Auris Health, Inc.

Ptc Inc.

Onshape Inc.

Nicholas J Eyre

Sven Wehrmann

Yanan Huang

Colin Allen Wilson

Aren Calder Hill

David S Mintz

Travis C Covington

Ying Mao

Travis Michael Schuh

Yoichiro Dan

Jason Tomas Wilson

Andrew F O'Rourke

Alex C Spies

Sean Patrick Kelly

Mason Myles Markee

Ilya Baran

Alexander Tarek Hassan

Michael R Lauer

Benjamin Robert Fredrickson

Christian De Jesus Ruiz

Alex J Niswander

Bo Yang

Allison Tiffany Tse

Eloi Le Roux

Alvin Z Ho

Louis V Gallo, Iii

Mark A Lown

Philip Gareth Thomas

John Rousseau

Ryan J Murphy

Parapura Rajkumar

Paul R Chastell

Scott S Harris

Eyal Aklivanh

Jon K Hirschtick

Lana Saksonov

Malay Kumar

Andrew John Morris

Rammohan Vangapalli

Daniel Vlasic

Shane Daniel Kent

Mitchell Arthur Phillips

Pouya Sabetian

Caitlin Marie Romanczyk

Steven C Hess

Karl Evan Nowak

Ravi Nallapareddy

A robotic medical system can include a first node, a second node, and a first pair of electrical conductors for differential communication between the first node and the second node so that data signals are communicated between the first node and the second node as differential signals. The first node can include a first electrical circuit electrically coupled with the first pair of electrical conductors. The first electrical circuit can communicate emergency stop signals between the first node and the second node as non-differential signals over the first pair of electrical conductors.

Methods and devices for transmitting emergency signals over differential signal lines in robotic systems

A surgical system may include an elongated arm support and a robotic arm supported on the elongated arm support. The robotic arm may translate along the elongated arm support. A partially enclosed cavity may be defined in the elongated arm support for receiving an electrical cable electrically coupled to the robotic arm so that the first electrical cable is within the cavity and includes a rolling loop that moves in conjunction with movement of the robotic arm.

High stiffness bar with internal actuators and internal cabling

Certain aspects relate to admittance control modes for a robotic surgery system. The admittance control modes can be based on detecting and/or measuring forces (rotational and/or nonrotational) on a robotic arm and moving the robotic arm in response to such interactions. The forces can include direct manual interaction with the robotic arm by a clinician. The movement of the robotic arm can be within a nullspace that maintains the positions of a medical instrument.

Passive and active arm control schemes with sensor integration to support tele-operation and direct manual interaction

Certain aspects relate to systems and techniques for optimizing the configuration of a robotic system by moving the links of the system in a null space to minimize a cost function. The null space being defined by the desired set of end effector pose. The cost function may be evaluated by computing the distance of the links from various avoidance zones. The avoidance zones are associated with collisions and joint limit conditions. The systems and techniques may specifically relate to a system wherein the optimization includes movement of an arm support. The system may be employed pre-operatively or intraoperatively to minimize collisions and joint limit event during the course of a procedure. The system may be used at intervals. The system may be used each time the end effectors are commanded into a new pose.

Workspace optimization for robotic surgery

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.

Systems and methods for kinematic optimization with shared robotic degrees-of-freedom

A robotic surgical system can include one or more adjustable arm supports that support one or more robotic arms. The adjustable arm supports and/or robotic arms can be configured to be deployed from low mount positions, for example, from positions below the surface of the table. The robotic arms can include a plurality of joints providing a plurality of degrees of freedom. The joints may be grouped into a proximal shoulder, an elbow, and a distal wrist. The robotic arms can include one or more redundant degrees of freedom. An insertion mechanism, associated with the robotic arm and configured for providing insertion of an instrument along an assertion axis, can be provided at a distal end of the robotic arms.

Surgical robotics systems with improved robotic arms

Systems and methods for collision avoidance using object models are provided. In one aspect, a robotic medical system, includes a platform, one or more robotic arms coupled to the platform, a console configured to receive input commanding motion of the one or more robotic arms, a processor, and at least one computer-readable memory in communication with the processor. The processor is configured to control movement of the one or more robotic arms in a workspace based on the input received by the console, receive an indication of one or more objects are within reach of the one or more robotic arms, and update the model to include a representation of the one or more objects in the workspace.

Systems and methods for collision avoidance using object models

A robotic surgical system can include one or more adjustable arm supports that support one or more robotic arms. The adjustable arm supports can be configured to attach to either a table, a column support of the table, or a base of the table to deploy the adjustable arm supports and robotic arms from a position below the table. In some examples, the adjustable arm supports include at least four degrees of freedom that allow for adjustment of the position of a bar or rail to which the robotic arms are mounted. One of the degrees of freedom can allow the adjustable arm support to be adjusted vertically relative to the table.

Surgical platform with adjustable arm supports

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.

Systems and methods for detecting contact between a link and an external object

Certain aspects relate to a robotic surgery system, including a robotic arm with a base, a proximal portion and a distal portion. A tool driver is detachably coupled to a medical instrument and the tool driver is coupled with the distal portion of the robotic arm. A load cell is positioned between the proximal portion and the distal portion such that the load cell supports the distal portion and the tool driver. The load cell is configured to detect forces that interact with the distal portion or the tool driver to enhance user control of the robotic arm and/or the safe operation of the robotic arm.

Systems and methods for mounting robotic components on a load cell

A robotic medical system can include a motorized arm that is supported by a column of the system. The robotic arm can be operated by rotating a link of the motorized arm by actuating an actuator to drive rotation of a rotary joint. A brake can then be applied to the rotary joint to stop rotation of the link. The arm can also include an arbor that can be actuated to increase a torsional stiffness of the rotary joint.

Surgical platform with motorized arms for adjustable arm supports

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.

Systems and methods for robotic arm alignment and docking

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.

Systems and methods for dynamic adjustments based on load inputs for robotic systems

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Sunnyvale, CA, United States of America

Nicholas J Eyre