Abstract: The present disclosure relates to an electromechanical sequential action device that is capable of sequentially interlocking a mechanical switch and a power electronic switch, where through an action sequence control, the electromechanical mechanism turns on the power electronic switch only after the mechanical switch is closed, and through an advanced travel control, turns off the power electronic switch before opening the mechanical switch, avoiding the problem of arc discharge during closing and opening of the mechanical switch, and improving the service life and connection reliability of the mechanical switch.

Abstract: Disclosed in the embodiments of the present application are a mechanical zero position calibration method and apparatus, and a device and a medium. The method comprises: controlling a target electric motor to drive an instrument joint of a target instrument to respectively move in at least two set directions, and determining joint torque change information corresponding to each set direction; determining critical point information, corresponding to each set direction, of the instrument joint on the basis of the joint torque change information corresponding to each set direction; and determining, according to the critical point information corresponding to each set direction, an electric motor position corresponding to a mechanical zero position of the target instrument.

Abstract: The present disclosure discloses a solid-state circuit breaker including an electronic switch and a mechanical switch connected in series, the mechanical switch includes: a handle micro-switch, configured to be actuated upon the handle rotating to the on position and released upon the handle leaving the on position; a contact micro-switch, installed to the housing and configured to be actuated upon the movable contact moving to a closed position and released upon the movable contact leaving the closed position. By detecting a state of the handle micro-switch and a state of the contact micro-switch, it is achieved that, upon the solid-state circuit breaker being switched from off to on, the mechanical switch is turned on first, and then the electronic switch is turned on, upon the solid-state circuit breaker being switched from on to off, the electronic switch is turned off first, and then the mechanical switch is turned off.

Abstract: Robotic medical systems can control vibration of an instrument tip. A robotic medical system can include a robotic arm, a sensor positioned on the robotic arm, and one or more processors. The robotic medical system can be configured to receive an input specifying a target position of the robotic arm. In accordance with the input, the robotic medical system can provide first actuation signals to cause movement of at least a portion of the robotic arm. During the movement, the robotic medical system can receive sensor signals from the sensor. The robotic medical system can generate processed signals based on the received sensor signals and generate control signals according to the processed signals. The robotic medical system can provide second actuation signals based on the first actuation signals and the control signals so that a vibration of the robotic arm is suppressed.

Abstract: Certain aspects relate to systems and techniques for alignment and docking of robotic arm of a robotic system for surgery. In one aspect, the system includes a robotic arm, a drive mechanism attached to the robotic arm, and a cannula. The system may further include a first sensor coupled to either the robotic arm or the drive mechanism configured to direct automatic movement of the robotic arm towards the cannula, and a second sensor, that is different than the first sensor, coupled to either the robotic arm or the drive mechanism configured to direct manual movement of the robotic arm towards the cannula.

Abstract: Systems and methods for dynamic adjustments based on load inputs for robotic systems are provided. In one aspect, a robotic system includes a first robotic arm having at least one joint, a set of one or more processors, and at least one computer-readable memory in communication with the set of one or more processors and having stored thereon computer-executable instructions. The computer executable instructions cause the one or more processors to determine a first external load threshold for the at least one joint based on a maximum safe load capability of the first robotic arm, and adjust the first external load threshold during a medical procedure.

Abstract: Certain aspects relate to systems and techniques for alignment and docking of robotic arm of a robotic system for surgery. In one aspect, the system includes a robotic arm, a drive mechanism attached to the robotic arm, and a cannula. The system may further include a first sensor coupled to either the robotic arm or the drive mechanism configured to direct automatic movement of the robotic arm towards the cannula, and a second sensor, that is different than the first sensor, coupled to either the robotic arm or the drive mechanism configured to direct manual movement of the robotic arm towards the cannula.

Abstract: Systems and methods for dynamic adjustments based on load inputs for robotic systems are provided. In one aspect, a robotic system includes a first robotic arm having at least one joint, a set of one or more processors, and at least one computer-readable memory in communication with the set of one or more processors and having stored thereon computer-executable instructions. The computer executable instructions cause the one or more processors to determine a first external load threshold for the at least one joint based on a maximum safe load capability of the first robotic arm, and adjust the first external load threshold during a medical procedure.

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: 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 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: 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: 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: Systems and methods for collision detection and avoidance are provided. In one aspect, a robotic medical system including a first set of links, a second set of links, a console configured to receive input commanding motion of the first set of links and the second set of links, a processor, and at least one computer-readable memory in communication with the processor. The processor is configured to access the model of the first set of links and the second set of links, control movement of the first set of links and the second set of links based on the input received by the console, determine a distance between the first set of links and the second set of links based on the model, and prevent a collision between the first set of links and the second set of links based on the determined distance.

Abstract: Robotic systems can be capable of collision detection and avoidance. A medical robotic system can include a first kinematic chain and one or more sensors positioned to detect one or more parameters of contact with one or more portions of the first kinematic chain. The medical robotic system can be configured to cause adjustment of a configuration of the first kinematic chain from a first configuration to a second configuration based on a constraint determined from the one or more parameters of contact with the first kinematic chain detected by the one or more sensors.

Abstract: Robotic medical systems capable of manual manipulation are described. A robotic medical system can include a robotic arm and a sensor architecture. The sensor architecture can include one or more non-joint based sensors that are positioned to detect a first force exerted on the robotic arm. The robotic medical system can be configured to determine whether sensor data received from the sensor architecture meets first criteria. For example, the first criteria can be met in accordance with a determination that the first force exceeds a first threshold force. The robotic medical system can be configured to, in accordance with a determination that the first criteria are met, transition the robotic arm from a position control mode to a manual manipulation mode.

Abstract: Robotic systems can be capable of commanding bar translation. A robotic system can include a robotically controlled first kinematic chain, a robotically controlled second kinematic chain that is movably coupled to the first kinematic chain, and a controller that is communicably coupled to the first kinematic chain and the second kinematic chain. The robotic system can be figured to obtain data corresponding to the first kinematic chain, and control movement of the second kinematic chain in accordance with the data corresponding to the first kinematic chain.

Abstract: Certain aspects relate to systems and techniques for a patient platform system that includes a table and one or more kinematic chains that are coupled to the table. The table includes a rigid base and a table top that is movable relative to the rigid base. One or more processors initiate first movement of the table top relative to the rigid base in accordance with a user request, and move the one or more kinematic chains relative to the rigid base in coordination with the first movement of the table top such that one or more preset conditions are maintained during the first movement of the table top.

Abstract: A robotic system can incorporate one or more sensors along a robotic arm in order to permit self- or auto-alignment of the robotic arm with a cannula during a docking procedure. The sensor can detect and measure a force or moment resulting from contact between an instrument driver of the robotic arm and the cannula. In response thereto, the robotic system can translate and/or rotate components of the robotic arm in order to align the instrument driver with the cannula, thereby facilitating latching of the cannula to the instrument driver.

Abstract: Robotic medical systems may perform robotic movement that is saturated according to one or more constraints of the system. A robotic system can include a robotic arm configured to control a medical instrument. The robotic system can receive a first user input from a user for moving the robotic arm to control the medical instrument. The robotic system can guide the movement of the robotic arm along a collision boundary surrounding an object in accordance with the first user input and one or more secondary constraints.