Abstract: Systems and methods for a system include a manipulator configured to support an instrument moveable within an instrument workspace, the instrument having an instrument frame of reference; an input device configured to receive a movement command from an operator; and a control system. The control system is configured to determine a difference between an orientation of the instrument and an orientation of a field of view of the instrument workspace; adjust, based on the difference, a mapping to apply to the movement command to generate an implementable movement command for the instrument; further adjust the mapping based on an ergonomic offset to provide for a difference between an orientation of the input device and the orientation of the instrument; map, based on the adjusted mapping, the movement command to a motion of the instrument in the instrument frame of reference; and cause the instrument to move according to the motion.

Abstract: Systems and methods for detecting environmental forces on a flexible elongate instrument include an actuator for inserting and retracting the instrument and a control unit. The control unit is configured to determine a force exerted by the instrument on tissue of a patient. The force is determined based on one or more of a shape of the instrument, a force being exerted by the actuator, or an amount of force being applied at a proximal end of the instrument. In some embodiments the control unit determines the shape using a shape sensor. In some embodiments, the control unit determines the force exerted by the actuator based on a current of the actuator. In some embodiments, the control unit determines the amount of force being applied to the proximal end of the instrument using a force sensor located proximal to the instrument.

Abstract: Techniques are described for testing whether an end effector, or component thereof, is correctly or incorrectly installed to a manipulation system. In an example, a manipulation system can include a manipulator arm configured to receive an end effector having a first moveable jaw, a transducer configured to provide first effort information of the end effector as the end effector moves, and a processor configured to provide a command signal to effect a first test move of the first moveable jaw, and to provide an installation status of the of the end effector using the first effort information of the first test move.

Abstract: A medical system may comprise a display system and a processor. The processor may be configured to generate a computer model of a plurality of instruments. The plurality of instruments may extend through and out of a distal end of an entry guide and may include an image capturing instrument. The processor may be further configured to cause an image of the computer model to be displayed on the display system and determine from a configuration of the plurality of instruments in the computer model if an event alert threshold associated with an event has been reached. If a determination is made that the event alert threshold has been reached, an event indicator may be displayed on the display system at a portion of the image of the computer model associated with the event.

Abstract: Systems and methods for a teleoperational system and control thereof are provided. An exemplary system includes a first manipulator configured to support an instrument moveable within an instrument workspace, the instrument having an instrument frame of reference, and includes an operator input device configured to receive movement commands from an operator. The system further includes a control system to implement the movement commands by comparing an orientation of the instrument with an orientation of a field of view of the instrument workspace to produce an orientation comparison. When the comparison does not meet certain criteria, the control system causes instrument motion in a first direction relative to the instrument frame in response to a movement command. When the comparison meets the criteria, the control system causes instrument in a second direction relative to the instrument frame in response to the movement command. The second direction differs from the first direction.

Abstract: A medical device includes a flexible elongate instrument, an actuator for inserting and retracting the instrument, and a control unit configured to determine at least one of a force being exerted by the actuator or an amount of force applied at a proximal end of the instrument. The control unit is configured to determine a force exerted by the instrument on tissue of a patient based on a shape of the instrument and at least one of the force exerted by the actuator or the force applied at the proximal end. A method of operating a medical device includes: determining a shape of a flexible elongate instrument and at least one of a first force exerted by an actuator or a second force applied to a proximal end; and determining a third force, exerted on tissue, based on the shape and at least one of the first or second forces.

Abstract: Techniques are described for testing whether an end effector, or component thereof, is correctly or incorrectly installed to a manipulation system. In an example, a manipulation system can include a manipulator arm configured to receive an end effector having a first moveable jaw, a transducer configured to provide first effort information of the end effector as the end effector moves, and a processor configured to provide a command signal to effect a first test move of the first moveable jaw, and to provide an installation status of the of the end effector using the first effort information of the first test move.

Abstract: A medical system may comprise a display and a processor configured to determine an optimal position for an image capturing instrument to view working ends of a plurality of medical instruments when the plurality of medical instruments and the image capturing instrument are each extending out of a distal end of an entry guide. The processor may also be configured to cause the optimal position to be displayed on the display along with an image captured by the image capturing instrument of the working ends of the plurality of medical instruments.

Abstract: A surgical system includes a manipulator, a surgical tool and a control system. The manipulator includes a manipulator mounting base, a pitch mechanism, a roll mechanism and a redundant rotation mechanism. The surgical tool is supported by the manipulator and has a tool shaft axis. The pitch mechanism rotates the surgical tool around a pitch axis. The roll mechanism rotates the surgical tool around a roll axis transverse to the pitch axis. The redundant rotation mechanism rotates the surgical tool around a redundant rotation axis. Each of the tool shaft axis, the pitch axis and the roll axis intersect at a remote center. The control system is configured to electronically communicate with and control operation of the manipulator to articulate the surgical tool during surgery.

Abstract: A medical instrument system includes actuators, a medical instrument, and a control system operably connected to the actuators. The medical instrument includes an end portion and transmission systems, each of which couples the end portion to an actuator of the actuators such that the actuators are operable to drive the transmission systems to move the end portion. The control system is configured to execute operations including determining a difference between a current configuration of the end portion and a desired configuration of the end portion, and operating the actuators to apply tensions to the transmission systems based on the difference and based on constant offset tensions. The constant offset tensions are independent of current tensions experienced by the transmission systems.

