Abstract: Devices, systems, and methods for automatically exchanging a first end-effector on a robot arm with a second end-effector housed in a docking station. The first end-effector has a clamp that either engages or disengages the robot arm based upon an application of force of the robot arm onto the end-effector. The clamp has a spring loaded clip that disengages the first end-effector to allow the robot arm to move away from the released first end-effector. The robot arm is configured to automatically move to a port of a docking station housing the desired second end-effector using magnetic coils on the robot arm and the docking station to guide the robot arm.

Abstract: A method for evaluating a gastrointestinal tract may include characterizing one or more disease parameters using objective measures obtained from imaging data of a gastrointestinal tract. The one or more disease parameters reflect a measure of at least one of lesions, ulcers, bleeding, stenosis, and vasculature. The method may also include using the one or more characterized disease parameters to classify a disease state.

Abstract: The rotatable leg massage device has a base and a swinging arm. The swinging arm has a massaging end and a swinging end, the massaging end provided with a respective massaging roller on two sides. A second motor is disposed inside of the massage end and configured to rotate the two massaging rollers. The swinging end is disposed in front of the assembling base, and both sides of the swinging end are respectively provided with a swinging gear. A central aperture of each swinging gear is aligned with the through apertures of the assembling base and a shaft passing through all four apertures, the two swinging gears engages the two driving gears of the first motor, and the first motor is configured to drive the swinging arm to rotate around the base.

Abstract: A surgical system. The surgical system comprises a surgical instrument comprising an end effector, wherein the end effector is configured to perform an end effector function, and a control circuit configured to control the end effector function and automatically adapt the control of the end effector function over time, and limit the automatic adaptation of the control of the end effector function.

Abstract: An end effector for impacting a prosthesis at a surgical site along a trajectory maintained by a surgical robot. The end effector comprises an impactor assembly and a guide. The impactor assembly has a head to receive impact force, an interface to releasably attach to the prosthesis, a shaft extending along an impactor axis between the head and the interface, and an impactor engagement surface disposed between the head and the interface. The guide is adapted to attach to the surgical robot and comprises a channel extending along a guide axis and defining an opening arranged to receive a portion of the shaft of the impactor assembly, a guide engagement surface shaped to abut the impactor engagement surface, and a limiter to maintain abutment of the impactor engagement surface with the guide engagement surface to facilitate coaxial alignment of the axes with the trajectory maintained by the surgical robot.

Abstract: A method of processing images captured using an endoscope comprising a camera is disclosed. According to this method, regular images captured by the camera are received while the endoscope travels through a human gastrointestinal (GI) tract. The regular images are mosaicked to determine any missed or insufficiently imaged area in a section of the human GI tract already travelled by the endoscope. If any missed or insufficiently imaged area is detected, information regarding any missed or insufficiently imaged area is provided. When a target area in the regular images is lack of parallax, the target area is determined as one missed area and an edge corresponding to a structure of the human lumen is highlighted. For a capsule endoscope, the endoscope can be configured to be controlled or steered to move so as to re-image the missed or insufficiently imaged area.

Abstract: An assembly for driving linear movement and roll movement of an elongate surgical tool, comprising: an elongate shaft comprising a central lumen extending along the shaft long axis; the elongate shaft comprising a plurality of apertures extending across walls of the elongate shaft and into the central lumen; a set of wheels positioned opposing each other and aligned on two sides of the central lumen, the set of wheels at least partially extending through the apertures beyond the walls of the elongate shaft and into the central lumen to contact an elongate surgical tool received therein; the set of wheels being coupled to the elongate shaft and configured to rotate with the elongate shaft as a single unit when the elongate shaft is rotated about the shaft long axis.

Abstract: A robot main body driving mechanism; a robot main body including a hollow flexible shaft, a joint portion including a bending joint and a proximal end continuous with a distal end of the flexible shaft, the bending joint receiving driving force of the robot main body driving mechanism to perform a bending operation, an end effector provided at a distal end of the joint portion, and a driving force transmission mechanism connecting the bending joint and the robot main body driving mechanism and configured to transmit the driving force of the robot main body driving mechanism to the bending joint; and a rotation driving mechanism configured to rotate the robot main body around an axis of a proximal end of the flexible shaft.

