Auris Health, Inc.

Cilag International Gmbh

Yanan Huang

David S Mintz

Nicholas J Eyre

Ying Mao

Jason Tomas Wilson

Aren Calder Hill

Colin Allen Wilson

Travis Michael Schuh

Sven Wehrmann

Charles J Scheib

Andrew T Beckman

Travis C Covington

Yoichiro Dan

Mark A Lown

Benjamin Robert Fredrickson

Bo Yang

Ryan J Murphy

Mason Myles Markee

Sean Patrick Kelly

Alex C Spies

Matthew Reagan Williams

Bruce Robert Woodley

Joshua F DeFonzo

Andrew F O'Rourke

Michael Shyh-Yen Ho

Edward Joseph Menard

Nima Sarli

Benjamin D Dickerson

Eric N Johnson

Alexander Tarek Hassan

Eloi Le Roux

Pouya Sabetian

Suryansh Saxena

Mitchell Arthur Phillips

Jason Thomas Wilson

Caitlin Marie Romanczyk

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.

System and method of activating manual manipulation using linkage interaction sensing

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.

Controllers for robotically enabled teleoperated systems

Robotic medical systems may provide port placement guidance to a physician before incisions are made in a patient. A robotic medical system can include a robotic arm and a measurement tool coupled to the robotic arm. The robotic medical system can be configured to determine, based on a location of the measurement tool, a user-selected location for placing a port on a patient. The robotic medical system can compare the user-selected location with a recommended location for placing the port on the patient and provide a notification in accordance with the comparison.

Port placement assistance

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

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.

Systems and techniques for providing multiple perspectives during medical procedures

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 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

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.

Systems and methods for saturated robotic movement

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

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.

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Foster City, CA, United States of America

Yanan Huang