Abstract: A system is configured to determine, based on data received from an active imaging device configured to capture imagery of an internal view of a body, a depth, relative to the active imaging device, of an anatomical surface depicted in the imagery captured by the active imaging device of the internal view of the body, determine a spatial pose of the active imaging device as the active imaging device captures the imagery of the internal view of the body, and based on the spatial pose of the active imaging device, direct a display device to display, together with an external view of the body, a shape overlay indicative of an extent of a field of view relative to the body and indicative of the depth of the anatomical surface.

Abstract: A method includes detecting, during performance of an operation with respect to a body while an active imaging device captures images of an internal view of the body, an operation condition associated with the operation, the operation condition comprising an initiation of a moving process that involves the active imaging device being removed from within the body; and directing a display device to display a shape overlay at a static position with respect to the body together with an external view of the body as captured by an external image capture device positioned external to the body.

Abstract: A surgical system comprises a table configured to support a patient and a first articulated arm configured to support a first surgical instrument. The surgical system is configured to determine a first planned motion for the table, the first planned motion for the table to be performed while the patient is supported by the table and the first articulated arm is docked with the patient. The surgical system is also configured to determine, based on the first planned motion for the table, a second planned motion for the first articulated arm that permits the first articulated arm to remain docked with the patient. The surgical system is also configured to perform the second planned motion for the first articulated arm.

Abstract: A minimally invasive surgical system is disclosed including a processor coupled to a stereoscopic endoscope and a stereoscopic video display device. The processor generates an operative image of an anatomic structure in the surgical site, overlays the operative image onto the captured stereo video images for display on the stereoscopic video display device, generates and overlays a pointer onto the operative image or the captured stereo video images to display the pointer on the stereoscopic video display device with a three dimensional appearance, and switches between a first mode for input devices of a surgeon console used to couple motion into surgical instruments and a second mode used to control an interactive graphical user interface to allow interactions with the pointer and the operative image in three dimensions using input devices having at least three degrees of freedom.

Abstract: A teleoperational system comprises a teleoperational control system and a teleoperational manipulator configured for operating an instrument in an environment. The teleoperational system also comprises an operator controller in communication with the teleoperational control system. The teleoperational control system includes a processing unit including one or more processors. The processing unit is configured to determine whether an operator of the operator controller has a head portion directed toward a display region of a display device and based on a determination that the operator's head portion is directed toward the display region, initiate an operator following mode in which movement of the operator controller provides a corresponding movement to the teleoperational manipulator. The teleoperational system may be a teleoperational medical system.

Abstract: A computer-assisted system includes a manipulator arm coupled to an active imaging device and one or more processors configured to perform a process comprising: automatically directing a display device to display a shape overlay overlaid with an external view of a body, wherein the shape overlay is indicative of an extent of a field of view of the active imaging device relative to the body, and automatically directing the display device to display an auxiliary shape overlay overlaid with the external view of the body, wherein the auxiliary shape overlay is indicative of an extent of a potential field of view of the active imaging device relative to the body, the potential field of view distinct from the field of view.

Abstract: Scene perception systems and methods are described herein. In certain illustrative examples, a system combines data sets associated with imaging devices included in a dynamic multi-device architecture and uses the combined data sets to perceive a scene (e.g., a surgical scene) imaged by the imaging devices. To illustrate, the system may access tracking data for imaging devices capturing images of a scene and fuse, based on the tracking data, data sets respectively associated with the imaging devices to generate fused sets of data for the scene. The tracking data may represent a change in a pose of at least one of the image devices that occurs while the imaging devices capture images of the scene. The fused sets of data may represent or be used to generate perceptions of the scene. In certain illustrative examples, scene perception is dynamically optimized using a feedback control loop.

Abstract: A mixed reality presentation system determines a device-specific parameter characterizing an extent of a field of view of an active imaging device. The active imaging device captures imagery of an internal view of a body, and the determining of the device-specific parameter is based on data received from the active imaging device. The mixed reality presentation system also determines a spatial pose of the active imaging device as the active imaging device captures the imagery of the internal view of the body. Based on the device-specific parameter and the spatial pose of the active imaging device, the mixed reality presentation system directs a display device to display a shape overlay indicative of the extent of the field of view relative to the body. The shape overlay is displayed together with an external view of the body in a mixed reality presentation. Corresponding systems and methods are also disclosed.

Abstract: A medical system includes a coordination system for coordinating remote assistance for a robotic manipulation system while the robotic manipulation system is in one of multiple operational states. The coordination system includes an environment awareness engine that processes image data of the robotic manipulation system in an operating environment to determine a system-external context by detecting at least one procedure-progression indicator, and determining an estimate of an actual operational state from the multiple operational states based on the at least one procedure-progression indicator.

Abstract: A teleoperated surgical system is provided comprising: a first robotic surgical instrument; an image capture; a user display; a user input command device coupled to receive user input commands to control movement of the first robotic surgical instrument; and a movement controller coupled to scale a rate of movement of the first robotic surgical instrument, based at least in part upon a surgical skill level at using the first robotic surgical instrument of the user providing the received user input commands, from a rate of movement indicated by the user input commands received at the user input command device.