Abstract: Systems and methods for performing concomitant medical procedures are disclosed. In one aspect, the method involves controlling a first robotic arm to insert a first medical instrument through a first opening of a patient and controlling a second robotic arm to insert a second medical instrument through a second opening of the patient. The first robotic arm and the second robotic arm are part of a first platform and the first opening and the second opening are positioned at two different anatomical regions of the patient.

Abstract: The invention involves a system and method for controlling the movements of a multi-axis robot to perform a surgery at least on the spinal area of a human in vivo. The system includes controls and software coding to cause the robot to move in desired patterns to complete the surgery, which may include bone, disc and tissue removal, and may also include insertion of hardware for fusing adjacent bony structures.

Abstract: Surgical stapling systems and methods for stapling tissue during a surgical procedure are provided. In an exemplary embodiment, a control system is provided for controlling at least one motor coupled to a drive system on a surgical stapling device for driving one or more drive assemblies. The control system can be configured to communicate with the drive system of the stapling tool and to control and modify movement of one or more drive assemblies based on certain feedback.

Abstract: According to an embodiment, an autonomous endoscopic system capable of controlling movement of an endoscope inserted into a protective sheath installed in the body of a patient may comprise: an endoscope operating device capable of operating a relative position of the endoscope with respect to the protective sheath, a rolling angle of the endoscope, and a bending angle of a bending portion which is located at the end of the endoscope and is bendable; and a control unit for controlling the endoscope operating device, wherein the control unit controls the endoscope operating device on the basis of a driving record of the endoscope.

Abstract: The present disclosure provides a stabilizing unit for a medical device. The stabilizing unit includes a retaining arm having a surface configured to abut a surface of the medical device. The stabilizing unit also includes a stabilizing fork having a slot configured to receive the medical device. A biasing member is in contact with the stabilizing fork and is configured to urge the slot of the stabilizing fork towards the retaining arm. When the medical device is placed in the slot of the stabilizing fork, the basing member urges the stabilizing fork against an adjacent surface of the medical device, and an opposing surface of the medical device against the retaining arm.

Abstract: An access system is provided for establishing an access path to a surgical site within a patient. The access system comprises an access portal defining a working channel with a central axis, and an adaptor with a mating section mountable to the access portal. The adaptor is selectively rotatable about the central axis. The access portal includes a plurality of openings and the adaptor includes a plurality of projections, each of the projections and openings being arranged so that, in a first orientation, the openings and projections align to allow mounting of the adaptor to the access portal and, in a second orientation, the openings and projections do not align to prevent disassociation between the adaptor and the access portal. The adaptor also includes a holder for a viewing device, the viewing device being movable with the adaptor about the access portal and vertically translatable relative to the access portal.

Abstract: A method for calibrating a surgical device is provided. The method includes acquiring first data including a position and/or an orientation of a first object disposed on the surgical device at a first location; acquiring second data including a position and/or an orientation of a second object disposed on the surgical device at a second location; determining third data including a position and/or an orientation of the first object relative to the second location; and determining a position and/or an orientation of the second object relative to the second location based at least in part on the first data, the second data, and the third data.

Abstract: A method of visualizing a body cavity during a surgical procedure including positioning an elongated body of an angled endoscope in a first position within a body cavity of a patient, rotating the elongated body about a longitudinal axis in response to a command point, capturing a plurality of images with an image capture device positioned within the elongated body as the elongated body is rotated, and generating a panoramic view of the body cavity from the plurality of images. In the first position of the elongated body, a surgical site is within a field of view of the image capture device. The field of view of the image capture device capturing a first volume of the body cavity, including the surgical site, when the angled endoscope is in the first position.

Abstract: A connection device attached to one structure includes structures having adjacent slots that are alligned to receive and permit placement of an elongated member, and are subsequently relatively movable to retain the elongated member to restrict or occlude the adjacent slot opening restricting removal, and further provides a sheer force between the structures each having the slot to receive the elongated member, to engage and secure the outer surface of a tubular member received into an aperture common through 2 adjacent members, each member aperture having an axis parallel to and offset from the other, wherein rotation of one of the 2 members causes the surface of the offset aperture and the surface of the non-offset aperture to apply a shear force and/or friction to engage and retain the tubular member. Access to the aperture is provided by slot extending from the aperture to the member periphery.

Abstract: [Problem] A surgical apparatus of the related art controls only the cropping position of a captured image, and thus only executes a limited range of image control in laparoscopic surgery. [Solution] A medical information processing apparatus including: an image control section that controls processing of a captured image from a camera; and an arm control section that controls a motion of an arm that supports the camera. One of the image control section and the arm control section executes control on a basis of control information from another control section.

