Abstract: A system and method for variable damping of a hand-controlled input device, thereby providing damped control of a medical tool (e.g., for teleoperation), is disclosed. The system includes a robotic user interface and a control unit for applying different variable damping coefficients to the robotic user interface based on one or more variables. The robotic user interface includes one or more links and one or more joints that cooperate to facilitate remote manipulation of a medical tool. The control unit is configured to receive motion information from the one or more joints, determine a damping modifier from a plurality of different damping modifiers based on the received motion information, apply the determined damping modifier to at least one joint of the one or more joints to modify a force or torque of the at least one joint during a manipulation of the medical tool.

Abstract: A system and method for damped manipulation of a medical tool is disclosed. The system includes a robotic arm and a control unit. The robotic arm includes one or more links and one or more joints that cooperate to move the medical tool. The control unit is configured to receive a position and a velocity of a first joint of the one or more joints, apply a damping function to the first joint based on the received position or velocity to modify a force or torque of the first joint, and vary the damping function applied to the first joint based on the position or velocity when the position or velocity changes while the medical tool is moved.

Abstract: This application provides a task migration system and method. The system includes a first terminal and a second terminal. The second terminal runs a first application. The first terminal opens a recent task interface after receiving a user operation, where the recent task interface includes an identifier of the second terminal; after receiving a user operation performed on the identifier of the second terminal, displays, in the recent task interface, at least one task card corresponding to an application run by the second terminal in the background; and after receiving a user operation performed on a first task card corresponding to the first application, runs the first application, and displays a first user interface of the first application.

Abstract: A robotically enabled teleoperated system can include a controller and a robotic tool capable of manipulation by the controller. The controller can include a handle, a gimbal and a positioning platform. The handle can be configured for actuation by an operator to cause a corresponding manipulation of the robotic tool. The gimbal can include a joint and a load cell. The joint can be configured to be manipulated based on an impedance control, such that manipulation of the gimbal causes a corresponding manipulation of the robotic tool based on a displacement of the joint. A portion of the positioning platform can be configured to be manipulated based on an admittance control, such that manipulation of the positioning platform causes a corresponding manipulation of the robotic tool based on a force imparted on the controller and measured by the load cell.

Abstract: Certain aspects relate to systems and techniques for medical robotic systems that leverage a versatile, open kinematic chain together with a set of medical-procedure-specific software-controlled actuation constraints in order to perform a variety of medical procedures. The robotic system can be operated in a first mode by identifying a remote center and constraining the actuation of motorized joints to maintain intersection of at least an insertion axis with the remote center. The robotic system can be operated in a second mode by identifying a virtual rail position and constraining the actuation of motorized joints to maintain alignment of the insertion axis along the virtual rail.

Abstract: Systems and methods for detecting contact between a link and an external object are provided. In one aspect, there is provided a robotic system, including a manipulatable link, a rigid shell configured to overlay the manipulatable link, and one or more sensors positioned between the rigid shell and the manipulatable link. The one or more sensors are configured to detect contact between the rigid shell and an external object.

Abstract: A robotic surgical system includes a surgical tool including a drive housing having first and second ends, a carriage movably mounted to the drive housing, and an elongate shaft extending from the carriage and penetrating the first end, the shaft having an end effector arranged at a distal end. An instrument driver is arranged at an end of a robotic arm and includes a body having proximal and distal ends and defining a central aperture extending between the proximal and distal ends, the shaft and the end effector penetrate the instrument driver by extending through the central aperture, an outer housing extending between the proximal and distal ends, a tool drive assembly provided at the proximal end and extending into the outer housing, and a drive motor operatively coupled to the tool drive assembly and operable to cause the tool drive assembly to rotate relative to the outer housing.

Abstract: Robotic medical systems can be capable of establishing procedural setup. A robotic medical system can include a kinematic chain having at least a first robotic arm. The robotic medical system can be configured to execute first movement of the kinematic chain to a first pose in accordance with a first recommended pose corresponding to a first procedure to be performed on a patient. After the kinematic chain reaches the first pose, the robotic medical system can obtain first data corresponding to a boundary condition of the kinematic chain in accordance with an input from a user and/or second data corresponding to a current state of the patient. The robotic medical system can be configured to adjust at least a portion of the kinematic chain from the first pose to a second pose in accordance with the obtained first data and/or second data.

Abstract: Robotic medical systems can be capable of intra-operative setup adjustment. A robotic system can include comprises a kinematic chain for performing a procedure. The robotic system can be configured to detect one or more conditions encountered by the kinematic chain. The one or more conditions can correspond to a respective adjustment to a pose of the kinematic chain. In response to detecting the one or more conditions or upon user request, the robotic system can generate a recommended adjustment of the kinematic chain in accordance with the one or more conditions. The robotic system can present a notification of the recommended adjustment of the kinematic chain to a user. In accordance with a determination that a first user command to execute the recommended adjustment has been received, the robotic system can adjust the pose of the kinematic chain in accordance with the recommended adjustment.

