Abstract: Detection and mitigation of potential collisions with a user control system include a control console having an input control device configured to be manipulated by an operator to indicate tasks to be performed using a manipulator system and one or more processors. The manipulator system is physically decoupled from the control console. While the control system is in a controlling mode, the processors are configured to detect an unidentified object near the input control device and in response to a determination that the unidentified object is within a threshold proximity of the input control device: exit the control system from the controlling mode and enter the control system into a non-controlling mode. When the control system is in the non-controlling mode, the processors are prevented from having manipulation of the input control device cause the manipulator system to perform a task indicated by the manipulation of the input control device.

Abstract: A system comprises a teleoperational assembly configured to support a plurality of instruments, a display system configured to display a field of view of an imaging device, a master controller configured to receive input from an operator to control at least one of the plurality of instruments, and a control system configured to reassign control by the master controller of a first instrument of the plurality of instruments to a second instrument of the plurality of instruments. The control system reassigns control by detecting activation of an instrument reassignment input, causing the display system to present indicators, receiving a user input at the master controller, causing the display system to update one or more of the indicators based on the received user input, and assigning control of the second instrument to the master controller based on the received user input.

Abstract: A surgical method is provided, comprising: providing an information structure in a computer readable storage device that associates an indication of surgeon skill level in at least one surgical activity performed using the surgical instrument with a surgical instrument actuator safety state of the surgical instrument for use during performance of the at least one surgical activity using the surgical instrument by a surgeon having the indicated skill level; tracking surgical instrument actuator state of a surgical instrument during performance of a surgical procedure by a surgeon; and transitioning the surgical instrument actuator state of the surgical instrument to the surgical instrument safety state during performance of the at least one surgical activity by the surgeon using the surgical instrument.

Abstract: Implementations relate to detection and mitigation of potential collisions with a user control system. In some implementations, a method includes detecting an object in a sensing field of a sensor of a user control system, and the user control system includes a control input device. The control input device is in a controlling mode in which manipulation of the control input device activates a function of a manipulator device. The method includes determining that the object is an unidentified object and determining a characteristic of the object including a location with respect to the user control system, a velocity, or a trajectory. The method determines whether the characteristic of the object satisfies a condition corresponding to the characteristic, and exits the controlling mode in response to determining that the object is an unidentified object and that the characteristic satisfies the corresponding condition.

Abstract: Systems and methods for reassigning control by a master controller between a plurality of teleoperational instruments is provided herein. An exemplary method includes detecting activation of an instrument reassignment input, computing proxy positions of at least a first instrument and a second instrument of the plurality of teleoperational instruments, and computing a proxy position of the master controller. The exemplary method may also include receiving input from the master controller associating the proxy position of the master controller with the proxy position of the second medical instrument and assigning control of the second instrument to the master controller based on the association between the proxy position of the master controller with the proxy position of the second instrument.

Abstract: Implementations relate to a moveable display system. In some implementations, a control unit includes a first support and a second support coupled to the first support. The second support is linearly translatable along a first axis in a first degree of freedom with respect to the first support, and at least a portion of the second support is linearly translatable along a second axis in a second degree of freedom with respect to the first support. The control unit includes a display unit rotatably coupled to the second support. The display unit is rotatable about a third axis in a third degree of freedom with respect to the second support, and the display unit includes a display device.

Abstract: Techniques for instrument control include a manipulator and a controller. The controller is configured to detect installation of an instrument onto the manipulator; identify an instrument input mechanically coupled to a mechanical degree of freedom (DOF) of the instrument; in response to activation of a control input by a user, determine whether a teleoperated actuator mechanically coupled to the instrument input is being operated according to a soft lock state behavior where the teleoperated actuator is maintaining the mechanical DOF at a first position, the control input providing an indication of a request by the user to manually actuate the teleoperated actuator and discontinue the soft lock state behavior; and in response to a determination that the teleoperated actuator is not being operated according to the soft lock state behavior, notify the user that manual actuation of the mechanical DOF using the soft lock state behavior is not permitted.

Abstract: A computer-assisted device includes an actuator and one or more processors. The computer-assisted device is configured to support an instrument having an end effector located at a distal end. To perform an operation with the instrument, the one or more processors are configured to operate the end effector according to a state machine having a first state and a second state. In the first state a velocity set point of the actuator is set to a first velocity. In the second state the velocity set point of the actuator is set to a second velocity lower than the first velocity. The state machine transitions from the first state to the second state when a force or torque applied by the actuator is above a first threshold and transitions from the second state to the first state when the force or torque applied by the actuator is below a second threshold.

Abstract: Implementations relate to a moveable display system. In some implementations, a control unit includes a first support and a second support coupled to the first support. The second support is linearly translatable along a first axis in a first degree of freedom with respect to the first support, and at least a portion of the second support is linearly translatable along a second axis in a second degree of freedom with respect to the first support. The control unit includes a display unit rotatably coupled to the second support. The display unit is rotatable about a third axis in a third degree of freedom with respect to the second support, and the display unit includes a display device.

Abstract: Systems and methods for instrument control include a first actuator for controlling a first mechanical degree of freedom, a second actuator for controlling a second mechanical degree of freedom, and a controller. The controller is configured to command the first actuator to maintain the first actuator at a first position, wherein actuation of the first actuator is subject to a first torque limit; command the second actuator to maintain the second actuator at a second position, wherein actuation of the second actuator is subject to a second torque limit; and in response to detecting that the first actuator cannot be maintained at the first position using actuation subject to the first torque limit and the second actuator can be maintained at the second position using actuation subject to the second torque limit, terminate the command to the first actuator to maintain the first actuator at the first position.

