Covidien LP

Paul M Loschak

Stefan Joerg

William J Peine

Saumya Banerjee

Andreas Tobergte

Reuben Hale

Walter Schoen

Campbell M Dixon

Srilalitha Kumaresan

A surgical robotic system includes a surgical robotic arm having an instrument and an instrument drive unit configured to actuate the instrument. The system also includes a storage device and a controller configured to store a save point on the storage device, the save point including configuration data pertaining to at least one of the surgical robotic arm, the instrument drive unit, or the instrument. The controller is further configured to detect an error resulting in a reboot of at least one of the surgical robotic arm, the instrument drive unit, or the instrument. The controller is additionally configured to access the configuration data of the save point after the reboot of at least one of the surgical robotic arm, the instrument drive unit, or the instrument. The controller is also configured to output a graphical user interface including instructions for restoring at least one of the surgical robotic arm, the instrument drive unit, or the instrument based on the configuration data.

Surgical robotic system and method for restoring operational state

A surgical robotic system includes: a control tower including a first controller configured to detect a first error associated with the control tower and having a first error handler configured to generate a first error signal based on the first error. The system includes a console coupled to the control tower and including a display, a user input device configured to generate user input, and a mobile cart coupled to the control tower and having a second controller configured to detect a second error associated with the mobile cart and a second error handler configured to generate a second error signal based on the second error. The system includes a robotic arm disposed on the mobile cart and including: a surgical instrument configured to treat tissue and actuatable in response to the user input; and a third controller configured to detect a third error associated with the surgical robotic arm and having a third error handler configured to generate a third error signal based on the third error.

System and method for error handling in a surgical robotic system

A method of controlling a tool of a surgical robot with a processing unit such that the tool follows input of the input handle of a user console includes receiving movement of the input handle in a master frame of the user console, translating the movement of the input handle in the master frame to movement of the tool in a camera frame of a camera providing real-time images of a surgical site, translating the movement of the tool in the camera frame to movement of the tool in a world frame defined in a surgical theater, translating the movement of the tool in the world frame to movement of the tool in a tool frame which is defined by an arm supporting the tool, and transmitting control commands to a motor controlling the tool such that the tool follows movement of the input handle.

Hand eye coordination system for robotic surgical system

Input shapers for control inputs to the robotic surgical system and their method of controlling a linkage of a robot with a controller includes receiving a desired joint angle of a joint of the robot; and transmitting a first control signal to a motor to actuate the joint in response to a desired joint velocity, the desired joint velocity being a function of the desired joint angle and a current joint angle of the joint.

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Somerville, MA, United States of America

Paul M Loschak