A robotic surgical system in which the system applies a scaling factor between user input from a user input device and corresponding movements of the robotic manipulator. Scaling factors may be applied or adjusted based on detected conditions such as the type of instrument being manipulated, detected distance between multiple instruments being manipulated, user biometric parameters.

A robotic system includes an instrument including an elongate shaft, a robotic manipulator configured to manipulate the elongate shaft of the instrument, and control circuitry communicatively coupled to the robotic manipulator and configured to determine a first estimated position of at least a portion of the elongate shaft of the instrument based at least in part on robotic command data, determine a second estimated position of the at least a portion of the elongate shaft of the instrument based at least in part on position sensor data, compare the first estimated position and the second estimated position, and generate a third estimated position based at least in part on the comparison of the first estimated position to the second estimated position.

An actuation system for actuating concentric tubes of a concentric-tube robot. The actuation system is configured to actuate the concentric tubes from radially to one side of the concentric tubes.

A surgical instrument includes a body, a shaft assembly, an end effector, an actuation assembly, and a bailout mechanism. The shaft assembly extends distally from the body. The end effector is disposed on a distal end of the shaft assembly and includes a first jaw and a second jaw. The actuation assembly includes a pusher member configured to move relative to the end effector to drive movement of the first jaw, the second jaw, or both the first jaw and the second jaw. The bailout mechanism includes a first elongate actuation element and a second elongate actuation element. A portion of the bailout mechanism is configured to selectively apply tension to the first elongate actuation element and the second elongate actuation element to move the pusher member. The first elongate actuation element is stronger in tension than the second elongate actuation element cable.

A method includes, receiving: (i) a selected three-dimensional (3D) section that has been ablated in a patient organ in accordance with a specified contour, and (ii) a dataset, which is indicative of a set of lesions formed during ablation of the selected 3D section. The selected 3D section is transformed into a two-dimensional (2D) map, and checking, on the 2D map, whether the set of lesions covers the specified contour.

A method of operating a robotically controlled surgical instrument that includes an end effector, a driving assembly, and a lockout, the method includes inhibiting actuation of the driving assembly when the lockout is in a locked configuration in response to an unspent staple cartridge being absent from a first jaw of the end effector. The method also includes inserting the unspent staple cartridge into the first jaw of the end effector to switch the lockout to an unlocked configuration. The method also includes actuating the driving assembly to pivot the first jaw, which includes the staple cartridge, toward a second jaw of the end effector to at least one of staple or cut tissue with the end effector when the lockout is in the unlocked configuration.

A robotically driven interventional device includes an elongate, flexible body, having a proximal end and a distal end; a hub on the proximal end; at least one rotatable roller on a first surface of the hub; and at least one magnet on the first surface of the hub.

The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. An example computer-implemented method for evaluating calibrations of a surgical tool includes fixating a joint of the surgical tool at a first angle, the joint being driven by an actuator, measuring an actuator position corresponding to the first angle, accessing a calibrated offset corresponding to the first angle, determining an expected joint angle based on the measured actuator position and the calibrated offset, and reporting a first difference between the expected joint angle and the first angle.

A manipulator system includes a manipulator configured for guiding an instrument. The system furthermore includes a controller configured to actuate the manipulator such that the instrument is pressed with a pressing force against a human body. A force reduction input device is provided separately from the manipulator and is operable by an operator to reduce the pressing force.

A surgical apparatus system for minimally invasive surgery (MIS) which includes a wrist assembly. The wrist assembly includes a first jaw, a first actuation hub, and a cable redirecting hub operably coupled to the first actuation hub, a second jaw, a second actuation hub, a housing for the first and second jaws, a first cable, a second cable, a third cable, rotational position sensors, and a control system. The first and second jaws of the wrist assembly are movably opposed, and the cables are configured such that applying tensions upon them cables produces rotation about a jaw axis. The wrist assembly may further include a hinge-rotary assembly to configured to provide rotation about a pitch axis and/or a roll axis. The wrist assembly may further include a fourth cable configured such that applying tensions upon the fourth cable and the opposing cable produces rotation about a pitch axis.