Abstract: A surgical robotic system includes at least one eye tracking system positioned detect the direction of at least one user's gaze. Input derived from the eye tracking system may be used to enter commands to the surgical robotic system depending on the directions of the gaze detected or other aspects of the gaze such as pupil dilation or speed of eye movement.

Abstract: A robotic system assembly comprises a robotic manipulator including an actuator assembly and a surgical instrument having a base body mountable to the actuator assembly. The base includes a first control input and a second control input, wherein the first and second control inputs are positioned on different sides of the base. The actuator assembly is moveable between open and closed positions to facilitate removal and replacement of surgical instruments. When in the closed positions, drive elements of the actuator assembly are positioned to drive the first and second control inputs of the surgical instrument to cause end effector movement or actuation.

Abstract: A robotic surgical system includes a fluid drive system and a surgical instrument removably positioned in operative engagement with the drive system. A sterile barrier covers non-sterile portions of the surgical system. Features of the sterile barrier are used to transfer motion output from the fluid drive system to the instrument for actuation of the instrument.

Abstract: A robotic system assembly comprises a robotic manipulator including an actuator assembly and a surgical instrument having a base body mountable to the actuator assembly. The base includes a first control input and a second control input, wherein the first and second control inputs are positioned on different sides of the base. The actuator assembly is moveable between open and closed positions to facilitate removal and replacement of surgical instruments. When in the closed positions, drive elements of the actuator assembly are positioned to drive the first and second control inputs of the surgical instrument to cause end effector movement or actuation.

Abstract: An electrosurgical instrument having jaws is energized and actuated using a length of cable. The cable is formed of a conductive inner portion coated with a dielectric polymer. The cable extends through a pass-through in a portion of the jaw and is crimped to create a mechanical and electrical connection between the conductive inner portion and the conductive jaw material.

Abstract: A robotic system assembly comprises a robotic manipulator including an actuator assembly and a surgical instrument having a base body mountable to the actuator assembly. The base includes a first control input and a second control input, wherein the first and second control inputs are positioned on different sides of the base. The actuator assembly is moveable between open and closed positions to facilitate removal and replacement of surgical instruments. When in the closed positions, drive elements of the actuator assembly are positioned to drive the first and second control inputs of the surgical instrument to cause end effector movement or actuation.

Abstract: A powered user interface for a robotic surgical system operates in accordance with a mode of operation in which the actuators are operated to permit motion of the handle in pitch and yaw motion constrained with respect to a virtual fulcrum in a work space of the user interface, and insertion motion is constrained along an axis passing through the virtual fulcrum. In a virtual fulcrum setting mode, a user is prompted to give input to the system selecting a desired point in space for the virtual fulcrum.

Abstract: A surgical instrument for use with a robotic manipulator includes an end effector assembly having one or two end effector members, each having a distal treatment end, a proximal end, and a tendon pass-through. Each end effector member is sandwiched between a corresponding pair of pulley members that, when assembled define an annular tendon pathway that is between the pulley members and that is aligned with the pass-through. For each end effector member, a tendon having a distal loop portion ends through the tendon pass-through, with its legs passing proximally from the pass-through, extending in opposite directions around the tendon pathway and proximally through the instrument's shaft.

Abstract: A user interface for a surgical robotic system includes a plurality of handles, each removably attachable to a user interface assembly by a quick release connector. The selection of handles can include handles of varying size, degree of complexity, handles adapted for laparoscopic motion, handles adapted for true cartesian motion or handles customized to surgeon anthropometric data, etc.

Abstract: A powered user interface for a robotic surgical system includes a base, a handle mounted to the base and moveable relative to the base in at least six degrees of freedom, and actuators. The interface operates in accordance with a first mode of operation in which the actuators are operated to constrain predetermined ones of the joints to permit motion of the handle in only 4DOF with respect to the base, and a second mode of operation in which the actuators permit motion of the handle in at least 6DOF with respect to the base.

Abstract: A powered user interface for a robotic surgical system having a manipulator and a surgical instrument mounted to the manipulator includes a base and a linkage assembly that includes two two-bar linkage mechanisms. The linkage assembly is rotatably mounted to the base at a base joint, and a handle mounted to each of the two-bar linkage mechanisms. Sensors and actuators are arranged to measure and actuate the position and orientation of the user interface.

Abstract: A user interface for a surgical robotic system includes a plurality of handles, each removably attachable to a user interface assembly by a quick release connector. The selection of handles can include handles of varying size, degree of complexity, handles adapted for laparoscopic motion, handles adapted for true cartesian motion or handles customized to surgeon anthropometric data, etc.

Abstract: A surgical robotic system includes at least one eye tracking system positioned detect the direction of at least one user's gaze. Input derived from the eye tracking system may be used to enter commands to the surgical robotic system depending on the directions of the gaze detected or other aspects of the gaze such as pupil dilation or speed of eye movement.

Abstract: A powered user interface for a robotic surgical system having a manipulator and a surgical instrument mounted to the manipulator includes a base and a linkage assembly that includes two two-bar linkage mechanisms. The linkage assembly is rotatably mounted to the base at a base joint, and a handle mounted to each of the two-bar linkage mechanisms. Sensors and actuators are arranged to measure and actuate the position and orientation of the user interface.

Abstract: A powered user interface for a robotic surgical system includes a base, a handle mounted to the base and moveable relative to the base in at least six degrees of freedom, and actuators. The interface operates in accordance with a first mode of operation in which the actuators are operated to constrain predetermined ones of the joints to permit motion of the handle in only 4DOF with respect to the base, and a second mode of operation in which the actuators permit motion of the handle in at least 6DOF with respect to the base.

Abstract: A robotic surgical system includes a fluid drive system and a surgical instrument removably positioned in operative engagement with the drive system. A sterile barrier covers non-sterile portions of the surgical system. Features of the sterile barrier are used to transfer motion output from the fluid drive system to the instrument for actuation of the instrument.

Abstract: A powered user interface for a robotic surgical system includes a handle on a linkage having a plurality of joints, a base, and actuators. The interface operates in accordance with a first mode of operation in which a plurality of its actuators are operated to constrain predetermined ones of the joints to permit motion of the handle in only 4DOF with respect to the base, and a second mode of operation in which the actuators permit motion of the handle in at least 6DOF with respect to the base.

Abstract: A robotic surgical system includes a fluid drive system and a surgical instrument removably positioned in operative engagement with the drive system. A sterile barrier covers non-sterile portions of the surgical system. Features of the sterile barrier are used to transfer motion output from the fluid drive system to the instrument for actuation of the instrument.

Abstract: A robotic surgical system includes a fluid drive system and a surgical instrument removably positioned in operative engagement with the drive system. A sterile barrier covers non-sterile portions of the surgical system. Features of the sterile barrier are used to transfer motion output from the fluid drive system to the instrument for actuation of the instrument.

Abstract: A robotic system assembly comprises a robotic manipulator including an actuator assembly and a surgical instrument having a base body mountable to the actuator assembly. The base includes a first control input and a second control input, wherein the first and second control inputs are positioned on different sides of the base. The actuator assembly is moveable between open and closed positions to facilitate removal and replacement of surgical instruments. When in the closed positions, drive elements of the actuator assembly are positioned to drive the first and second control inputs of the surgical instrument to cause end effector movement or actuation.