Abstract: A new steerable endoscope for minimally invasive surgery is provided. The endoscope system includes: a wireless steerable endoscope (1), an external magnetic controller (2) and an image/video display (3). The wireless steerable endoscope (1) could be inserted through an incision (4-1) on the body skin (4) and be anchored/steered inside the body cavity by the external magnetic controller (2). It is shaftless, wireless, and can be steered inside the body, operating in a remote manner. Compared with existing endoscopes, it neither requires additional incision nor does it occupy trocar or port space. Without the endoscope shaft, the surgical access trauma and incision size can potentially be reduced, avoiding endoscope-instrument fencing. It can be placed remotely from the access incision, providing an improved and wider field of view. It is soft-bodied and compact in structure, therefore safety is high.

Abstract: An access device for accessing an intervertebral disc having an outer shield comprising an access shield with a larger diameter (˜16-30 mm) that reaches from the skin down to the facet line, with an inner shield having a second smaller diameter (˜5-12 mm) extending past the access shield and reaches down to the disc level. This combines the benefits of the direct visual microsurgical/mini open approaches and the percutaneous, “ultra-MIS” techniques.

Abstract: For controlling a robotic surgical system including arms, consoles, and a controller in communication with the arms and consoles, systems and methods are provided that include receiving a request for selection of a first arm for assignment to a first console, and in response to the request, determining whether the first arm is already assigned, assigning the first arm to the first console, if a determination is made that the first arm is not already assigned, determining whether the first arm is to be deselected from a previous assignment, if a determination is made that the first arm is already assigned, generating an error message, if a determination is made that the first arm is not to be deselected, and deselecting the first arm from the previous assignment and assigning the first arm to the first console, if a determination is made that the first arm is to be deselected.

Abstract: A computer-assisted surgical system comprises a master grip input mechanism, a surgical instrument comprising an end effector configured to apply a gripping force, and a controller. The controller is configured to receive a first input signal in response to grip input at the master grip input mechanism. The controller is further configured to receive a second input signal after receiving the first input signal, wherein the second input signal is received in response to a procedure input at a master input device, with the procedure input being different from the grip input at the master grip input mechanism and further being indicative of a user's readiness to operate the surgical instrument to perform a first surgical procedure. The controller is further configured to, in response to receiving the first input signal and the second input signal, cause one or more degrees of freedom of the surgical instrument to be placed in a locked state.

Abstract: A medical device having a body having a first bubble vane for measuring angle in one plane; said body having a second bubble vane for measuring an angle in another plane; said first bubble vane having angle indicia; said second bubble vane having angle indicia; said one plane being the in a different plane from said another plane and the angles in the two planes providing the entry point for an incision for the placement of an orthopedic device.

Abstract: The invention is directed to a method for operating a visualization system which includes a surgical microscope assembly for viewing a surgical region under magnification. The surgical microscope assembly is provided with a computer unit having a display for displaying image data. A detection arrangement is configured to detect endoscopic images in the surgical region and is operatively coupled to the surgical microscope assembly. A circuit actuable by a viewing person is configured to detect actuation data. The circuit is configured to set an operating state of the surgical microscope assembly matched to the detection arrangement in response to a presence of the actuation data for the surgical microscope assembly.

Abstract: Surgical instruments and surgical systems including the surgical instrument and a morcellator. The surgical instrument includes a tool assembly having an articulating joint and a screw positioned at a distal end of the articulating joint. The articulating joint is configured to articulate a distal portion of the tool assembly at an angle in relation to the longitudinal axis of the surgical instrument. The screw is configured to engage tissue, for example, a myoma in the uterine wall of a patient, and is configured to pitch and roll the tissue to expose cutting planes. The morcellator is configured to engage the tissue to morcellate the tissue and remove the tissue from a patient.

Abstract: A surgical robotic drape for enveloping a surgical robotic arm includes a covering for enveloping the robotic arm to define a sterile boundary thereover; an interface element attached to the covering, the interface element being configured to engage a drive assembly interface and an instrument interface to couple the drive assembly to an instrument to thereby provide drive to the instrument through the drape; and a guiding structure attached to the covering for locating the interface element relative to the drive assembly interface. The guiding structure is deformable between a storage configuration for when the drape is to be stored, and an operative configuration in which the guiding structure is configured to attach to the robotic arm to position the interface element with respect to the interface of the drive assembly for engagement therewith.

