Abstract: Systems and methods of assisting operator engagement with input devices include an input device configured to be operated by a hand of an operator, a repositionable structure coupled to the input device, a hand detection system, and a control unit. The control unit is configured to detect a position and an orientation of the hand using the hand detection system, determine, based on the position of the hand, a target position for the input device, wherein moving the input device from a current position of the input device to the target position moves the input device closer to a grasping position for the hand, and in response to determining that an orientation difference between the orientation of the hand and a current orientation of the input device is not greater than a threshold orientation difference, cause one or more actuators to move the input device toward the target position.

Abstract: A dilator tool for use with a robotic surgical system is disclosed. In some embodiments, the dilator comprises a set of elongate members with an atraumatic form. The elongate members are individually controlled to manipulate tissue and push tissue away from a working channel. The operation to create a working channel may reduce the risk of tissue injury over traditional methods using a scalpel.

Abstract: Systems and methods of assisting operator engagement with input devices include an input device configured to be operated by a hand of an operator, a repositionable structure coupled to the input device, a hand detection system, and a control unit. The control unit is configured to detect a position and an orientation of the hand using the hand detection system, determine, based on the position of the hand, a target position for the input device, wherein moving the input device from a current position of the input device to the target position moves the input device closer to a grasping position for the hand, and in response to determining that an orientation difference between the orientation of the hand and a current orientation of the input device is not greater than a threshold orientation difference, cause one or more actuators to move the input device toward the target position.

Abstract: A system and method of assisting operator engagement with input devices includes a repositionable structure configured to support a physical input device, a hand detection system, and a control unit. The repositionable structure includes one or more actuators. The physical input device is configured to be operated by a hand of an operator. The control unit is configured to detect the hand of the operator using the hand detection system and in response to a trigger condition, command the one or more actuators to move the input device from a first orientation to a second orientation, wherein the second orientation is closer to a grasping orientation of the hand than the first orientation is to the grasping orientation of the hand.

Abstract: Dexterous manipulation devices are provided having an end effector enabling large curvature with a diameter of 1 mm or less that can articulate about an axis in a working space of about or less than 4 mm by 4 mm. Preferred devices are robotically actuated and controlled and can be used for a variety of therapeutic and diagnostic applications.

Abstract: A method, system, and non-transitory, computer-readable medium are provided for estimating a direction of gravity with respect to a robot. The method includes rotating a first joint. A first torque information of the first joint is recorded during rotation of the first joint. A second joint is then rotated. A second torque information of the second joint is recorded during rotation of the second joint. The direction of gravity is then estimated with respect to the robot based on the first torque information and the second torque information. The method provides an efficient way for determining the direction of gravity with respect to the robot.

Abstract: An optical shape sensing system includes an attachment device (130) coupled at an anatomical position relative to a bone. An optical shape sensing fiber (102) is coupled to the attachment device and configured to identify a position and orientation of the attachment device. An optical shape sensing module (115) is configured to receive feedback from the optical shape sensing fiber and register the position and orientation of the attachment device relative to an anatomical map.

Abstract: A system and method of assisting tool exchange includes a computer-assisted device having a manipulator configured to have at least one tool of multiple tools mounted thereon and a control unit coupled to the manipulator. The control unit is configured to detect initiation of a tool exchange, locate a source of a replacement tool to be mounted to the manipulator, determine, based on the located source, a configuration of the manipulator that facilitates mounting of the replacement tool to the manipulator, and command movement of the manipulator into the configuration. In some embodiments, the control unit is configured to determine the configuration further based on a type of the source of the replacement tool. In some embodiments, to locate the source of the replacement tool, the control unit is configured to locate at least a part of an assistant or locate a tool holding device.

Abstract: A triggering device includes an optical fiber (126) configured for optical shape sensing. A supporting element (104) is configured to support a portion of the optical fiber. An interface element (106) is configured to interact with the optical fiber associated with the supporting element to cause a change in a property of the fiber. A sensing module (115) is configured to interpret an optical signal to determine changes in the property of the fiber and accordingly generate a corresponding trigger signal.

Abstract: A system includes a tool, an input device, a shape sensor system, and a processing unit. The processing unit is configured to determine a state estimate of the input device based on shape information from the shape sensor system, and control the tool based on the state estimate.

Abstract: A method, system, and non-transitory, computer-readable medium are provided for estimating a direction of gravity with respect to a robot. The method includes rotating a first joint. A first torque information of the first joint is recorded during rotation of the first joint. A second joint is then rotated. A second torque information of the second joint is recorded during rotation of the second joint. The direction of gravity is then estimated with respect to the robot based on the first torque information and the second torque information. The method provides an efficient way for determining the direction of gravity with respect to the robot.