Abstract: Systems and methods for detecting contact between a link and an external object are provided. In one aspect, there is provided a robotic system, including a manipulatable link, a rigid shell configured to overlay the manipulatable link, and one or more sensors positioned between the rigid shell and the manipulatable link. The one or more sensors are configured to detect contact between the rigid shell and an external object.

Abstract: Robotic medical systems can be capable of kinematic optimization using shared robotic degrees-of-freedom. A robotic medical system can include a patient platform, an adjustable arm support coupled to the patient platform, and at least one robotic arm coupled to the adjustable arm support. The at least one robotic arm can be coupled to a medical tool. The robotic medical system includes a first link and a second link. Each of the first link and the second link includes a first end coupled to the adjustable arm support and a second end coupled to a base of the patient platform, for rotating the adjustable arm support relative to the patient platform. The robotic medical system can also include a processor configured to adjust a position of the adjustable arm support and the at least one robotic arm while maintaining a remote center of movement of the medical tool.

Abstract: Certain aspects relate to systems and techniques for medical robotic systems that leverage a versatile, open kinematic chain together with a set of medical-procedure-specific software-controlled actuation constraints in order to perform a variety of medical procedures. The robotic system can be operated in a first mode by identifying a remote center and constraining the actuation of motorized joints to maintain intersection of at least an insertion axis with the remote center. The robotic system can be operated in a second mode by identifying a virtual rail position and constraining the actuation of motorized joints to maintain alignment of the insertion axis along the virtual rail.

Abstract: A robotic surgical tool includes a handle having a first end and a second end opposite the first end, an exoskeleton extending between the first and second ends and having a non-circular cross-section and a carriage movably arranged within the exoskeleton and having a non-circular cross-section compatible with the non-circular cross-section of the exoskeleton. The robotic surgical tool also includes an elongate shaft extending from the carriage and penetrating the first end, the shaft having an end effector arranged at a distal end thereof The carriage is movable between the first and second ends to advance or retract the end effector relative to the handle where the exoskeleton guides the carriage between the first and second ends.

Abstract: Robotic medical systems can be capable of contact sensing and contact reaction. A robotic medical system can include a robotic arm and one or more sensors. The robotic medical system can be configured to detect, via the one or more sensors, a contact force or torque that is exerted on the robotic arm by an external object. In response to detecting the contact force or torque, and in accordance with a determination that a magnitude of the contact force or torque is between a lower contact force or torque limit and an upper contact force or torque limit, the robotic medical system can enable a first set of controlled movements on the robotic arm in accordance with the detected contact force or torque.

Abstract: Robotic medical systems can be capable of kinematic optimization using shared robotic degrees-of-freedom. A robotic medical system can include a patient platform, an adjustable arm support coupled to the patient platform, and at least one robotic arm coupled to the adjustable arm support. The at least one robotic arm can be coupled to a medical tool. The robotic medical system includes a first link and a second link. Each of the first link and the second link includes a first end coupled to the adjustable arm support and a second end coupled to a base of the patient platform, for rotating the adjustable arm support relative to the patient platform. The robotic medical system can also include a processor configured to adjust a position of the adjustable arm support and the at least one robotic arm while maintaining a remote center of movement of the medical tool.

Abstract: A robotic medical system can include a user console, a robotic arm, and an adjustable arm support coupled to the robotic arm. The robotic medical can be configured to control null space motion of the robotic arm and/or the adjustable arm support based on inputs from two or more tasks of a plurality of tasks for execution by the robotic medical system. For example, the plurality of tasks can include contact detection of the robotic arm, optimization of the adjustable arm support, collision and/or joint limit handling via kinematics, robotic arm null space and/or bar pose jogging, and/or motion toward a preferred joint position.

Abstract: A robotic surgical tool comprises a handle having a first end and a second end, a lead screw and at least one spline extendable between the first and second ends of the handle, and a carriage movably mountable to the lead screw at a carriage nut. The carriage includes an elevator layer and one or more additional layers removably coupled to the elevator layer. An elongate shaft may be provided that extends distally from the one or more additional layers and penetrates the elevator layer and the first end when the one or more additional layers are coupled to the elevator layer. An end effector may be arranged at a distal end of the elongate shaft.

Abstract: In examples, a robotic medical system comprises a link of a robotic arm and a processor configured to control movement of the link based on a received input; determine a distance between the link and another object during the movement; and, responsive to the distance being within a threshold, adjust the movement of the link to avoid a collision between the link and the another object.

Abstract: A robotic surgical tool includes a drive housing having a first end, a second end, and a lead screw extending between the first and second ends, a carriage movably mounted to the lead screw at a carriage nut secured to the carriage, and an elongate shaft extending from the carriage and extending through the first end, the shaft having an end effector arranged at a distal end thereof. Rotation of the lead screw moves the carriage and the carriage nut axially between the first and second ends and thereby moves the end effector distally or proximally.

Abstract: A robotic surgical system may include a table and at least one adjustable arm support that supports one or more robotic arms. The adjustable arm support may be capable of swinging horizontally in a direction of the table. A plate extension may extend outward from the adjustable arm support. An extender bar may be coupled to one or more of the robotic arms and a cannula. A height differential may be provided between a first robotic arm and a second robotic arm that is supported on the adjustable arm support.