Abstract: Systems and methods for stapling tissue during surgery are provided. In one exemplary embodiment, a surgical stapling system is provided that includes a staple shaft assembly having a staple advancing and forming assembly and a shaft with a plurality of staples, a drive system operably coupled to the staple shaft assembly and operably coupled to at least one motor, and a control system. The drive system can have a plurality of stages of operation that drive the staple advancing and forming assembly to form a staple around tissue. The control system can be configured to actuate the at least one motor to drive the drive system and thereby control movement of the staple advancing and forming assembly and to modify a force applied to the drive system by the at least one motor during at least one stage of operation based on at least one predetermined threshold.

Abstract: Devices, systems and methods for detecting a position of an object with a robot surgical system having an articulable, separable camera stand. The surgical robot system may include a robot having a robot base with a robot arm and an end-effector coupled to the robot arm. The end-effector, surgical instruments, the patient, other objects, or any combination thereof, may be tracked via active and/or passive tracking markers. A camera, such as an infrared camera, a bifocal camera or a stereophotogrammetric infrared camera, is mounted on a separable camera stand and is able to detect the tracking markers when in use. Using the camera, the robot determines a position of the object from the tracking markers, which may be a three-dimensional position of the object or the markers. When convenient, the camera base may be assembled into the robot base, e.g., by sliding the camera base into the robot.

Abstract: Embodiments of the present disclosure provide a surgical robot system may include an end-effector element configured for controlled movement and positioning and tracking of surgical instruments and objects relative to an image of a patient's anatomical structure. In some embodiments the end-effector may be tracked by surgical robot system and displayed to a user. In some embodiments the end-effector element may be configured to restrict the movement of an instrument assembly in a guide tube. In some embodiments, the end-effector may contain structures to allow for magnetic coupling to a robot arm and/or wireless powering of the end-effector element. In some embodiments, tracking of a target anatomical structure and objects, both in a navigation space and an image space, may be provided by a dynamic reference base located at a position away from the target anatomical structure.

Abstract: A cleaning device for a surgical tool includes a housing having at least one opening for accessing an interior of the housing; a sponge and a heater assembly positioned in the interior of the housing; and a connector. The connector includes a first arm and a second arm extending from an outer surface of the housing. An inner surface of the first arm and an inner surface of the second arm define at least a first recess sized to receive a sidewall of a first tubular body having a first diameter, and a second recess sized to receive a sidewall of a second tubular body having a second diameter, different than the first diameter. The connector is configured to removably attach the housing to the sidewall of the first tubular body or to the sidewall of the second tubular body to supporting the housing relative to the tubular body.

Abstract: An instrument drive unit includes a hub, a motor pack, and an annular member disposed between the hub and the motor pack. The hub and motor pack each have a surface feature. The motor pack is rotatably coupled to the hub. The annular member defines an upper annular channel, and a lower annular channel. The annular member has a stop formed in each of the upper and lower annular channels. Upon the motor pack achieving a threshold amount of rotation relative to the hub, the surface feature of the motor pack abuts the stop of the lower annular channel to rotate the annular member. Upon the annular member achieving a threshold amount of rotation relative to the hub, the stop of the upper annular channel abuts the surface feature of the hub stopping further rotation of the motor pack.

Abstract: A surgical system comprises a display screen, an endoscopic device, and a non-transitory, computer-readable storage medium that stores a plurality of instructions for execution by one or more computer processors. The instructions are for: determining a current position of a reference point on the endoscopic device relative to a reference frame; determining a first vector from the current position to a position of a first landmark relative to the reference frame; transforming the first vector from the reference frame to an image reference frame that corresponds to a perspective of an image capturing device disposed at a tip of the endoscopic device; displaying a graphical representation of the transformed first vector along with a current image captured by the image capturing device—the displayed graphical representation indicates a direction to steer the tip of the endoscopic device towards the first landmark; and periodically repeating the above processes.

Abstract: A system for use in surgery includes a central body, a visualization system operably connected to the central body, a video rendering system, a head-mounted display for displaying images from the video rendering system, a sensor system, and a robotic device operably connected to the central body. The visualization system includes at least one camera and a pan system and/or a tilt system. The sensor system tracks the position and/or orientation in space of the head-mounted display relative to a reference point. The pan system and/or the tilt system are configured to adjust the field of view of the camera in response to information from the sensor system about changes in at least one of position and orientation in space of the head-mounted display relative to the reference point.

