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: A method for a minimally invasive surgical system is disclosed including capturing camera images of a surgical site; generating a graphical user interface (GUI) including a first colored border portion in a first side and a second colored border in a second side opposite the first side; and overlaying the GUI onto the captured camera images of the surgical site for display on a display device of a surgeon console. The GUI provides information to a user regarding the first electrosurgical tool and the second tool in the surgical site that is concurrently displayed by the captured camera images. The first colored border portion in the GUI indicates that the first electrosurgical tool is controlled by a first master grip of the surgeon console and the second colored border portion indicates the tool type of the second tool controlled by a second master grip of the surgeon console.

Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to control movement of passive or under-actuated joints by coordinated joint braking of the under-actuated joints concurrent with driving of one or more driven joints. In one aspect, the methods include driving a set-up structure by pivoting an orienting platform supporting multiple manipulators back-and-forth in opposite directions while selectively braking the under-actuated joints to inhibit passive joint movement away from a reference joint state and releasing braking to facilitate movement of the joints toward the reference until each of the under-actuated joints of the multiple manipulators are at the respective reference states. In another aspect, a joint brake controller is provided that receives a motor torque input and converts the input to a brake control input by determining an impulse applied variable braking to deplete the impulse over time.

Abstract: Devices, systems, and methods for providing a desired movement of one or more joints of a manipulator arm having a plurality of joints with redundant degrees of freedom while effecting commanded movement of a distal end effector of the manipulator. Methods include defining a constraint, such as a network of paths, within a joint space defined by the one or more joints and determining a movement of the plurality of joints within a null-space to track the constraints with the one or more joints. Methods may further include calculating a reconfiguration movement of the joints and modifying the constraints to coincide with a reconfigured position of the one or more joints. Various configurations for devices and systems utilizing such methods are provided herein.

Abstract: A patient side cart for a teleoperated surgical system may include a base, a column connected to the base, a boom connected to the column, a manipulator arm connected to the boom, and a vibration reduction member. The manipulator arm may be configured to support a surgical instrument. The vibration reduction member may be configured to be moved between deployed and retracted positions relative to the base. The vibration reduction member may engage a ground surface in the deployed position and not be in contact with the ground surface in the retracted position. Various exemplary embodiments also relate to carts including a vibration reduction member and methods of controlling a vibration reduction member.

Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.

Abstract: A surgeon console for a teleoperated surgical system includes a user input mechanism configured to be actuated to command a flux supply unit to supply a flux to a surgical instrument operatively coupled to the surgeon console; and a user interface configured to display setting information of the flux supply unit, wherein the user interface comprises actuatable control features configured to change a control setting of the flux supply unit.

Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.

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 and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. In some embodiments, actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Systems and methods are also provided to keep one, some, or all joints of the kinematic chain off a hardstop or physical range of motion limit associated with the joint or to otherwise maintain a desired range of motion for one, some, or all joints of the kinematic chain when exiting a set-up mode.

Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to control movement of passive or under-actuated joints by coordinated joint braking of the under-actuated joints concurrent with driving of one or more driven joints. In one aspect, the methods include driving a set-up structure by pivoting an orienting platform supporting multiple manipulators back-and-forth in opposite directions while selectively braking the under-actuated joints to inhibit passive joint movement away from a reference joint state and releasing braking to facilitate movement of the joints toward the reference until each of the under-actuated joints of the multiple manipulators are at the respective reference states. In an other aspect, a joint brake controller is provided that receives a motor torque input and converts the input to a brake control input by determining an impulse applied variable braking to deplete the impulse over time.

Abstract: A patient side cart for a teleoperated surgical system may comprise a column extending from a base, the column having a first end connected to the base and a second end opposite the first end. The patient side cart may further include a surgical instrument manipulator arm coupled proximate the second end of the column, and an obstacle indication system comprising an illumination source mounted on the patient side cart at a height above a location the surgical instrument manipulator arm is coupled to the second end of the column, the height being measured in a direction the column extends from the base.

Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.

Abstract: A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.

Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.

Abstract: A teleoperational assembly is disclosed which includes an operator control system and a plurality of manipulators configured to control the movement of medical instruments in a surgical environment. The manipulators are teleoperationally controlled by the operator control system. The system further includes a processing unit configured to display an image of a field of view of the surgical environment, project the position of distal end portions of the medical instruments into the image's coordinate space, determine initial positions for badges associated with the distal end portions of each medical instrument, evaluate a display factor for each badge based on its initial position, and determine a final display position for each badge in the image's coordinate space based on the display factor.

Abstract: A patient side cart for a teleoperated surgical system may include a base, a column connected to the base, a boom connected to the column, a surgical instrument manipulator arm connected to the boom, and an obstacle indication system comprising an illumination source that directs light in a path of the boom. Various exemplary embodiments also encompass methods of providing obstacle indication via a patient side cart of a teleoperated surgical system, including directing light onto an object in a path of the boom to indicate that the object is located in a path of the boom, and methods of determining a predetermined height to be stored in a patient side cart for a teleoperated surgical system, including illuminating an object in the path of the patient side cart and storing a current height of the patient side cart as the predetermined height.

Abstract: A teleoperational assembly is disclosed which includes an operator control system and a plurality of manipulators configured to control the movement of medical instruments in a surgical environment. The manipulators are teleoperationally controlled by the operator control system. The system further includes a processing unit configured to display an image of a field of view of the surgical environment, determine association information about the manipulators and the operator control system, and display badges near the medical instruments in the image of the field of view of the surgical environment. The badges display the association information for the medical instrument they appear associated with.

Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.

Abstract: A system for controlling a surgical instrument comprises an input device operably coupled to remotely control movement of a surgical instrument operably coupled to a computer-assisted surgical system; a first auxiliary input device configured to transmit an auxiliary function control signal to activate an auxiliary function of a surgical instrument in an operably coupled state of the first auxiliary input device and the surgical instrument.