Abstract: A robot teleoperation method, a robot and a storage medium are disclosed. The method includes: acquiring an image of a target object, and generating a point cloud of the target object according to the image; establishing a virtual fixture based on a geometric feature corresponding to the point cloud; the virtual fixture including at least one of a forbidden region virtual fixture or a guidance virtual fixture; determining a reference point of the virtual fixture and a control point of the robot, and determining a virtual force of the virtual fixture acting on the control point according to a distance between the reference point and the control point; and determining a control force applied to the control point based on the virtual force.

Abstract: A system including a flexible catheter configured to articulate along a degree of freedom. An actuator is disposed at a proximal portion of the flexible catheter. The actuator is configured to actuate the flexible catheter along the degree of freedom. An articulation sensor is configured to provide articulation sensor signals representing articulation of the flexible catheter. An actuator sensor is configured to provide actuator sensor signals representing movement of the actuator. A controller is coupled to the actuator and configured to, based on determining that a state of a first articulation sensor signal prevents or hinders the first articulation signal from being used as a feedback signal for controlling the actuator to: determine an articulation estimate of the flexible catheter based on a model of the flexible catheter applied to a first actuator sensor signal; and, control the actuator based on the articulation estimate.

Abstract: Systems and methods for verification and calibration of robotic instruments are provided. A robotic system may include an instrument carriage to receive an elongate device, and the instrument carriage may comprise a set of drive sensors. The system may also include a tracking system configured to receive an indication that the elongate device is installed on the instrument carriage, operate a set of actuators to articulate a distal portion of the elongate device, and generate a set of drive sensor data from the set of drive sensors. The tracking system may also be configured to generate a set of articulation sensor data from a shape sensor of the elongate device, compare the set of drive sensor data to the set of articulation sensor data to generate a test profile, and determine whether the test profile corresponds to a reference profile. Corrective action may be determined.

Abstract: A method of detecting a tool being received in a medical system, the method including receiving, in a tool recognition assembly having a first reader with a first detection zone, the tool having a first target. The method also includes acquiring first sensor data from the first reader for the first detection zone and detecting an indication of an absence of the first target when the first sensor data is within a first pre-determined threshold range and logging the absence indication. The method also includes creating an insertion signature associated with the tool being received in the tool recognition assembly by combining, in a chronological sequence, the absence and presence indications from the first reader. The method further includes comparing the insertion signature to a predetermined set of model insertion signatures and determining a characteristic of the tool being received in the tool recognition assembly based on the comparing.