Abstract: A surgical access port comprises a seal and an instrument guide, which comprises proximal and distal ends, a plurality of instrument guide channels, and an outside surface that fits closely to an inner wall surface of a cannula into which the instrument guide is inserted. The seal is positioned to seal between the instrument guide and the inner wall surface as the instrument guide rotates within the cannula. A first guide channel is configured to support a first surgical instrument at a first defined position within the cannula. A second guide channel is configured to support a second surgical instrument at a second defined position within the cannula. A first guide channel opening is defined along a length of the first guide channel to be open to the outside surface of the instrument guide and place a portion of the first surgical instrument adjacent the inner wall surface.

Abstract: A medical robot system, including a robot coupled to an effectuator element with the robot configured for controlled movement and positioning. The system may include a transmitter configured to emit one or more signals, and the transmitter is coupled to an instrument coupled to the effectuator element. The system may further include a motor assembly coupled to the robot and a plurality of receivers configured to receive the one or more signals emitted by the transmitter. A control unit is coupled to the motor assembly and the plurality of receivers, and the control unit is configured to supply one or more instruction signals to the motor assembly. The instruction signals can be configured to cause the motor assembly to selectively move the effectuator element.

Abstract: An apparatus for use during robotic surgery, where the apparatus includes a robotic arm; a tool driver connected to the robotic arm; a cannula including a proximal portion and a distal portion wherein the proximal portion is coupled to the tool driver; and a damping element connected to one of the robotic arm, the tool driver and the cannula. Also, a method including guiding a surgical tool coupled to a robotic arm into a patient, wherein the surgical tool is disposed through a cannula and coupled to a tool driver coupled to a distal portion of the robotic arm; and maneuvering the tool driver by way of the robotic arm, wherein vibrations generated by the maneuvering are inhibited by a damping element coupled to one of the robotic arm, the tool driver and the cannula.

Abstract: A surgical retractor is disclosed herein. In some embodiments, a surgical retractor includes a body extending from a proximal end to a distal end and having a first portion coupled to a second portion via a hinged connection, wherein the first and second portions are configured to rotate about a body axis; a first radiolucent tip coupled to a distal portion of the first portion; a second radiolucent tip coupled to a distal portion of the second portion; a holder coupled to one of the first or second portions; and a deformable member extending through the holder, wherein the deformable member is configured to be deformed to facilitate fixation of the surgical retractor at a desired location.

Abstract: An information processing apparatus includes a controller. The controller controls, in accordance with a touch on one or plural devices by a user, execution of a cooperative function that uses the one or plural devices.

Abstract: A telepresence apparatus includes a first computer assembly configured to interface with a first memory assembly configured to tangibly store programmed coded instructions. The programmed coded instructions are configured to urge the first computer assembly to compute whether to suspend transmission of an aspect of a telepresence data unit to the second computer assembly via the communication network depending on a match made between a user gesture signal and a predetermined user gesture.

Abstract: A surgical instrument, such as an ureteroscope. The surgical instrument including an elongated shaft tube with at least two working channels arranged in an interior of the shaft tube. In at least a distal end area of the shaft tube, the at least two working channels, in cross-section, each have a profile edge.

Abstract: The various inventions relate to robotic surgical devices, consoles for operating such surgical devices, operating theaters in which the various devices can be used, insertion systems for inserting and using the surgical devices, and related methods.

Abstract: According to exemplary embodiments of the present disclosure, apparatus, device and method can be provided which can provide imaging of biological tissues, e.g., luminal organs in vivo, using optical techniques in an automatic or semiautomatic manner. The exemplary apparatus, device and method can utilize a tethered capsule catheter with a mechanism for manual, semi-automatic or automatic traversing in the luminal organ with a controlled velocity and/or image quality. The exemplary apparatus can include feedback information about tension applied to the catheter during its movement that can be used to adjust velocity and assure patient comfort and safety for example during passing through natural sphincters and/or narrowing of the luminal organs and preventing from breaking of the catheter. The exemplary apparatus can also adjust velocity in order to provide good quality of acquired images, for example to engaged peristalsis and provide contact with the tissue.

