Abstract: Techniques for multi-mode imaging device control include determining, by a controller, if an orientational mode command or a translational mode command is entered; in response to determining that the orientational mode command is entered, constraining, by the controller, movement of an imaging device so that a focal point of the imaging device moves along a concave virtual surface in response to translational movement of one or more input devices; and in response to determining that the translational mode command is entered, causing, by the controller, translational movement of the imaging device in a three-dimensional space in response to the translational movement of the one or more input devices.

Abstract: A computer-assisted medical system comprises a flexible elongate instrument. The flexible elongate instrument comprises a plurality of wires extending from a proximal end of the flexible elongate instrument to a distal end of the flexible elongate instrument. Each wire of the plurality of wires may be used to steer the distal end. The system also comprises a control system coupled to the flexible elongate instrument. The control system is configured to monitor movement of the flexible elongate instrument along a longitudinal central axis and determine an extent of motion of the flexible elongate instrument in a first direction along the longitudinal central axis based on the monitoring. The control system is also configured to alter a rigidity of the flexible elongate instrument based on a rigidity profile relative to the extent of motion by adjusting one or more forces applied by the plurality of wires to the distal end of the flexible elongate instrument.

Abstract: A system and method for multi-mode imaging device control includes a manipulator having one or more first joints and one or more second joints and a controller. The one or more first joints are configured to pivot a focal point of an imaging device about a pivot. The one or more second joints are configured to position the pivot within a three-dimensional space. The controller is configured to actuate the one or more first joints in response to sensed movement of one or more input devices until a release of the actuation of the one or more first joints is detected, detect the release of the actuation of the one or more first joints, and actuate the one or more second joints in response to sensed movement of the one or more input devices following the detection of the release of the actuation of the one or more first joints.

Abstract: An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.

Abstract: A tool recognition system may comprise a tool recognition assembly and a control system in communication with the tool recognition assembly. The control system may comprise a processor and a memory comprising machine-readable instructions. When executed by the processor, the instructions may cause the control system to receive a first baseline sensor value from the tool recognition assembly and determine a baseline adjustment threshold based on the first baseline sensor value. The instructions may also cause the control system to receive first monitored sensor data from the tool recognition assembly and compare the first monitored sensor data to the baseline adjustment threshold for a predetermined duration. If the comparison satisfies a comparison criterion, a second baseline sensor value may be established using the first monitored sensor data.

Abstract: Systems and methods for controlling movement of a steerable device are provided. In some embodiments, a system may include a control device, a manipulator system, and/or a control system communicatively coupled to the manipulator system and the control device. The control system may track a virtual user-instructed position based on a first user input, determine a device position of a portion of the steerable device, and determine a position discrepancy in a first direction between the determined device position and the virtual user-instructed position. The control system may also receive a second user input commanding motion of the steerable device in a second direction. At least a portion of the second direction may be opposite the first direction. The control system may also reduce the position discrepancy based on an aspect of the second user input and a catch-up profile.

Abstract: Systems and methods for controlling an elongate device are provided herein. In some embodiments, a robotic system may comprise a manipulator assembly configured to drive an elongate device and a control device configured to receive user input commanding the elongate device. The robotic system may also comprise a control system communicatively coupled to the manipulator assembly and the control device. The control system may be configured to monitor movement of the elongate device during a plurality of intervals, monitor user input received by the control device during the plurality of intervals, and adjust a property of the elongate device based on at least one of the monitored movement or the monitored user input.

Abstract: Systems and methods for verification and calibration of robotic instruments are provided. A robotic system may include an instrument carriage to receive an elongate device, and the instrument carriage may comprise a set of drive sensors. The system may also include a tracking system configured to receive an indication that the elongate device is installed on the instrument carriage, operate a set of actuators to articulate a distal portion of the elongate device, and generate a set of drive sensor data from the set of drive sensors. The tracking system may also be configured to generate a set of articulation sensor data from a shape sensor of the elongate device, compare the set of drive sensor data to the set of articulation sensor data to generate a test profile, and determine whether the test profile corresponds to a reference profile. Corrective action may be determined.

Abstract: Systems and methods for operation of a medical device may include at least two sensors to confirm a command to control a medical instrument is intentionally made by an operator. The systems may include an operator-detection sensor associated with an input device and configured to detect a presence of an operator at the input device. The systems may also include a motion sensor associated with the input device and configured to detect a displacement distance of the input device. A control unit may use a displacement threshold for the input device and may be configured to permit or prevent control signal generation based on feedback from the at least two sensors.

