Abstract: A robotic suture knot tying system includes a first robotic arm, a second robotic arm, a suturing device including a suturing end effector operatively coupled to the first robotic arm, and a suture handling device operatively coupled to the second robotic arm. The system also includes a control system operatively coupled to the first robotic arm, the second robotic arm, the suturing device, and the suture handling device and configured to control operation thereof to cooperatively perform a suture knot tying procedure on a patient.

Abstract: Systems and methods for multi-modal sensing of three-dimensional position information of the surface of an object are disclosed. In particular, multiple visualization modalities are each used to collect distinctive positional information of a surface of an object. Each of the computed positional information is combined using weighting factors to compute a final, weighted three-dimensional position. In various embodiments, a first depth may be recorded using fiducial markers, a second depth may be recorded using a structured light pattern, and a third depth may be recorded using a light-field camera. Weighting factors may be applied to each of the recorded depths and a final, weighted depth may be computed.

Abstract: Systems and methods for multi-modal sensing of three-dimensional position information of the surface of an object are disclosed. In particular, multiple visualization modalities are each used to collect distinctive positional information of a surface of an object. Each of the computed positional information is combined using weighting factors to compute a final, weighted three-dimensional position. In various embodiments, a first depth may be recorded using fiducial markers, a second depth may be recorded using a structured light pattern, and a third depth may be recorded using a light-field camera. Weighting factors may be applied to each of the recorded depths and a final, weighted depth may be computed.

Abstract: A robotic suture knot tying system includes a first robotic arm, a second robotic arm, a suturing device including a suturing end effector operatively coupled to the first robotic arm, and a suture handling device operatively coupled to the second robotic arm. The system also includes a control system operatively coupled to the first robotic arm, the second robotic arm, the suturing device, and the suture handling device and configured to control operation thereof to cooperatively perform a suture knot tying procedure on a patient.

Abstract: Systems and methods for multi-modal sensing of three-dimensional position information of the surface of an object are disclosed. In particular, multiple visualization modalities are each used to collect distinctive positional information of a surface of an object. Each of the computed positional information is combined using weighting factors to compute a final, weighted three-dimensional position. In various embodiments, a first depth may be recorded using fiducial markers, a second depth may be recorded using a structured light pattern, and a third depth may be recorded using a light-field camera. Weighting factors may be applied to each of the recorded depths and a final, weighted depth may be computed.

Abstract: A surgical grasper with an integrated suture pulley engages a suture during a suturing process. The grasper includes a jaw member pivotally connected to another jaw member, each having a suture engagement surface facing the suture engagement surface of the other. One jaw member includes a suture pivot post extending from its suture engagement surface. The other jaw member has an opening in its suture engagement surface sized and arranged to receive the pivot post. The grasper can be operated to position the jaw members in a suture grasping mode, in which the pivot post is received in the opening and the suture engagement surfaces securely engage the suture to inhibit movement of the suture. The jaw members can also be positioned in a pulley mode, in which the grasper slidably supports the suture and the pivot post acts as a pivot point and bearing surface for the suture.

Abstract: A laparoscopic device with suture cutter includes a tubular housing having first, second, and third channels. Each channel extends longitudinally along the housing. A first suture grasping instrument in the first channel has an end effector that can be actuated to extend outwardly from the distal end of the housing to grasp a first portion of a suture. A second suture grasping instrument in the second channel has an end effector that can be actuated to extend outwardly from the distal end to grasp a second portion of a suture. A cutting blade is recessed in the distal end at a location between the first and second channels. The first and second instruments can be retracted into the distal end of the housing while grasping the suture and to engage the suture with the blade to sever the suture. The third channel can house a laparoscope.

Abstract: Systems and methods for multi-modal sensing of three-dimensional position information of the surface of an object are disclosed. In particular, multiple visualization modalities are each used to collect distinctive positional information of a surface of an object. Each of the computed positional information is combined using weighting factors to compute a final, weighted three-dimensional position. In various embodiments, a first depth may be recorded using fiducial markers, a second depth may be recorded using a structured light pattern, and a third depth may be recorded using a light-field camera. Weighting factors may be applied to each of the recorded depths and a final, weighted depth may be computed.

Abstract: A robotic introducer system comprises a first assembly comprising a cable control assembly configured for use in a plurality of medical procedures, a second assembly comprising a distal link extension assembly configured for fewer uses than the first assembly, and a third assembly comprising an articulating probe assembly, coupled between the first and second assemblies and configured for fewer uses than the second assembly.

Abstract: A robotic introducer system comprises a first assembly comprising a cable control assembly configured for use in a plurality of medical procedures, a second assembly comprising a distal link extension assembly configured for fewer uses than the first assembly, and a third assembly comprising an articulating probe assembly, coupled between the first and second assemblies and configured for fewer uses than the second assembly.