Abstract: Techniques for displaying an extended reality (XR) indication of a potential collision between a portion of an object and a portion of a computer-assisted system include the following. The computer-assisted system comprises a sensor system configured to capture sensor data of an environment, and a control system communicably coupled to the sensor system. The control system is configured to: determine a pose of a portion of an object in the environment based on the sensor data, determine a pose of a portion of the computer-assisted system, determine at least one characteristic associated with a potential collision between the portion of the object and the portion of the computer-assisted system, select the potential collision for display based on the at least one characteristic, and cause an XR indication of the potential collision to be displayed to an operator via a display system.

Abstract: A coordination system for coordinating remote assistance of a medical system involves a support agent executed by a computer processor. The support agent is configured to receive a first support request submitted by a user of the medical system, and identify a support person to respond to the first support request from a multitude of support persons by applying a support person identification logic to a system-internal context. The system-internal context is obtained from a system awareness engine configured to detect information about the medical system. The support agent is further configured to facilitate contact of the support person.

Abstract: A surgical method is provided for use with a teleoperated surgical system (surgical system), the method comprising: recording surgical instrument kinematic information indicative of surgical instrument motion produced within the surgical system during the occurrence of the surgical procedure; determining respective kinematic signatures associated with respective surgical instrument motions; producing an information structure in a computer readable storage device that associates respective kinematic signatures with respective control signals; comparing, during a performance of the surgical procedure surgical instrument kinematic information during the performance with at least one respective kinematic signature; launching, during a performance of the surgical procedure an associated respective control signal in response to a match between surgical instrument kinematics during the performance and a respective kinematic signature.

Abstract: A teleoperational system comprises a teleoperational control system and a teleoperational manipulator configured for operating an instrument in an environment. The teleoperational system also comprises an operator controller in communication with the teleoperational control system. The teleoperational control system includes a processing unit including one or more processors. The processing unit is configured to determine whether an operator of the operator controller has a head portion directed toward a display region of a display device and based on a determination that the operator's head portion is directed toward the display region, initiate an operator following mode in which movement of the operator controller provides a corresponding movement to the teleoperational manipulator. The teleoperational system may be a teleoperational medical system.

Abstract: A method comprises obtaining an endoscopic image dataset of a patient anatomy from an endoscopic imaging system and retrieving an anatomic model dataset of the patient anatomy obtained by an anatomic imaging system. The method also comprises mapping the endoscopic image dataset to the anatomic model dataset and displaying a first vantage point image using the mapped endoscopic image dataset. The first vantage point image is presented from a first vantage point at a distal end of the endoscopic imaging system. The method also comprises displaying a second vantage point image using at least a portion of the mapped endoscopic image dataset. The second vantage point image is presented from a second vantage point, different from the first vantage point.

Abstract: A medical system may comprise a display system for displaying a display area and a control system. The control system may include a processing unit including one or more processors. The processing unit may be configured to generate an image of a field of view for display in the display area, generate a user interface component for display in the display area, determine a priority record for an element in the image of the field of view, determine a display characteristic for the user interface component based on the priority record of the element in the field of view, and display the user interface component in accordance with the display characteristic in the display area overlayed on a displayed image of the field of view.

Abstract: A movable table may be configured to support a patient. The movable table may comprise a communication interface configured to communicatively couple with a medical device. The movable table may also comprise one or more processors and a non-transitory machine-readable medium comprising a plurality of instructions which, when executed by the one or more processors, cause the one or more processors to perform operations. The operations may include transmitting, via the communication interface and to the medical device, information relating to a planned motion of the movable table and receiving, via the communication interface and from the medical device, a response to the information relating to the planned motion of the movable table. Based on the response received from the medical device, the operations may include selectively causing performance of the planned motion of the movable table.

Abstract: An illustrative system is configured to direct a manipulator cart to navigate from a first location to a target location; autonomously control, while the manipulator cart navigates from the first location to the target location, a steering of the manipulator cart; and allow, while the manipulator cart navigates from the first location to the target location, operator control of a propulsion of the manipulator cart using a secondary control interface configured to facilitate operator control of the propulsion and not the steering of the manipulator cart.

Abstract: A teleoperated surgical system is provided comprising: a first robotic surgical instrument; an image capture; a user display; a user input command device coupled to receive user input commands to control movement of the first robotic surgical instrument; and a movement controller coupled to scale a rate of movement of the first robotic surgical instrument, based at least in part upon a surgical skill level at using the first robotic surgical instrument of the user providing the received user input commands, from a rate of movement indicated by the user input commands received at the user input command device.

Abstract: A flexible needle comprises a flexible body, an optical fiber, and a connector adapted for connecting the optical fiber to a processor. The flexible body comprises a wall including an interior surface defining a lumen. The wall further defines a securing feature. The securing feature is one of a channel within the wall, an external groove on an exterior surface of the wall, or an interior groove on an interior surface of the wall. The optical fiber is positioned at least partially within the securing feature. The flexible body further comprises a distal tip portion configured to pierce or puncture tissue.