Abstract: A teleoperative system includes an input device and a controller. The controller is configured to receive input associated with movement of the input device, determine a commanded pose of an instrument coupled to the teleoperative system based on the received input, determine a first preferred pose of the instrument based on at least one parameter selected from a group consisting of: a type of the instrument and an operating mode of the instrument, determine a first feedback force command based on a difference between the commanded pose and the first preferred pose, and actuate the input device based on the first feedback force command.

Abstract: A machine is configured to access force data generated by a force sensor, where the force sensor is communicatively coupled to a proximal portion of a flexible elongate device that has a distal portion configured to travel within an environment, and where the force sensor is configured to detect forces and generate the force data therefrom. The machine, based on the force data, identifies an insertion force encountered by the distal portion of the flexible elongate device from among the forces detected by the force sensor. The machine then, based on the identified insertion force, initiates a responsive operation performed by a control system communicatively coupled to the flexible elongate device.

Abstract: A medical instrument system includes actuators, a medical instrument, and a control system operably connected to the actuators. The medical instrument includes an end portion and transmission systems, each of which couples the end portion to an actuator of the actuators such that the actuators are operable to drive the transmission systems to move the end portion. The control system is configured to execute operations including determining a difference between a current configuration of the end portion and a desired configuration of the end portion, and operating the actuators to apply tensions to the transmission systems based on the difference and based on constant offset tensions. The constant offset tensions are independent of current tensions experienced by the transmission systems.

Abstract: Techniques for retracting an instrument into an entry guide include receiving a retraction command for the instrument, the retraction command commanding movement of the instrument into the entry guide; causing, in response to the retraction command and using an instrument manipulator, movement of a rotational joint of the instrument that is external to the entry guide toward a distal end of the entry guide; actuating, after the rotational joint reaches a minimum distance from the distal end of the entry guide, the rotational joint to orient a link of the instrument so that the link can be retracted into the entry guide, the link being adjacent to and distal to the rotational joint; and causing, after the link is oriented so that the link can be retracted into the entry guide and using the instrument manipulator, further movement of the rotational joint toward the distal end of the entry guide.

Abstract: A medical system comprises an entry guide, a display, and a processor. The processor may be configured to receive state information for an articulatable image capture device controllably extendable out of a distal end of the entry guide. The processor may be configured to generate a view including a graphical representation of a distal end portion of the articulatable image capture device as determined from the received state information and a graphical representation of a field of view of the articulatable image capture device extending distally from the distal end portion of the articulatable image capture device. The processor may also cause the view to be displayed on the display.

Abstract: A surgical system includes a manipulator, a surgical tool and a control system. The manipulator includes a manipulator mounting base, a pitch mechanism, a roll mechanism and a redundant rotation mechanism. The surgical tool is supported by the manipulator and has a tool shaft axis. The pitch mechanism rotates the surgical tool around a pitch axis. The roll mechanism rotates the surgical tool around a roll axis transverse to the pitch axis. The redundant rotation mechanism rotates the surgical tool around a redundant rotation axis. Each of the tool shaft axis, the pitch axis and the roll axis intersect at a remote center. The control system is configured to electronically communicate with and control operation of the manipulator to articulate the surgical tool during surgery.

Abstract: A teleoperational control system may comprise a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, may cause the system to engage a first operational mode of the teleoperational control system for controlling a teleoperational instrument in response to movement of a control device in a first degree of freedom and engage a second operational mode of the teleoperational control system for controlling a graphical user interface. While in the second operational mode, the system may track movement of the control device in a second degree of freedom, different from the first degree of freedom. While in the second operational mode and responsive to the movement of the control device in the second degree of freedom, the system may apply a first haptic force to the control device.

Abstract: A medical robotic system includes articulated instruments extending out of a distal end of an entry guide. Prior to pivoting the entry guide to re-orient it and the instruments, the instruments are moved in tandem back towards the entry guide after a delay. Haptic cues and velocity limits are provided to assist the operator in the retraction of the instruments. After retraction, the entry guide may then be pivoted without concern that the instruments will harm patient anatomy. The movement of the instruments in tandem back towards the entry guide may also occur through coupled control modes while the entry guide is held in a fixed position and orientation.

Abstract: A medical system includes a flexible elongate instrument and a control system. The flexible elongate instrument includes a plurality of wires useable to control articulation of the flexible elongate instrument. The control system is configured to monitor movement of the flexible elongate instrument, determine an extent of motion of the flexible elongate instrument based on the monitoring, and determine a mode of operation for the flexible elongate instrument from a plurality of modes of operation based on the monitoring. The plurality of modes of operation includes a retraction mode, an insertion mode, and a parking mode. The control system is further configured to, in response to a change in the mode of operation, alter a rigidity of the flexible elongate instrument with a rate of rigidity change that is based on the extent of motion using one or more of the plurality of wires.

Abstract: A system including a flexible catheter configured to articulate along a degree of freedom. An actuator is disposed at a proximal portion of the flexible catheter. The actuator is configured to actuate the flexible catheter along the degree of freedom. An articulation sensor is configured to provide articulation sensor signals representing articulation of the flexible catheter. An actuator sensor is configured to provide actuator sensor signals representing movement of the actuator. A controller is coupled to the actuator and configured to, based on determining that a state of a first articulation sensor signal prevents or hinders the first articulation signal from being used as a feedback signal for controlling the actuator to: determine an articulation estimate of the flexible catheter based on a model of the flexible catheter applied to a first actuator sensor signal; and, control the actuator based on the articulation estimate.