link coupled to the kinematic structure include a system comprising a first manipulating means and processing means. The processing means is for detecting whether a first means for accessing an internal worksite is mounted to the first manipulating means; detecting an input indicating the system is to be in a set-up mode; and inhibiting, in response to detecting that the first means is mounted to the first manipulating means, transition of the system to the set-up mode.

Abstract: Techniques for operating a kinematic structure by manual motion of a link coupled to the kinematic structure include a system having a kinematic structure configured to support an instrument and a processor. The processor is configured to place the system in a clutching mode; transition the system from the clutching mode to a set-up mode in response to detecting a joint operation of the kinematic structure; while in the set-up mode, determine an input displacement of a link from an initial positional relationship relative to a portion of the kinematic structure to a displaced positional relationship relative to the portion of the kinematic structure; and while in the set-up mode and in response to the determined input displacement, drive the kinematic structure so that the link returns toward the initial positional relationship relative to the portion of the kinematic structure.

Abstract: Techniques for controlling a system include a first structural means supporting a manipulating means, a second structural means supporting the first structural means, and a processing means. The processing means is configured to determine, relative to the first structural means, a first position of a reference location on the system entering into the first mode, the reference location being associated with a linking means of the manipulating means; and while the system in the first mode: detect a manual movement of the reference location that causes a first displacement of the reference location from the first position in a first direction and a second displacement of the reference location from the first position in a second direction,; and, in response, command the second structural means to move relative to the reference location in the first direction so as to reduce the first component while not changing the second component.

Abstract: Techniques for limiting motion of a first structure include a manipulator supported by the first structure, a second structure supporting the first structure, and a processor. The processor is configured to, in response to entering a first mode, determine, relative to the first structure, a first position of a reference location on entry into the first mode, the reference location being associated with a link of the manipulator; and while in the first mode: detect a manual movement of the reference location to a second position relative to the first structure, wherein a difference between the first and second positions comprises a displacement having first and second components in respective different first and second directions; and, in response, command the second structure to move relative to the reference location in the first direction so as to reduce the first component while not changing the second component.

Abstract: Arrangements described herein relate to systems, apparatuses, and methods for a headset system that includes a transducer, a camera configured to capture image data of a subject, and a controller configured to detect one or more fiducial markers placed on the subject using the captured image data, and register the transducer with respect to the subject based on the detected fiducial markers.

Abstract: According to various embodiments, there is provided a device including a processor configured to control a robotic system to autonomously position a transducer at a plurality of locations adjacent a subject's skull and to autonomously locate a window on the subject's skull within which an artery can be located, from which artery a signal can be returned to the transducer, the signal having an energy level exceeding a predefined threshold.

Abstract: According to various embodiments, there is provided a probe structure. The probe structure includes a probe configured to emit acoustic energy. The probe structure further includes a load cell underneath and aligned with the probe. The probe structure further includes a probe hub including a cavity for receiving the probe and the load cell.

Abstract: According to various embodiments, there is provided a probe structure. The probe structure includes a probe configured to emit acoustic energy. The probe structure further includes a load cell underneath and aligned with the probe. The probe structure further includes a probe hub including a cavity for receiving the probe and the load cell.

Abstract: Arrangements described herein relate to systems, apparatuses, and methods for a headset system that includes a transducer, a camera configured to capture image data of a subject, and a controller configured to detect one or more fiducial markers placed on the subject using the captured image data, and register the transducer with respect to the subject based on the detected fiducial markers.

Abstract: Techniques for operating a kinematic structure by manual motion of a link coupled to the kinematic structure include a system having a kinematic structure configured to support an instrument and a processor. The processor is configured to place the system in a clutching mode; transition the system from the clutching mode to a set-up mode in response to detecting a joint operation of the kinematic structure; while in the set-up mode, determine an input displacement of a link from an initial positional relationship relative to a portion of the kinematic structure to a displaced positional relationship relative to the portion of the kinematic structure; and while in the set-up mode and in response to the determined input displacement, drive the kinematic structure so that the link returns toward the initial positional relationship relative to the portion of the kinematic structure.

Abstract: Techniques for operating a kinematic structure by manual motion of a link coupled to the kinematic structure include a system having a kinematic structure configured to support an instrument and a processor. The processor is configured to place the system in a clutching mode, transition the system from the clutching mode to a set-up mode in response to detecting a joint operation of the kinematic structure, establish a desired reference location of a link relative to a portion of the kinematic structure, detect an error between an actual reference location of the link relative to the portion and the desired reference location of the link, and drive the kinematic structure so as to decrease the error. The link is distal to the portion on the kinematic structure. The error is due to manual movement of the link.

Abstract: According to various embodiments, there is provided a headset mountable on a head, the headset including a probe for emitting energy into the head. The headset further includes a support structure coupled to the probe. The support structure includes translation actuators for translating the probe along two axes generally parallel to a surface of the head.

Abstract: Arrangements described herein relate to systems, apparatuses, and methods for a headset system that includes a transducer, a camera configured to capture image data of a subject, and a controller configured to detect one or more fiducial markers placed on the subject using the captured image data, and register the transducer with respect to the subject based on the detected fiducial markers.

Abstract: Techniques for limiting motion of a first structure include a manipulator supported by the first structure, a second structure supporting the first structure, and a processor. The processor is configured to, in response to entering a first mode, determine, relative to the first structure, a first position of a reference location on entry into the first mode, the reference location being associated with a link of the manipulator; and while in the first mode: detect a manual movement of the reference location to a second position relative to the first structure, wherein a difference between the first and second positions comprises a displacement having first and second components in respective different first and second directions; and, in response, command the second structure to move relative to the reference location in the first direction so as to reduce the first component while not changing the second component.

Abstract: A tele-operated system includes a platform, a manipulator supported by the platform, a support structure supporting the platform, and a processor. In a platform movement mode the processor is configured to sense a manual movement of a link of the manipulator relative to the platform that moves the link from a first to a second positional relationship relative to the platform wherein a difference between the first and second positional relationships includes a displacement having components in first, second, and third directions that are perpendicular to one another, calculate, in response to the sensed manual movement, a command for the support structure that causes the link to move in the first direction so as to reduce the displacement in the first direction and does not change the displacement in the second direction, and transmit the command to the support structure so as to move the platform and the manipulator.

Abstract: According to various embodiments, there is provided a probe structure. The probe structure includes a probe configured to emit acoustic energy. The probe structure further includes a load cell underneath and aligned with the probe. The probe structure further includes a probe hub including a cavity for receiving the probe and the load cell.