Abstract: Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space to allow manual positioning of one or both of a remote center or end effector position within a work space and driving a second set of joints according to an auxiliary movement calculated within a null-space according to a desired state or movement of the manipulator arm during the floating of the joints. Various configurations for devices and systems utilizing such methods are provided herein.

Abstract: A system and method of maintaining a tool position and orientation for a computer-assisted device include an articulated structure including a plurality of joints and a control unit coupled to the articulated structure. The control unit is configured to determine whether a cannula or an instrument is coupled to a distal end of the articulated structure and in response to determining that the cannula or the instrument is coupled to the distal end of the articulated structure: determine an initial position and orientation of the instrument prior to detection of a disturbance in a first joint of the plurality of joints; determine, during the disturbance in the first joint, a current position and orientation of the instrument; determine a difference between the current position and orientation and the initial position and orientation; and drive at least a second joint of the plurality of joints based on the difference.

Abstract: Robotic and/or surgical devices, systems, and methods include a manipulator configured to be mounted to a cannula and a processor. The processor is configured to detect a mounting state of the cannula, detect an input indicating the system is to be in a set-up mode, and inhibit transition of the system to the set-up mode in response to the detected mounting state. In some embodiments, detecting the input indicating the system is to be in the set-up mode includes detecting an activation of a dedicated input button. In some embodiments, detecting the input indicating the system is to be in the set-up mode comprises detecting a joint operation of a first kinematic structure coupling the manipulator with a platform that is supported by a second kinematic structure.

Abstract: A computer-assisted medical device includes a first articulated arm, the first articulated arm having an end effector, a first joint set, a second joint set and a control unit. The control unit configures one or more joints in the first joint set to a floating mode, detects movement of the first joint set caused by a movement of the surgical table, drives the second joint set based on the movement of the surgical table, receives an instrument motion command to move the end effector while the surgical table is moving, and moves the end effector based on the instrument motion command. In some embodiments, the instrument motion command is relative to an imaging coordinate frame. In some embodiments, the imaging coordinate frame is based on a pose of an imaging device saved prior to the movement of the surgical table.

Abstract: The present invention is directed to an articulate minimally invasive surgical endoscope with a flexible wrist having at least one degree of freedom. When used with a surgical robot having a plurality of robot arms, the endoscope can be used with any of the plurality of arms thereby allowing the use a universal arm design. The endoscope in accordance to the present invention is made more intuitive to a user by attaching a reference frame used for controlling the at least one degree of freedom motion to the flexible wrist for wrist motion associated with the at least one degree of freedom. The endoscope in accordance to the present invention attenuates undesirable motion at its back/proximal end by acquiring the image of the object in association with the at least one degree of freedom based on a reference frame rotating around a point of rotation located proximal to the flexible wrist.

Abstract: A system and method of aligning with a reference target includes a computer-assisted device. The computer-assisted device includes a link, one or more first joints coupled proximally to the link, an articulated arm comprising one or more second joints coupled distally to the link, the articulated arm configured to couple to an instrument, and a control unit. The control unit is configured to position or orient the link, using the one or more first joints, based on at least one reference of the instrument selected from the group consisting of a reference point associated with the instrument and a reference orientation of the instrument. The control unit is further configured to maintain, while positioning or orienting the link and by using the one or more second joints, a position or an orientation of the instrument relative to a workspace in accordance with the at least one reference of the instrument.

Abstract: A system and method of maintaining a tool position and orientation for a computer-assisted medical device include a device with an articulated structure including a plurality of joints and a control unit. The articulated structure is configured to support a tool distal to the joints. The control unit is configured to determine an initial position and orientation of the tool prior to movement of a first joint, determine, while the first joint is moving, a current position and orientation of the tool, determine a difference between the current and the initial position and orientation, and drive at least a second joint based on the difference to maintain a position and orientation of the tool at the initial position and orientation. In some embodiments, the position and orientation of the tool are maintained relative to a reference coordinate frame based on a cause of the moving of the first joint.

Abstract: Methods, apparatus, and systems for controlling a plurality of manipulator assemblies of a robotic system. In accordance with a method, a first plurality of sensor signals are received at a plurality of joint space interface elements from a plurality of connector input elements via a first mapping between the joint space interface elements and joints of the first manipulator assembly. The connector input elements are operable to couple to only one manipulator assembly at a time. The received first sensor signals are then processed with a joint controller so as to control the first manipulator assembly. A second plurality of sensor signals are then received from the connector input elements at the joint space interface elements via a second mapping different than the first mapping. The received second sensor signals are then processed with the joint controller so as to control a second manipulator assembly different than the first manipulator assembly.

Abstract: To assist a surgeon performing a medical procedure, auxiliary images generally indicating internal details of an anatomic structure being treated are displayed and manipulated by the surgeon on a computer display screen to supplement primary images generally of an external view of the anatomic structure. A master input device controlling a robotic arm in a first mode may be switched by the surgeon to a second mode in order to function instead as a mouse-like pointing device to facilitate the surgeon performing such auxiliary information display and manipulation.

