A computer-assisted teleoperated system includes a pre-load assembly in an instrument manipulator that is under the control of a controller. The controller can automatically cause the preload assembly to engage and disengage a preload. A surgical apparatus includes an instrument manipulator assembly and a sterile adapter assembly. The sterile adapter assembly is mounted in the distal face of the instrument manipulator assembly. When the preload assembly configures the instrument manipulator assembly to apply a preload force on the sterile adapter assembly, the sterile adapter assembly is removable from the distal face of the instrument manipulator. The sterile adapter assembly includes a mechanical sterile adapter assembly removal lockout and a mechanical instrument removal lockout.

A system for performing robotic laser surgery is disclosed. The system comprises at least one surgery equipment, a surgeon terminal, and a communication module. Further, the system includes a surgical computer communicatively coupled to the at least one surgery equipment via the communication module. The surgical computer is configured to transfer data between the surgeon terminal and the at least one surgery equipment. The surgeon terminal is configured to modulate the tunable laser to conduct the surgical procedure in fully autonomous mode or semi-autonomous mode using robot controls. Further, a plurality of sensors is used to real-time data while performing surgical procedure and transmit the real-time data to the surgeon terminal.

Implementations relate to detecting user touch on a controller handle. In some implementations, a non-controlling mode of a control system is activated, and in the non-controlling mode, one or more actuators are controlled to cause a vibration to be provided on a handle of a controller. The vibration is sensed with one or more sensors, and a difference in the vibration is determined to have occurred relative to a reference vibration using the one or more sensors, where the difference satisfies one or more predetermined thresholds. A controlling mode of the system is activated in response to determining the difference in the vibration, and the vibration is modified on the handle in response to detecting the change in the vibration.

A teleoperational medical system includes a teleoperational control system, a teleoperational manipulator, an operator controller. The control system includes a processing unit configured to: determine a position and orientation of a marker on an operator of the operator controller; determine whether a head portion of the operator is directed toward or away from a display region of a display; based on a determination that the head portion is directed toward the display region, initiate an operator following mode in which a movement of the operator controller provides a corresponding movement to the teleoperational manipulator; and based on a determination that the head portion is directed away, suspend the operator following mode. The determination that the head portion is directed away from the display region of the display device includes determining whether the head portion of the operator is directed away from the display region for a threshold time period.

Techniques for segmenting a percutaneous medical procedure based on one or more determinable phases. The techniques may include obtaining a first set of features over a first time period. The first set of features may be derived from instrument telemetry data corresponding to an endoluminal scope instrument. The technique may also include obtaining a second set of features over the first time period. The second set of features may be derived from instrument telemetry data corresponding to a percutaneous needle instrument. Based on the first set of features and the second set of features, the techniques may classify at least a portion of the first time period as a first phase of the percutaneous medical procedure.

A method for characterizing a state of an end effector of an ultrasonic device is disclosed. The ultrasonic device including an electromechanical ultrasonic system defined by a predetermined resonant frequency. The electromechanical ultrasonic system further including an ultrasonic transducer coupled to an ultrasonic blade. The method including applying, by an energy source, a power level to the ultrasonic transducer; measuring, by a control circuit coupled to a memory, an impedance value of the ultrasonic transducer; comparing, by the control circuit, the impedance value to a reference impedance value stored in the memory; classifying, by the control circuit, the impedance value based on the comparison; characterizing, by the control circuit, the state of the electromechanical ultrasonic system based on the classification of the impedance value; and adjusting, by the control circuit, the power level applied to the ultrasonic transducer based on the characterization of the state of the end effector.

Apparatus, systems, and methods for detecting the presence of a metallic surgical instrument. A metal detector for detecting insertion of a metallic surgical device into a hollow tube may include a switch, resonant circuit and a controller. The resonant circuit has a capacitor and a coil mounted to the hollow tube. The controller turn on the switch for a preselected time to temporarily provide a current to the resonant circuit and analyzes a resulting decaying voltage waveform originating from the resonant circuit when the switch is turned off in order to determine the presence and longitudinal depth of the metallic surgical device in the hollow tube.

A surgical system includes a detector, comprising an array of pixels configured to detect light reflected by a surgical instrument and generate a first signal comprising a first dataset representative of a visible image of the surgical instrument. The surgical system also includes a processor configured to receive the first signal, generate a modified image of the surgical instrument that includes a control panel. The control panel includes one or more control elements representative of one or more operating parameters of the surgical instrument. The processor is further configured to receive an input to the control panel from a user, the input being effective to change one of the operating parameters. The processor is also configured to generate a command signal based on the input to change the one of the operating parameters.

Methods and systems of augmenting an implant intraoperatively and preparing a cone for revision surgical procedure are disclosed. A system includes a cutting device, a tracking and navigation system and a cutting system in operable communication with the cutting device and the tracking and navigation system. The cutting device includes a communication system, a cutting element, and a plurality of optical trackers. The tracking and navigation system is configured to detect a location of optical trackers. The control system is configured to cause the tracking and navigation system to detect the location of the cutting device, determine a revised shape for an implant cavity, cause the cutting device to cut the implant cavity to the revised shape, select a shape for a cone to be placed in the revised implant cavity, and machine the cone to the selected shape.

A surgical system and method of operating the same include a manipulator with a base, a robotic arm coupled to the base, and a saw tool coupled to the robotic arm to perform a cut of a bone. A control system is coupled the manipulator and obtains data defining a cutting plane for the bone and a pre-determined depth of the bone to be cut by the saw tool along the cutting plane. The control system associates a virtual planar boundary with the bone along the cutting plane and controls the manipulator to autonomously align the saw tool to the cutting plane. The control system controls the manipulator to activate and autonomously move the saw tool along the cutting plane to perform the cut. Autonomous movement of the saw tool is constrained to remain within the virtual planar boundary and not exceed the pre-determined depth.