Abstract: Methods of and a system for providing force information for a robotic surgical system. The method includes storing first kinematic position information and first actual position information for a first position of an end effector; moving the end effector via the robotic surgical system from the first position to a second position; storing second kinematic position information and second actual position information for the second position; and providing force information regarding force applied to the end effector at the second position utilizing the first actual position information, the second actual position information, the first kinematic position information, and the second kinematic position information. Visual force feedback is also provided via superimposing an estimated position of an end effector without force over an image of the actual position of the end effector. Similarly, tissue elasticity visual displays may be shown.

Abstract: The present invention discloses a Power-On-Reset (POR) circuit with zero steady-state current consumption and stable pull-up voltage. The POR circuit achieves zero steady-state current consumption during steady operation after the POR process by cutting off a power supply to a band-gap comparator circuit and a current comparator circuit after the POR process. The present invention has high reliability and stable pull-up voltage, is less susceptible to the impact of power-on rate of power supply, temperature, and process variation, has very low steady-state power consumption, and can be integrated in a SOC chip in low-power consumption applications.

Abstract: In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter.

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: Methods of and a system for providing a visual representation of force information in a robotic surgical system. A real position of a surgical end effector is determined. A projected position of the surgical end effector if no force were applied against the end effector is also determined. Images representing the real and projected positions are output superimposed on a display. The offset between the two images provides a visual indication of a force applied to the end effector or to the kinematic chain that supports the end effector. In addition, tissue deformation information is determined and displayed.

Abstract: A method comprises generating a model of an anatomic region and receiving a true image from an endoscopic image capture probe positioned within the anatomic region. The method further comprises identifying a true fiducial region in the true image and identifying a plurality of virtual tissue structures in the model of the anatomic region. The method further comprises matching one of the plurality of the virtual tissue structures with the true fiducial region and determining a probe pose of the endoscopic image capture probe from the matched one of the plurality of virtual tissue structures.

Abstract: Systems, methods, and devices are used to match images. Points of interest from a first image are identified for matching to a second image. In response to the identified points of interest, regions and features can be identified and used to match the points of interest to a corresponding second image or second series of images. Regions can be used to match the points of interest when regions of the first image are matched to the second image with high confidence scores, for example above a threshold. Features of the first image can be matched to the second image, and these matched features may be used to match the points of interest to the second image, for example when the confidence scores for the regions are below the threshold value. Constraint can be used to evaluate the matched points of interest, for example by excluding bad points.

Abstract: A wave soldering carrier includes a base plate and a fixing member positioned on the base plate. The base plate defines a receiving recess and a number of through holes communicating with the receiving recess. The receiving recess receives a circuit board. The through holes are arranged and shaped corresponding to a number of electronic components on the circuit board. The fixing member includes a shaft including a fixing shaft fixed to the base plate and a restricting shaft extending from an end of the fixing shaft. A diameter of the restricting shaft is greater than that of the fixing shaft, thereby forming a step. The fixing member further includes a rotatable member rotatably connected to the fixing shaft and sandwiched between the shoulder and the base plate. The rotation member is rotatable to a preset position, where a distal end of the rotatable member firmly contacts the circuit board.

Abstract: In some embodiments, remote graphics rendering may be facilitated by causing thin clients, that send raw graphics data to a local server for rendering, to downscale the data to a size appropriate for use by the local server. In some embodiments this avoids the storage of unnecessary data which is not useful for the local server because the actual display size on the local server is smaller than what the transmitted raw data would permit.

Abstract: Methods of and a system for providing a visual representation of force information in a robotic surgical system. A real position of a surgical end effector is determined. A projected position of the surgical end effector if no force were applied against the end effector is also determined. Images representing the real and projected positions are output superimposed on a display. The offset between the two images provides a visual indication of a force applied to the end effector or to the kinematic chain that supports the end effector. In addition, tissue deformation information is determined and displayed.

Abstract: A method of tracking a medical instrument comprises receiving a model of an anatomical passageway formation and receiving a set of ordered sensor records for the medical instrument. The set of ordered sensor records provide a path history of the medical instrument. The method further comprises registering the medical instrument with the model of the anatomical passageway formation based on the path history.

