Abstract: A medical system may comprise a display system, a user input device, a medical instrument, and a manipulator assembly configured to support and operate the medical instrument. The medical system may also comprise a control system. The control system may be configured to display image data corresponding to a three-dimensional anatomical region via the display system, receive a first user input to generate a first curve in the three-dimensional anatomical region via the user input device, and receive a second user input to generate a second curve in the three-dimensional anatomical region via the user input device. The control system may also be configured to determine an anatomical boundary bounded by the first curve and the second curve. The control system may also be configured to control the manipulator assembly to operate medical instrument using the determined anatomical boundary to limit movement of the medical instrument.

Abstract: A method comprises segmenting first modality image data representing a model of one or more passageways within a patient; generating a first set of points based on the segmented image data; registering the first set of points to a second set of points obtained by a second modality by: determining a set of matches between the first and second sets of points, and discarding a first subset of the set of matches based on a heuristic to generate a modified set of matches by ignoring an associated set of matches between the first and second sets of points when computing a corrective motion for the second set of points—an ignored match is included in a second subset of the set of matches when computing a second corrective motion for the second set of points; and displaying a visual representation of the passageways based on the modified set of matches.

Abstract: A robotic system comprises a display that is viewable by an operator. An operator reference frame is defined relative to the display or the operator viewing the display. The robotic system also includes an input device movable by the operator and a processing unit. The processing unit is configured to present, in the display, a first image of a first tool captured by an imaging device, receive, from the operator, a first indication that a first axis of the input device is aligned with a corresponding axis of the first tool in the first image, and in response to the first indication, determine a first alignment relationship between the imaging device and the first tool based on a second alignment relationship between the operator reference frame and the input device.

Abstract: A method for controlling flight includes displaying prompt information in a picture received from an aerial vehicle, dividing the picture into at least two portions based on the prompt information, obtaining a location of a click operation on the picture, and controlling a flight direction of the aerial vehicle based on the location and the prompt information.

Abstract: A handle structure of a remote controller includes a left body including a left docking portion, a right body including a right docking portion configured to be docked with the left docking portion, and a connecting mechanism connecting the left docking portion and the right docking portion and configured to allow the left docking portion or the right docking portion to slide relatively to adjust an interval between an end of the left body and an end of the right body that are distal from each other. At least one controlling member is disposed at one of the left body or the right body.

Abstract: A method is performed by a computing system. The method includes receiving image data from an imaging device, and determining, using the image data, a plurality of image-space tools, each image-space tool associated with a tool of a plurality of tools, each tool controlled by a manipulator of a plurality of manipulators. The method further includes determining a first correspondence between a first image-space tool of the plurality of image-space tools and a first tool of the plurality of tools based on a first disambiguation setting associated with the first tool.

Abstract: An anatomical probe system comprises an elongated flexible body and an elongated probe extending within the flexible body. The probe has a distal opening at a distal face of a distal end and includes an outer wall defining a channel, an access port in the outer wall in communication with the channel, a one-way flow controller, and an image capture instrument secured to the outer wall at a location proximal of the distal opening. The access port is spaced proximally of the distal face of the distal end. The one-way flow controller includes a cover configured to move between an open position where the access port is uncovered and the channel is in fluid communication with an area adjacent to the elongated probe via the access port, and a closed position where the access port is covered and a migration of fluids through the distal opening is permitted.

Abstract: An apparatus for supporting a payload includes a payload mount configured to be coupled to the payload to secure the payload, a first support member coupled to the payload mount, a second support member coupled to the first support member, and a single flexible member. The first support member includes a first actuation unit configured to rotate the payload mount around a first rotational axis relative to the first support member. The second support member includes a second actuation unit configured to rotate the first support member around a second rotational axis relative to the second support member. The single flexible member includes a branched configuration and is configured to be electrically coupled to the payload mount, the first actuation unit, and the second actuation unit. The first support member or the second support member includes a winding portion configured to engage the single flexible member.

Abstract: A dial assembly comprises a dial base, a rolling wheel, a dial handle, a reset elastic member, and a sensor. The dial base includes a first rotation channel and a second rotation channel. The rolling wheel is seated on the first rotation channel and rotatable along the first rotation channel. The dial handle is rotatably connected with the dial base and rotatable along the second rotation channel. The dial handle is connected with the rolling wheel and configured to rotate along with the rolling wheel. The reset elastic member is connected with the dial handle and configured to provide a restoring force to the dial handle. The sensor is connected with the dial handle and configured to obtain a rotation angle of the rolling wheel by sensing a rotation of the dial handle and convert the rotation angle into a control signal to transmit.

Abstract: A medical system may comprise a processor and a surgical device including a tracking system disposed along a length of an elongate flexible body. The processor may receive a first model of anatomic passageways of a patient anatomy. The first model may include a set of model passageways representing proximal and distal branches. The processor may also receive from the tracking system a shape of the elongate flexible body positioned within the proximal and distal branches. The processor may also determine, based on the shape of the elongate flexible body, a set of forces acting on the patient anatomy in response to the surgical device positioned within the proximal and distal branches. The processor may also generate a second model by deforming the first model based on the set of forces and display the second model and a representation of the elongate flexible body within the second model.

