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 system and method for measuring an area of interest such as a hernia defect within a body cavity, in which real time image data is captured at a treatment site that includes the area of interest. Computer vision is applied to identify the extents of the area of interest within images captured using the camera, and dimensions of the area of interest are measured using the image data. The user is given output, which may include recommendations of hernia mesh shape/size and or positioning, based on the measured dimensions.

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 system and method for measuring an area of interest within a body cavity, in which real time image data is captured at a treatment site that includes the area of interest. Computer vision is applied to identify the extents of the area of interest within images captured using the camera, and dimensions of the area of interest are measured using the image data. The user is given output as to the area of the area of interest. The system may calculate a cumulative total of the estimated areas of areas of interest measured or treated within the treatment site.

Abstract: During a medical procedure, a system and method facilitate identification and treatment of sites within patient anatomy. A digital image of a region of patient anatomy is captured and displayed on a digital display. Target treatment sites are tagged with respect to the image, and overlays identifying the tagged target treatment sites are displayed. As tagged sites are treated, the corresponding overlays are removed, altered or replaced to indicate the tagged target treatment site has been treated.

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: In a system and method for assessing tissue excision comprise, first 3-dimensional data is acquired for a surgical region of interest from which tissue is to be excised, the first data defining initial geometry of tissue in the region of interest. A desired excision parameter, such as depth or shape, is determined and tissue is excised from the region of interest. Second 3-dimensional data for the region of interest is then acquired, the second scan data defining post-excision geometry of the tissue in the region of interest. The first and second data is compared to determine whether the desired excision parameter has been reached. The 3-dimensional data may be scan data acquired using a 3D or 2D endoscope, and/or it may be derived from kinematic data generated as a result of moving an instrument tip over the region of interest.

Abstract: A surgical system includes a robotic manipulator, a first surgical instrument removably mountable to the robotic manipulator and maneuverable within a body cavity by the robotic manipulator. The instrument has end effector and a working channel proportioned to receive an implement therethrough. Robotic control of the first surgical and, optionally, the implement, is managed using input from a user interface.

Abstract: A system for measuring distances within a surgical site includes a camera positionable to capture 3D image data corresponding to a treatment site. Using the image data, the system determines the relative 3D positions of identified measurement points at the treatment site captured in the images, and it estimates or determines the distance between the measurement points. Output is generated communicating the measured distances to the user. The measurement taken follows the 3D topography of the tissue positioned between the measurement points.

Abstract: A motorized surgical system includes at least one support positionable within a sterile field in proximity to a patient positioned on a surgical table. An instrument driver is carried by the support and includes a steerable distal end positionable in a body cavity. A user input device is carried by the support and is configured to generate movement signals in response to manual manipulation of a portion of the user input device by a user. One or more steering motors are operably coupled to the instrument driver and are operable to deflect the steerable distal end of the instrument driver in response to the movement signals.

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: 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 robot-assisted surgical system includes a robotic manipulator configured for robotic positioning of a surgical instrument in a body cavity, a surgical instrument positionable in an operative site in the body cavity and at least one path-defining instrument insertable into a natural body orifice. The system is configured to determine a position of the path-defining instrument. A target resection path for the surgical instrument may be determined based on the determined position. The path-defining instrument may be a bougie or colpotomy ring.

Abstract: A motorized surgical system includes at least one support positionable within a sterile field in proximity to a patient positioned on a surgical table. An instrument driver is carried by the support and includes a steerable distal end positionable in a body cavity. A user input device is carried by the support and is configured to generate movement signals in response to manual manipulation of a portion of the user input device by a user. One or more steering motors are operably coupled to the instrument driver and are operable to deflect the steerable distal end of the instrument driver in response to the movement signals.

Abstract: A surgical system includes an instrument driver having a distal end positionable in a body cavity and a user input device. The instrument driver and user input device are positioned to removably receive distal and proximal portions, respectively, of a surgical instrument. The user input device is configured to generate movement signals in response to manual manipulation of the proximal portion of the surgical instrument. At least one motor operable to actuate the instrument driver in response to the movement signals and to thereby change position of the distal portion of the surgical instrument within the body cavity.

Abstract: A surgical system includes an instrument driver having a distal end positionable in a body cavity and a user input device. The instrument driver and user input device are positioned to removably receive distal and proximal portions, respectively, of a surgical instrument. The user input device is configured to generate movement signals in response to manual manipulation of the proximal portion of the surgical instrument. At least one motor operable to actuate the instrument driver in response to the movement signals and to thereby change position of the distal portion of the surgical instrument within the body cavity.