Abstract: A machine is configured to access force data generated by a force sensor, where the force data quantifies variation in magnitude of a force encountered by a distal portion of an elongate device during a time period in which the distal portion traveled a distance within an environment during a procedure, and where the force data includes a current value of the magnitude of the force. Based on the force data, the machine generates a graphical representation that indicates the force encountered by the distal portion at a point in the procedure relative to an entirety of the procedure, and then causes a display screen to present the graphical representation. Other apparatus and methods are also described.

Abstract: In a coupled control mode, an operator directly controls movement of an associated manipulator with an input device while indirectly controlling movement of one or more non-associated manipulators, in response to commanded motion of the directly controlled manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system's usability is enhanced by reducing the operator's need to switch to another direct mode to manually achieve the desired secondary objective. Thus, coupled control modes allow the operator to better focus on performing tasks and to pay less attention to managing the system.

Abstract: A method of detecting a tool being received in a medical system, the method including receiving, in a tool recognition assembly having a first reader with a first detection zone, the tool having a first target. The method also includes acquiring first sensor data from the first reader for the first detection zone and detecting an indication of an absence of the first target when the first sensor data is within a first pre-determined threshold range and logging the absence indication. The method also includes creating an insertion signature associated with the tool being received in the tool recognition assembly by combining, in a chronological sequence, the absence and presence indications from the first reader. The method further includes comparing the insertion signature to a predetermined set of model insertion signatures and determining a characteristic of the tool being received in the tool recognition assembly based on the comparing.

Abstract: Techniques for controlling a moveable component include a system, a method, and/or a non-transitory computer-readable medium. A controller coupled to the moveable component is configured to hold the moveable component at a first position, detect a disturbance that moves the moveable component from the first position, in response to a detection of the disturbance, move the moveable component according to a first motion, continue to move the moveable component according to the first motion until a stop condition is detected, even if the disturbance ends before the stop condition is detected, and in response to a detection of the stop condition, hold the moveable component at a second position.

Abstract: An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.

Abstract: A medical system involves a flexible catheter, an instrument carriage, an actuator, and a controller coupled to the actuator. The flexible catheter includes a flexible body having a proximal portion and a distal portion. The distal portion is articulable along an articulation degree of freedom of the flexible catheter. The instrument carriage supports the flexible catheter at the proximal portion of the flexible body. The actuator is disposed on the instrument carriage and configured to drive the distal portion of the flexible catheter along the articulation degree of freedom. The controller is configured to detect an exception of the medical system, based on detection of the exception, switch from an operating state to a control state, and control the actuator, in the control state, to relax the flexible catheter along the articulation degree of freedom.

Abstract: A controller in a computer-assisted teleoperated surgical system automatically moves a part of the system, in response to a user tapping the part, to facilitate draping of that part. This speeds the draping process and diminishes the likelihood that the sterile surgical drape is damaged or contaminated during the draping of that part of the system.

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: Inter-operative switching of tools in a robotic system includes a system with a plurality of manipulators and a controller. The controller is configured to detect mounting of a first imaging device to a first manipulator of the plurality of manipulators, the first imaging device having a first reference frame; in response to detecting the mounting of the first imaging device, control a tool relative to the first reference frame using a second manipulator of the plurality of manipulators, the tool being mounted to the second manipulator; detect mounting of a second imaging device to a third manipulator of the plurality of manipulators, the second imaging device having a second reference frame; and in response to detecting the mounting of the second imaging device, control the tool relative to the second reference frame using the second manipulator.

Abstract: A manipulator for articulating a surgical tool during surgery includes an instrument holder, a parallelogram linkage assembly, an offset extension link, a yaw joint, and a mounting base. The instrument holder is configured to couple with the surgical tool. The parallelogram linkage assembly produces motion of the instrument holder that is limited to rotation about a pitch axis that intersects a remote center of manipulation. The offset extension link has an offset extension link distal end and an offset extension link proximal end. The yaw joint is connected to the offset extension link proximal end and produces motion of the instrument holder that is limited to rotation about a yaw axis that intersects the remote center of manipulation. The offset extension link distal end is offset from the yaw axis. The mounting base is coupled with the yaw joint.

Abstract: A medical robotic system includes an entry guide with articulated instruments extending out of its distal end. A controller is configured to command manipulation an articulated instrument in response to operator manipulation of an associated input device while generating a force command to the input device that nudges the operator to command the instrument to a preferred pose. When a transition is to occur between first and second preferred poses, one is phased in while the other is phased out. Virtual barriers may be imposed to prevent the articulated instrument from being commanded to an undesirable pose.