Abstract: A method and medical system for estimating the deformation of an anatomic structure that comprises generating a first model of at least one anatomical passageway from anatomical data describing a patient anatomy and determining a shape of a device positioned within the branched anatomical passageways. The method and medical system also comprise generating a second model of the plurality of branched anatomical passageways by adjusting the first model relative to the determined shape of the device.

Abstract: The present invention provides a system and method for detecting and tracking a moving object. First, robust change detection is applied to find initial candidate regions in consecutive frames. These initial detections in consecutive frames are stacked to produce space-time bands which are extracted by Hough transform and entropy minimization based band detection algorithm.

Abstract: In a minimally invasive surgical system, a plurality of video images is acquired. Each video image includes images of the surgeon's hand(s), and of a master manipulator. The images of the surgeon's hand(s) and the master manipulator are segmented from the video image. The segmented images are combined with an acquired surgical site image. The combined image is displayed to the person at the surgeon's console so that the console functions as a see-through console.

Abstract: In an environment with multiple graphics software application framework, a rending application programming interface (API) agent is provided in a rendering API library. The rendering API agent is to find surface information on memory surfaces corresponding to rendering surfaces of the rendering API library and relationship information between the memory surfaces and a process of the redering API application. The rendering API agent is to communicate with a global scene graph library (GSGL) to send the surface information and the relationship information to the GSGL. Binding may be used to transform the memory surfaces to desired rendering API surfaces based on the surface information in GSGL. A user experience application is to manipulate the translated rendering API surfaces to create user experience.

Abstract: The present disclosure relates to calibration target devices, assemblies and methods for use with imaging systems, such as a stereoscopic endoscope. A calibration assembly includes: a target surface extends in three dimensions with calibration markers and a body with an interface that engages an endoscope so the markers are within the field of view. A first calibration marker extends along a first plane of the target surface and a second marker extends along a second plane of the target surface. The planes are different and asymmetric relative to the field of view as seen through the endoscope. Three-dimensional targets, in particular, enable endoscopic calibration using a single image (or pair of images for a stereoscopic endoscope) to reduce the calibration process complexity, calibration time and chance of error as well as allow the efficient calibration of cameras at different focus positions.

Abstract: A surgical instrument has a distal end portion with an outer surface with an outer radius. One or more image capture elements are movably mounted in the distal end portion. In a first state, the one or more image capture elements are un-deployed. In the first state, a surface having an aperture of at least one of the one or more image capture elements is enclosed within the outer surface of the surgical instrument so that the surface having the aperture does not extend beyond the outer surface. In a second state, the one or more image capture elements are deployed. In the second state the surface having the aperture of the at least one of the one or more image capture elements extends beyond the outer surface.

Abstract: Methods of and a system for providing force information for a robotic surgical system. The method includes storing first kinematic position information and first actual position information for a first position of an end effector; moving the end effector via the robotic surgical system from the first position to a second position; storing second kinematic position information and second actual position information for the second position; and providing force information regarding force applied to the end effector at the second position utilizing the first actual position information, the second actual position information, the first kinematic position information, and the second kinematic position information. Visual force feedback is also provided via superimposing an estimated position of an end effector without force over an image of the actual position of the end effector. Similarly, tissue elasticity visual displays may be shown.

Abstract: A robotic system includes a camera having an image frame whose position and orientation relative to a fixed frame is determinable through one or more image frame transforms, a tool disposed within a field of view of the camera and having a tool frame whose position and orientation relative to the fixed frame is determinable through one or more tool frame transforms, and at least one processor programmed to identify pose indicating points of the tool from one or more camera captured images, determine an estimated transform for an unknown one of the image and tool frame transforms using the identified pose indicating points and known ones of the image and tool frame transforms, update a master-to-tool transform using the estimated and known ones of the image and tool frame transforms, and command movement of the tool in response to movement of a master using the updated master-to-tool transform.

Abstract: A system and method for tracking a position of the Sun includes a solar tracker controller that generates directional control signals responsive to sensing signals. A solar tracking algorithm controls operation of the solar tracker controller responsive to the sensing signals. The solar tracking algorithm includes a rough tracking mode of operation for causing a pointing axis of at least one solar receiver to point generally in a direction of the Sun as indicated by the sensing signals. A searching mode of operation positions the at least one solar receiver such that sunlight falls on at least one solar cell of the receiver. A fine tracking mode of operation positions a pointing axis of the at least one solar receiver responsive to the feedback signal from the at least one solar receiver.