Abstract: A hyperdexterous surgical system is provided. The system on include one or more surgical arms coupleable in a fixture and configured to support one or more surgical tools. The system can include an electronic control system configured to communicate electronically with the one or more robotic surgical tools. The control system can electronically control the operation of the one or more surgical tools. The system can include one or more portable handheld controllers actuatable by a surgeon to communicate one or more control signals to the one or more surgical tools via the electronic control system to operate the one or more surgical tools. The one or more portable handheld controllers can provide said one or more control signals from a plurality of locations of an operating arena, allowing a surgeon to be mobile during a surgical procedure and to remotely operate the one or more surgical tools from different locations of the operating arena.

Abstract: A hyperdexterous surgical system is provided. The system can include one or more surgical arms coupleable to a fixture and configured to support one or more surgical tools. The system can include an electronic control system configured to communicate electronically with the one or more robotic surgical tools. The control system can electronically control the operation of the one or more surgical tools. The system can include one or more portable handheld controllers actuatable by a surgeon to communicate one or more control signals to the one or more surgical tools via the electronic control system to operate the one or more surgical tools. The one or more portable handheld controllers can provide said one or more control signals from a plurality of locations of an operating arena, allowing a surgeon to be mobile during a surgical procedure and to remotely operate the one or more surgical tools from different locations of the operating arena.

Abstract: A hyperdexterous surgical system is provided. The system can include one or more surgical arms coupleable to a fixture and configured to support one or more surgical tools. The system can include an electronic control system configured to communicate electronically with the one or more robotic surgical tools. The control system can electronically control the operation of the one or more surgical tools. The system can include one or more portable handheld controllers actuatable by a surgeon to communicate one or more control signals to the one or more surgical tools via the electronic control system to operate the one or more surgical tools. The one or more portable handheld controllers can provide said one or more control signals from a plurality of locations of an operating arena, allowing a surgeon to be mobile during a surgical procedure and to remotely operate the one or more surgical tools from different locations of the operating arena.

Abstract: A hyperdexterous surgical system is provided. The system can include one or more surgical arms coupleable to a fixture and configured to support one or more surgical tools. The system can include an electronic control system configured to communicate electronically with the one or more robotic surgical tools. The control system can electronically control the operation of the one or more surgical tools. The system can include one or more portable handheld controllers actuatable by a surgeon to communicate one or more control signals to the one or more surgical tools via the electronic control system to operate the one or more surgical tools. The one or more portable handheld controllers can provide said one or more control signals from a plurality of locations of an operating arena, allowing a surgeon to be mobile during a surgical procedure and to remotely operate the one or more surgical tools from different locations of the operating arena.

Abstract: A belt wave drive transmission system and method are shown involving a first rotor (10) having a first drum configured to rotate about its axis of rotation and a second rotor (20) having a second drum configured to rotate about its axis of rotation, where the first rotor (10) is constrained to orbit concentrically about the axis of rotation of the second drum. A belt (30) encircles the first and second drums to couple the first (10) and second (20) rotors such that the first rotor (10) moves concentrically around the second rotor (20) as the belt (30) advances about a circumference of the second drum. In further refinements, the system and method involve electrically controllably coupling at least one of the first and second rotors to the belt.

Abstract: A hyperdexterous surgical system is provided. The system can include one or more surgical arms coupleable to a fixture and configured to support one or more surgical tools. The system can include an electronic control system configured to communicate electronically with the one or more robotic surgical tools. The control system can electronically control the operation of the one or more surgical tools. The system can include one or more portable handheld controllers actuatable by a surgeon to communicate one or more control signals to the one or more surgical tools via the electronic control system to operate the one or more surgical tools. The one or more portable handheld controllers can provide said one or more control signals from a plurality of locations of an operating arena, allowing a surgeon to be mobile during a surgical procedure and to remotely operate the one or more surgical tools from different locations of the operating arena.

Abstract: A virtual reality system providing a virtual robotic surgical environment, and methods for using the virtual reality system, are described herein. The virtual reality system may simulate a robotic surgical environment in which a user may operate both a robotically-controlled surgical instrument using a handheld controller and a manual laparoscopic surgical instrument while adjacent a patient table.

Abstract: Methods and apparatus related to electrolaminate clutches and transmissions are disclosed. A device can include: an input shaft that can be coupled to an electrolaminate sheet; an output shaft that can be coupled rigidly to a spring positioned over the input shaft, where the spring includes a tab that fits a groove of a spring capture ring that can be positioned over the input shaft; and a drum connected to an electrical ground between the electrolaminate sheet and the spring capture ring, where the drum can be coupled rigidly to the spring capture ring. Then, when a voltage is applied to the electrolaminate sheet, the electrolaminate sheet can clamp to the drum and impart rotation of the input shaft to the drum. The imparted rotation can cause the spring capture ring and the spring to rotate and clamp down on the input shaft, imparting rotation to the output shaft.

Abstract: A virtual reality system providing a virtual robotic surgical environment, and methods for using the virtual reality system, are described herein. Within the virtual reality system, various user modes enable different kinds of interactions between a user and the virtual robotic surgical environment. For example, one variation of a method for facilitating navigation of a virtual robotic surgical environment includes displaying a first-person perspective view of the virtual robotic surgical environment from a first vantage point, displaying a first window view of the virtual robotic surgical environment from a second vantage point and displaying a second window view of the virtual robotic surgical environment from a third vantage point. Additionally, in response to a user input associating the first and second window views, a trajectory between the second and third vantage points can be generated sequentially linking the first and second window views.