Abstract: A computer-assisted device include an actuator and one or more processors. The computer-assisted device is configured to support an instrument having an end effector located at a distal end. To perform an operation with the instrument, the one or more processors are configured to operate the end effector according to a state machine having a first state and a second state. In the first state a velocity set point of the actuator is set to a first velocity. In the second state the velocity set point of the actuator is set to a second velocity lower than the first velocity. The state machine transitions from the first state to the second state when a force or torque applied by the actuator is above a first threshold and transitions from the second state to the first state when the force or torque applied by the actuator is below a second threshold.

Abstract: A surgical method is provided, comprising: providing an information structure in a computer readable storage device that associates an indication of surgeon skill level in at least one surgical activity performed using the surgical instrument with a surgical instrument actuator safety state of the surgical instrument for use during performance of the at least one surgical activity using the surgical instrument by a surgeon having the indicated skill level; tracking surgical instrument actuator state of a surgical instrument during performance of a surgical procedure by a surgeon; and transitioning the surgical instrument actuator state of the surgical instrument to the surgical instrument safety state during performance of the at least one surgical activity by the surgeon using the surgical instrument.

Abstract: A method and apparatus for manipulating tissue. A tissue control point is displayed over an image of the tissue in a user interface. An input is received that moves the tissue control point within the user interface. A first instrument that is physically associated with the tissue is operated based on the received input to thereby manipulate the tissue.

Abstract: Teleoperated control includes commanding, in response to a first input to move a tool while an imaging device is mounted to a first manipulator and a tool is mounted to a second manipulator, actuator(s) of the second manipulator to move the tool with a first motion relative to a first reference frame that corresponds with a first movement of an input device relative to a display, the first reference frame defined based on the imaging device mounted to the first manipulator; and commanding, in response to receiving a second input to move the tool while the imaging device is mounted to the third manipulator, the actuator(s) to move the tool with a second motion relative to a second reference frame that corresponds with a second movement of the input device relative to the display, the second reference frame defined based on the imaging device being mounted to the third manipulator.

Abstract: A surgical method is provided, comprising: providing an information structure in a computer readable storage device that associates an indication of surgeon skill level in at least one surgical activity performed using the surgical instrument with a surgical instrument actuator safety state of the surgical instrument for use during performance of the at least one surgical activity using the surgical instrument by a surgeon having the indicated skill level; tracking surgical instrument actuator state of a surgical instrument during performance of a surgical procedure by a surgeon; and transitioning the surgical instrument actuator state of the surgical instrument to the surgical instrument safety state during performance of the at least one surgical activity by the surgeon using the surgical instrument.

Abstract: A method and apparatus for manipulating tissue. A tissue control point is displayed over an image of the tissue in a user interface. An input is received that moves the tissue control point within the user interface. A first instrument that is physically associated with the tissue is operated based on the received input to thereby manipulate the tissue.

Abstract: A system includes first and second manipulating means, and a means for detecting mounting of an imaging means to the first manipulating means, a means for determining a first reference frame for the imaging means while the imaging means is mounted to the first manipulating means, a means for controlling a tool means relative to the first reference frame by maintaining a position and orientation of a distal portion of the tool means relative to the imaging means in the first reference frame based on a position and orientation of an input means relative to a display means, a means for detecting mounting of the imaging means to the second manipulating means, a means for determining a second reference frame for the imaging means while the imaging means is mounted to the second manipulating means, and a means for controlling the tool means relative to the second reference frame.

Abstract: Techniques for control of an instrument include a device having an actuator. To perform an operation with an instrument coupled to the actuator, the instrument is operated according to a state machine by: transitioning the instrument from a gripped state to a clamped state in response to receiving a clamp command; transitioning the instrument from the clamped state to a firing state in response to receiving a fire command; transitioning the instrument from the firing state to a pause state in response to detecting a stall in the actuator used to actuate the instrument; transitioning the instrument from the pause state to a stop firing state in response to a pause limit being reached; and transitioning the instrument from the pause state to the firing state in response to the actuator beginning to move again or after a first predetermined period of time has elapsed since entering the pause state.

Abstract: A system and method of variable velocity control of an instrument by a computer-assisted device includes a computer-assisted device that includes an actuator and one or more processors. To perform an operation with an instrument coupled to the computer-assisted device, the one or more processors are configured to set a velocity set point of the actuator to an initial velocity, monitor force or torque applied by the actuator to actuate the instrument, when the applied force or torque is above a first force or torque limit, determine whether a total duration of a set of pauses occurring during the operation of the instrument is below a maximum pause threshold, and in response to determining that the total duration is below the maximum pause threshold, pause the operation of the instrument.

Abstract: A system and method of variable velocity control of an instrument by a computer-assisted device includes a computer-assisted device that includes an actuator and one or more processors. To perform an operation with an instrument coupled to the computer-assisted device, the one or more processors are configured to set a velocity set point of the actuator to an initial velocity, monitor force or torque applied by the actuator to actuate the instrument, when the applied force or torque is above a first force or torque limit, determine whether a total duration of a set of pauses occurring during the operation of the instrument is below a maximum pause threshold, and in response to determining that the total duration is below the maximum pause threshold, pause the operation of the instrument.