Abstract: A robotic surgical system including a control system that controls the movement of a robotic arm coupled to a tool assembly having an end effector is described. The control system can also assist with controlling either the articulation or rotation of the end effector. Furthermore, the control system can detect and monitor one or more properties (e.g., articulation, rotation, etc.), which can be used by the control system to determine one or more appropriate movement parameters of either the robotic arm (e.g., velocity of movement) or the tool assembly coupled to the robotic arm (e.g., rotational speed of the end effector). The control system can detect any number of characteristics related to the end effector and use such information to control a variety of movement parameters associated with either the robotic arm or the tool assembly.

Abstract: A heart valve anchor apparatus may include a body having a proximal portion and a distal portion. The body may include a first radially expandable portion at the proximal portion of the body, a second radially expandable portion at the distal portion of the body, and a root portion extending from the first radially expandable portion to the second radially expandable portion, the root portion having an outer extent. The first radially expandable portion may be configured to self-expand to an outer extent greater than the outer extent of the root portion when radially unconstrained. The second radially expandable portion may be configured to self-expand to an outer extent greater than the outer extent of the root portion when radially unconstrained. In an unstressed configuration, the body may define a longitudinal centerline that extends away from a plane tangent to the root portion.

Abstract: Apparatus for an automatic identification of medically relevant video elements, the apparatus including a data input, configured to receive a data stream of image slices, wherein the data stream of image slices represents a temporal course of a view of image slices defined by a masking strip of video images from a video which has been recorded during a medical surgery on a patient an analysis apparatus configured to analyze the data stream of image slices via an analysis including at least one predefined analysis step for the presence of at least one sought-for feature and to output a result of the presence, and a processing device configured to output a start mark which indicates a correspondence between the presence and a position in the data stream of image slices if the result indicates the presence of the sought-for feature. Also, a corresponding method is disclosed.

Abstract: A medical imaging apparatus including a controller including circuitry configured to control display on a display area of a medical image, control display on the display area of a superimposed image corresponding to the medical image such that the superimposed image is displayed overlapped on the medical image, detect a position of an important element within the medical image, and determine a position of the superimposed image within the display area, based on the detected position of the important element, such that the superimposed image does not overlap on the important element within the medical image.

Abstract: Collisions between a minimally invasive surgical instrument and patient tissue are prevented in various ways. A real time image of a surgical site is mosaiced over a previously recorded more distal image of the site. Surgical instruments are visible in the real time image, and representations of the surgical instruments as they would appear in the previously recorded image are generated and displayed on the previously recorded image. Consequently, a person moving the surgical instruments sees a representation of the instruments outside the field of view of an imaging system taking the real time images.

Abstract: A system and method of monitoring control points during reactive motion includes a computer-assisted medical device. The computer-assisted medical device includes one or more articulated arms each having a control point and a control unit coupled to the one or more articulated arms. The one or more articulated arms and corresponding control points are configured to track movement of a surgical table. The control unit monitors a spatial configuration of the one or more control points by determining an expected spatial configuration of the one or more control points during the movement of the surgical table, determining an actual spatial configuration of the one or more control points during the movement of the surgical table, and determining a difference between the expected spatial configuration and the actual spatial configuration.

Abstract: A camera unit for capturing images of the outer region of a motor vehicle includes a housing in which the camera unit is accommodated, a cover element, and a drive unit for moving the camera unit and for moving the cover element. A pivot element is movably mounted about a first axis of rotation and has a first arm, which is motionally connected to the cover element, and a second arm. A lever element, which is movably mounted about a second axis of rotation, is operatively connected to the cover element. A guide element, which is mounted about a third axis of rotation, includes a first guide arm that is operatively connected to the second arm of the pivot element and a second guide arm which is motionally coupled to the camera unit.

Abstract: Provided are systems and techniques for providing multiple perspectives during medical procedures. In one aspect, a method includes positioning a plurality of cannulas in a plurality of anatomical quadrants of a patient, inserting first and second surgical tools coupled to corresponding robotic arms into the respective cannulas. The method may include inserting an articulatable camera coupled to another robotic arm into another of the cannulas, where the articulatable camera is capable of showing a first view including the first surgical tool in a first anatomical quadrant and articulating to show a second view including the second surgical tool in a second anatomical quadrant. The method may further involve performing a surgical procedure in at least one of the first anatomical quadrant or the second anatomical quadrant.