Abstract: A virtual reality system providing a virtual robotic surgical environment, and methods for using the virtual reality system, are described herein. The system may generate a virtual robotic surgical environment using a client application, where the virtual robotic surgical environment includes at least one virtual robotic component. In response to a user input to move the at least one virtual robotic component in the virtual robotic surgical environment, the system may pass status information regarding the at least one virtual robotic component from the client application to a server application, generate an actuation command based on the user input and the status information using the server application, pass the actuation command from the server application to the client application, and move the at least one virtual robotic component based on the actuation command.

Abstract: A virtual reality system providing a virtual robotic surgical environment, and methods for using the virtual reality system, are described herein. The virtual reality system may be used to expedite the R&D cycle during development of a robotic surgical system, such as by allowing simulation of potential design without the time and significant expense of physical prototypes. The virtual reality system may also be used to test a control algorithm or a control mode for a robotic surgical component.

Abstract: Various exemplary methods, systems, and devices for gathering and analyzing data for robotic surgical systems are provided. In general, the methods, systems, and devices can allow data to be gathered regarding use in a surgical procedure of a robotic surgical system that includes a plurality of movable arms each configured to couple to a surgical instrument. The gathered data can be used to determine a recommended initial position of the arms for future surgical procedures using the robotic surgical system. The recommended initial position can be provided to users of the robotic surgical system in the future surgical procedures.

Abstract: Methods and apparatus related to electrolaminate clutches and transmissions are disclosed. A device can include: an input shaft that can be coupled to an electrolaminate sheet; an output shaft that can be coupled rigidly to a spring positioned over the input shaft, where the spring includes a tab that fits a groove of a spring capture ring that can be positioned over the input shaft; and a drum connected to an electrical ground between the electrolaminate sheet and the spring capture ring, where the drum can be coupled rigidly to the spring capture ring. Then, when a voltage is applied to the electrolaminate sheet, the electrolaminate sheet can clamp to the drum and impart rotation of the input shaft to the drum. The imparted rotation can cause the spring capture ring and the spring to rotate and clamp down on the input shaft, imparting rotation to the output shaft.

Abstract: Described herein is a smart dose monitoring device. The dose monitoring device may include electronics such as motion sensors, orientation sensors, and timers related to monitoring the time of and amount of dose administered during an injection event.

Abstract: User interface devices are disclosed. The device can include a body that can be held in a user's hand. The body has an outer surface that can be gripped by fingers of the user's hand to facilitate translation and rotation of the body by the user's hand. The device can include one or snore sensors disposed within the body. In some embodiments, the one or more sensor can provide one or both of position and orientation information of the body to a control system. The body can provide feedback to the user via the exterior surface of the body that is gripped by the user's fingers and/or can receive control inputs from the user via one or more of translation of the body, rotation of the body, pressing of the outer surface with the user's fingers, and changing of the angular orientation of the longitudinal axis of the body. Methods of using a user interface device are also provided.

Abstract: A surgical tool includes a tool shaft, and end effector and a wrist that couples the end effector to the tool shaft. The tool includes a drive mechanism configured to effect movement of one or both of the wrist and the end effector in yaw and pitch via independent actuation of four independent cable ends of two or more independent cables that extend between the drive mechanism and the wrist.

Abstract: Systems and methods for embodiments of a hyperdexterous robotic system using groundless user input devices (UIDs). In some embodiments, the hyperdexterous system allows for the slave control to follow the master control even when the two are misaligned. The motion of the master control occurring in multiple degrees of freedom may be decoupled into its component parts and processed differently. Each degree of freedom may be processed independently and scaled differently. For example, in some embodiments, only the roll motion of the groundless user interface device is transferred, in some embodiments, the master slave control is only allowed when the master and slave are within a certain region of each other.

Abstract: An integrated multiaxial wrist and grasper system for use in a robotic tool can yaw, pitch and grasp via actuation of four independent cable ends of four cables. The tool includes a drive mechanism that effects movement of the multiaxial wrist and grasper via actuation of the cables that extend between the drive mechanism and the wrist.

Abstract: A belt wave drive transmission system and method are shown involving a first rotor (10) having a first drum configured to rotate about its axis of rotation and a second rotor (20) having a second drum configured to rotate about its axis of rotation, where the first rotor (10) is constrained to orbit concentrically about the axis of rotation of the second drum. A belt (30) encircles the first and second drums to couple the first (10) and second (20) rotors such that the first rotor (10) moves concentrically around the second rotor (20) as the belt (30) advances about a circumference of the second drum. In further refinements, the system and method involve electrically controllably coupling at least one of the first and second rotors to the belt.

Abstract: A belt wave drive transmission system and method are shown involving a first rotor (10) having a first drum configured to rotate about its axis of rotation and a second rotor (20) having a second drum configured to rotate about its axis of rotation, where the first rotor (10) is constrained to orbit concentrically about the axis of rotation of the second drum. A belt (30) encircles the first and second drums to couple the first (10) and second (20) rotors such that the first rotor (10) moves concentrically around the second rotor (20) as the belt (30) advances about a circumference of the second drum. In further refinements, the system and method involve electrically controllably coupling at least one of the first and second rotors to the belt.