Abstract: A system and method of breakaway clutching in a device includes an arm including a first joint and a control unit coupled to the arm and including one or more processors. The control unit switches the first joint from a first state of the first joint to a second state of the first joint in response to an external stimulus applied to the arm exceeding a first threshold and switches the first joint from the second state to the first state in response to a speed associated with the first joint falling below a speed threshold. Movement of the first joint is more restricted in the first state of the first joint than in the second state of the first joint.

Abstract: The present invention is directed to an articulate minimally invasive surgical endoscope with a flexible wrist having at least one degree of freedom. When used with a surgical robot having a plurality of robot arms, the endoscope can be used with any of the plurality of arms thereby allowing the use a universal arm design. The endoscope in accordance to the present invention is made more intuitive to a user by attaching a reference frame used for controlling the at least one degree of freedom motion to the flexible wrist for wrist motion associated with the at least one degree of freedom. The endoscope in accordance to the present invention attenuates undesirable motion at its back/proximal end by acquiring the image of the object in association with the at least one degree of freedom based on a reference frame rotating around a point of rotation located proximal to the flexible wrist.

Abstract: A computer-assisted device includes an articulated arm with a plurality of joints and a control unit coupled to the articulated arm. The control unit is configured to send one or more first commands to a plurality of brakes in the articulated arm to begin a release of the plurality of brakes in a predetermined staggered manner, detect a disturbance in a point of interest of the computer-assisted device caused by each brake of the plurality of brakes as the brake is released, and send one or more second commands to the plurality of joints to compensate for the disturbance. In some embodiments, the one or more first commands prevent simultaneous release of two or more brakes of the plurality of brakes. In some embodiments, the one or more first commands cause brakes of the plurality of brakes to release within a predetermined time of each other.

Abstract: A system and method of breakaway clutching in a computer-assisted medical device includes an articulated arm having one or more first joints and a control unit coupled to the articulated arm and having one or more processors. The control unit operates each of the first joints in multiple states. The multiple states include a locked state, wherein movement of respective first joints is restricted, and a float state, wherein movement of the respective first joints is permitted. The control unit further switches one or more second joints selected from the first joints from the locked state to the float state when a stimulus on the second joints exceeds one or more unlock thresholds and switches the second joints from the float state to the locked state when a velocity of each of the second joints is below one or more lock thresholds.

Abstract: Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.

Abstract: A computer-assisted medical device includes an articulated arm with a plurality of joints and a control unit coupled to the articulated arm. The control unit is configured to send a command to a plurality of brakes in the articulated arm to begin a release of the plurality of brakes in a predetermined staggered manner. In some embodiments the predetermined staggered manner prevents the simultaneous release of the plurality of breaks. In some examples, the predetermined staggered manner causes each brake in the plurality of brakes to release within a predetermined time of each other. In some embodiments, the first predetermined staggered manner causes each brake in the first plurality of brakes to release within a predetermined time of each other. In some embodiments, the first predetermined staggered manner causes each brake in the first plurality of brakes to begin a gradual release within a predetermined time of each other.

Abstract: Devices, systems, and methods for providing commanded movement of an end effector of a manipulator while providing a desired movement of one or more joints of the manipulator. Methods include augmenting a Jacobian so that joint movements calculated. from the Jacobian perform one or more auxiliary tasks and/or desired joint movements concurrent with commanded end effector movement, the one or more auxiliary tasks and/or desired joint movements extending into a null-space. The auxiliary tasks and desired joint movements include inhibiting movement of one or more joints, inhibiting collisions between adjacent manipulators or between a manipulator and a patient surface, commanded reconfiguration of one or more joints, or various other tasks or combinations thereof. Such joint movements may be provided using joint velocities calculated from the pseudo-inverse solution of the: augmented Jacobian. Various configurations for systems utilizing such methods are provided herein.

Abstract: Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.

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: Devices, systems, and methods for providing commanded movement of an end effector of a manipulator while providing a desired movement of one or more joints of the manipulator. Methods include augmenting a Jacobian so that joint movements calculated from the Jacobian perform one or more auxiliary tasks and/or desired joint movements concurrent with commanded end effector movement, the one or more auxiliary tasks and/or desired joint movements extending into a null-space. The auxiliary tasks and desired joint movements include inhibiting movement of one or more joints, inhibiting collisions between adjacent manipulators or between a manipulator and a patient surface, commanded reconfiguration of one or more joints, or various other tasks or combinations thereof. Such joint movements may be provided using joint velocities calculated from the pseudo-inverse solution of the augmented Jacobian. Various configurations for systems utilizing such methods are provided herein.

Abstract: Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space to allow manual positioning of one or both of a remote center or end effector position within a work space and driving a second set of joints according to an auxiliary movement calculated within a null-space according to a desired state or movement of the manipulator arm during the floating of the joints. Various configurations for devices and systems utilizing such methods are provided herein.