Abstract: A system and method of assisting operator engagement with input devices includes a repositionable structure configured to support a physical input device, a hand detection system, and a control unit. The repositionable structure includes one or more actuators. The physical input device is configured to be operated by a hand of an operator. The control unit is configured to detect the hand of the operator using the hand detection system and in response to a trigger condition, command the one or more actuators to move the input device from a first orientation to a second orientation, wherein the second orientation is closer to a grasping orientation of the hand than the first orientation is to the grasping orientation of the hand.

Abstract: A system and method of assisting operator engagement with input devices includes an input device, a hand detection system, and a control unit. The control unit is configured to detect the hand of the operator using the hand detection system; in response to a trigger condition, command the input device to move from a first to a second position; and in response to a signal indicating an input provided by the operator to the input device, command a motion of an end effector associated with the input device. The second position is closer to a grasping position for the hand than the first position. In some embodiments, the control unit is further configured to, in response to the trigger condition, command the input device to move from a first to a second orientation. The second orientation is closer to a grasping orientation for the hand than the first orientation.

Abstract: A force-sensing tool includes a tool shaft that has a proximal end and a distal end, a flexure section attached at a first end to the distal end of the tool shaft, a tool tip operatively connected to the flexure section such that axial forces applied to the tool tip are coupled primarily to a first portion of the flexure section and transverse forces applied to the tool tip are coupled primarily to a second portion of the flexure section, an axial force sensor coupled to the first portion of the flexure section, and a transverse force sensor coupled to the second portion of the flexure section. The axial force sensor responds to axial forces applied to the tool tip substantially independently of the transverse forces applied to the tool tip under a designed operating range of forces, and the transverse force sensor responds to transverse forces applied to the tool tip substantially independently of the axial forces applied to the tool tip under the designed operating range of forces.

Abstract: A system and method of assisting operator engagement with input devices includes an input device, a hand detection system, and a control unit. The control unit is configured to detect the hand of the operator using the hand detection system; in response to a trigger condition, command the input device to move from a first to a second position; and in response to a signal indicating an input provided by the operator to the input device, command a motion of an end effector associated with the input device. The second position is closer to a grasping position for the hand than the first position. In some embodiments, the control unit is further configured to, in response to the trigger condition, command the input device to move from a first to a second orientation. The second orientation is closer to a grasping orientation for the hand than the first orientation.

Abstract: A surgical system provides hands-free control of at least one surgical tool includes a robot having a tool connector, a smart tool attached to the tool connector of the robot, and a feedback control system configured to communicate with the smart tool to provide feedback control of the robot. The smart tool includes a tool that has a tool shaft having a distal end and a proximal end, a strain sensor arranged at a first position along the tool shaft, at least one of a second strain sensor or a torque-force sensor arranged at a second position along the tool shaft, the second position being more towards the proximal end of the tool shaft than the first position, and a signal processor configured to communicate with the strain sensor and the at least one of the second strain sensor or the torque-force sensor to receive detection signals therefrom.

Abstract: Dexterous manipulation devices are provided having an end effector enabling large curvature with a diameter of 1 mm or less that can articulate about an axis in a working space of about or less than 4 mm by 4 mm. Preferred devices are robotically actuated and controlled and can be used for a variety of therapeutic and diagnostic applications.

Abstract: An optical shape sensing system includes an attachment device (130) coupled at an anatomical position relative to a bone. An optical shape sensing fiber (102) is coupled to the attachment device and configured to identify a position and orientation of the attachment device. An optical shape sensing module (115) is configured to receive feedback from the optical shape sensing fiber and register the position and orientation of the attachment device relative to an anatomical map.

Abstract: A triggering device includes an optical fiber (126) configured for optical shape sensing. A supporting element (104) is configured to support a portion of the optical fiber. An interface element (106) is configured to interact with the optical fiber associated with the supporting element to cause a change in a property of the fiber. A sensing module (115) is configured to interpret an optical signal to determine changes in the property of the fiber and accordingly generate a corresponding trigger signal.

Abstract: A force-sensing tool includes a tool shaft that has a proximal end and a distal end, a flexure section attached at a first end to the distal end of the tool shaft, a tool tip operatively connected to the flexure section such that axial forces applied to the tool tip are coupled primarily to a first portion of the flexure section and transverse forces applied to the tool tip are coupled primarily to a second portion of the flexure section, an axial force sensor coupled to the first portion of the flexure section, and a transverse force sensor coupled to the second portion of the flexure section. The axial force sensor responds to axial forces applied to the tool tip substantially independently of the transverse forces applied to the tool tip under a designed operating range of forces, and the transverse force sensor responds to transverse forces applied to the tool tip substantially independently of the axial forces applied to the tool tip under the designed operating range of forces.