An energy source is offset from an elongate probe axis with an extension. The amount of offset of the energy source can be controlled by varying an amount of offset of the extension. The energy source rotated and translated at the offset distance to resect tissue. In some embodiments, the probe is configured to receive a second treatment probe comprising a second energy source, in which the second energy source is rotated and translated relative to the first treatment probe, which can improve positional accuracy and stability. The energy source and the extension can be coupled to a linkage to offset the energy source, and to translate and rotate the energy source with varying amounts of offset. The linkage can be coupled to a processor and one or more of the energy source moved in accordance with a treatment profile.

A handheld user interface device for controlling a robotic system may include a member, a housing at least partially disposed around the member and configured to be held in the hand of a user, and a tracking sensor system disposed on the member and configured to detect at least one of position and orientation of at least a portion of the device. At least one of the detected position of the portion of the device and detected orientation of the portion of the device is correlatable to a control of the robotic system.

Example embodiments relate to robotic arm assemblies. The robotic arm assembly includes forearm and upper arm segments. Upper arm segment includes distal motor. Robotic arm assembly includes elbow coupling joint assembly connecting distal end of upper arm segment to proximal end of forearm segment via a serial arrangement of proximal and distal elbow joints. Proximal elbow joint is located between upper arm segment and distal elbow joint. Distal elbow joint is located between proximal elbow joint and forearm segment. Proximal elbow joint forms proximal main elbow axis. Distal elbow joint forms distal main elbow axis. Elbow coupling joint assembly includes distal elbow joint subassembly connected to forearm segment. Elbow coupling joint assembly includes proximal elbow joint subassembly connecting upper arm segment to distal elbow joint subassembly. Proximal elbow joint subassembly is configured to be driven to rotate forearm segment relative to proximal main elbow axis.

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.

A system for controlling a medical image capture device during surgery is provided, the system including circuitry configured to acquire first image data from the medical image capture device, the first image data being of an appearance of a surgical scene at a first instance of time; determine, based on a predicted appearance of the surgical scene based on the first image data at a second instance of time after the first instance of time, one or more desired image capture properties of the medical image capture device; and control the medical image capture device at a third instance of time, the third instance of time being between the first instance of time and the second instance of time, in accordance with the one or more desired image capture properties of the medical image capture device.

An exemplary system includes a memory storing instructions and a processor communicatively coupled to the memory. The processor may be configured to execute the instructions to: detect an intent of a user of a computer-assisted surgical system to use a robotic instrument attached to the computer-assisted surgical system to interact with a target object while the target object is located in a surgical space; determine a pose of the target object in the surgical space; and perform, based on the detected intent of the user to interact with the target object and the determined pose of the target object in the surgical space, an operation with respect to the target object.

Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.

A method is described for performing a percutaneous operation on a patient to remove an object from a cavity within the patient. The method includes advancing a first alignment sensor into the cavity through a patient lumen. The first alignment sensor provides its position and orientation in free space in real time. The alignment sensor is manipulated until it is located in proximity to the object. A percutaneous opening is made in the patient with a surgical tool, where the surgical tool includes a second alignment sensor that provides the position and orientation of the surgical tool in free space in real time. The surgical tool is directed towards the object using data provided by both the first and the second alignment sensors.

A medical puncture device system includes a puncture device, a sensor, and an indicator system. The puncture device is configured to create a puncture through patient tissue and into an internal patient cavity to enable a medical tool to be inserted through the puncture into the cavity. The sensor is configured to generate a signal indicative of motion of the puncture device through the tissue into the cavity. The indicator system is operable by a controller to produce human-perceptible feedback in response to the signal generated by the sensor.

An electrosurgical end effector for a surgical tool to perform teleoperated surgical operations. The electrosurgical end effector comprises a first end effector jaw; a second end effector jaw coupled to the first end effector jaw; and a coupling pin configured to rotatingly couple the first end effector jaw to the second end effector jaw so as to cooperatively rotate open and close about an axis of rotation. The electrosurgical end effector further comprises an actuation mechanism coupled to an end of the first end effector jaw to rotate the first end effector jaw about the coupling pin; an otomy feature coupled to the second end effector jaw; and a first electrical conductor to electrically couple the otomy feature to a generator. In one embodiment, the otomy feature is electrically activated by contact with a cam portion of the first end effector jaw, when opened beyond a predetermined jaw angle.