Abstract: A robotic system may comprise a first robotic arm operatively coupleable to a first tool. The first tool has a first working end. The system may also comprise an image capture device, a display, and a processor. The processor may be configured to cause an image of a work site, which was captured by the image capture device from a perspective of an image reference frame, to be displayed on the display. The image of the work site includes an image of the first working end of the first tool. The processor may also determine a position of the first working end of the first tool in the image of the work site and render a tool information overlay at the position of the first working end of the first tool in the image of the work site. The tool information overlay visually indicates state information for the first tool. The processor may also change the tool information overlay while the first tool is in a first operational state by changing a brightness of the tool information overlay.

Abstract: A method of estimating a pose of a surgical table comprises reading one or more fiducial markers on a base of the surgical table with a camera mounted to a manipulator assembly adjacent the surgical table. The surgical table includes a substrate and a support structure supporting the substrate. The substrate has a support surface. The support structure is movable such that the support surface of the substrate is positionable along one or more degrees of freedom (DOF).

Abstract: Information extracted from sequential images captured from the perspective of a distal end of a medical device moving through an anatomical structure are compared with corresponding information extracted from a computer model of the anatomical structure. A most likely match between the information extracted from the sequential images and the corresponding information extracted from the computer model is then determined using probabilities associated with a set of potential matches so as to register the computer model of the anatomical structure to the medical device and thereby determine the lumen of the anatomical structure which the medical device is currently in. Sensor information may be used to limit the set of potential matches. Feature attributes associated with the sequence of images and the set of potential matches may be quantitatively compared as part of the determination of the most likely match.

Abstract: A system includes a terminal and a power supply assembly. The terminal includes a user interface configured to receive user input for generating a first input signal or a second input signal. The power supply assembly includes a communication interface configured to receive the first input signal or the second input signal from the terminal, a power supply configured to power an unmanned vehicle, and a power supply circuit in electrical communication with the power supply. The power supply circuit is configured to switch the power supply between a plurality of operational modes in response to the first input signal, or display a level of charge or remaining capacity of the power supply in response to the second input signal.

Abstract: An imaging method includes when an amount of incident light is less than a preset value, controlling a gimbal carrying an imaging device to enter a stabilization mode, controlling the imaging device to perform imaging with a second exposure duration longer than a first exposure duration. The imaging device is used to perform imaging with the first exposure duration when the amount of incident light is greater than the preset value.

Abstract: A processing system may comprise a central processing unit, a graphics processing unit, and a memory having computer readable instructions. The computer readable instructions may cause the processing system to obtain a reference tree of nodes and linkages based on a reference 3D volumetric representation of a branched anatomical formation in a reference state and obtain, by the central processing unit, a reference 3D geometric model based on the reference tree. The instructions may also cause the processing system to receive, by the graphics processing unit, a non-rigid transform for the nodes of the reference tree and determine, by the graphics processing unit, a rigid transform for the reference tree nodes based on the non-rigid transform. The instructions may also cause the processing system to transform each node into a deformed node, create a 3D deformation field, and create a deformed 3D geometric model of the branched anatomical formation.

Abstract: A method of building an anatomical branch model comprises receiving anatomical image data comprising a plurality of graphical units associated with an anatomical structure and determining a plurality of parent segments and child segments. The method also comprises determining a set of relationships between the parent segments and the child segments by determining a first set of connection costs of connecting at least one of the parent segments to a first subset of the child segments, the child segments of the first subset are separated from the at least one of the parent segments by one or more gaps, identifying a first child segment from the first subset of the child segments based on a first connection cost, and connecting the first child segment to the at least one parent segment. The method further comprising generating an image of the anatomical branch model based on the determined set of relationships.

Abstract: A photographing device includes a body, an optical assembly mounted at the body, a display assembly, a focus adjustment assembly, and a control apparatus including a memory storing program codes and a processor. The processor is configured to execute the program codes to, obtain a current adjustment position of the focus adjustment assembly, calculate a current focus value corresponding to the current adjustment position of the focus adjustment assembly according to the current adjustment position of the focus adjustment assembly, and, in response to the current focus value being equal to a focus parameter peak value and the adjustment position of the focus adjustment assembly continuing to change, control the focus adjustment assembly to stop focusing within a preset time period starting from a time at which the current focus value is equal to the focus parameter peak value.

Abstract: A storage box includes an outer cylinder and a frame. The outer cylinder has a sidewall with an opening. The frame is disposed inside the outer cylinder, and has a rotatable connection with the outer cylinder. A space between a surface of the frame and the sidewall of the cylinder forms a storage member. As the frame rotates relative to the outer cylinder, the opening and the storage member alternates between a first relative position and a second relative position.

Abstract: A fastening assembly includes a fastening member and an operating member movably sheathed on the fastening member. The fastening member includes a threaded part and a mating part connected to the threaded part. The operating member includes a snap-fitting part corresponding to the mating part, a first sheathing hole, and a second sheathing hole. The first sheathing hole and the second sheathing hole are arranged along the axial direction of the operating member. The first sheathing hole and the second sheathing hole are in communication with each other and together penetrating the entire operating member. A size of the first sheathing hole is smaller than a size of the second sheathing hole. A stepped surface is formed at a position where the first sheathing hole and the second sheathing hole are connected.