Systems and methods for dynamic adjustments based on load inputs for robotic systems are provided. In one aspect, a robotic system includes a first robotic arm having at least one joint, a set of one or more processors, and at least one computer-readable memory in communication with the set of one or more processors and having stored thereon computer-executable instructions. The computer executable instructions cause the one or more processors to determine a first external load threshold for the at least one joint based on a maximum safe load capability of the first robotic arm, and adjust the first external load threshold during a medical procedure.

A robotic bronchoscopy navigation method, performed by a processing control device, includes: performing a navigation procedure according to obtained navigation image, the navigation procedure including: determining whether the navigation image has a node, if the navigation image does not have the node, controlling a bending part of a robotic bronchoscopy to move toward an image center of the navigation image, if the navigation image has the node, calculating a distance between the bronchoscopy and the node, controlling the bending part to move according to a default branch when the distance is smaller than a threshold of distance, and determining whether the default branch is a destination branch where a destination is located, if the default branch is not the destination branch, obtaining another navigation image, and performing the navigation procedure on the another navigation image, and if the default branch is the destination branch, outputting a notification.

A system for imaging a robotically moved medical object has a movement device for robotic movement of the medical object, a medical imaging device, and a processing unit. The processing unit is configured to receive a data set that maps a vessel structure of an examination object and is registered with the medical imaging device, and to determine an object path along the vessel structure toward a target region in the data set. The movement device is configured to move the medical object along the object path and provide an object parameter relating to a movement state of the medical object. The processing unit is further configured to control a positioning of the medical imaging device relative to the examination object as a function of object parameter and object path such that a predefined section of the medical object is mapped in image data acquired by the medical imaging device.

A surgical tool comprising a drive housing having a first end, a spline extending from the first end and having a spline pinion gear mounted to the spline, a drive input that rotatably couples the spline to the first end and provides an input pinion gear; a clutch interposing the spline and input pinion gears and defining an internal gear, and an armature. The armature may be operatively coupled to the clutch and operable to shift the clutch from a first position, where the internal gear simultaneously mates with the spline and input pinion gears such that rotation of the drive input correspondingly rotates the spline, to a second position, where the internal gear is disengaged from the input pinion gear such that the spline is rotatable independent of the drive input.

One example method for improving the efficiency of robotic surgical procedures by integrating applications into the surgeon console user interface is presented. The method includes generating and displaying a first graphical user interface at a surgeon console associated with a robotic surgical device during a robotic surgical procedure, and detecting a combination of user actions through control devices of the surgeon console. The method further includes responsive to detecting the combination of the user actions, causing surgical tools of the robotic surgical device to be locked and generating and displaying a second graphical user interface at the surgeon console which includes user interfaces of applications and is configured to be interactive through the control devices. The method further includes detecting a user action to exit the application mode, causing the surgical tools to be unlocked, and updating and displaying the first graphical user interface at the surgeon console.

Systems and methods for responding to faults in a robotic system are provided herein. In some embodiments, the system includes an elongate body having a proximal end and a distal end, a backend housing coupled to the proximal end of the elongate body, and a control system. The backend housing includes one or more actuators configured to manipulate the distal end of the elongate body. The control system is configured to control the robotic system by performing operations including: determining an operational state of the medical robotic system, detecting a fault in one or more components of the medical robotic system, classifying the fault according to one or more heuristics, and imposing a fault reaction state on the medical robotic system based on the one or more heuristics to mitigate the fault.

An object sizing system sizes an object positioned within a patient. The object sizing system identifies a presence of the object. The object sizing system navigates an elongate body of an instrument to a position proximal to the object within the patient. An imaging sensor coupled to the elongate body captures one or more sequential images of the object. The instrument may be further moved around within the patient to capture additional images at different positions/orientations relative to the object. The object sizing system also acquires robot data and/or EM data associated with the positions and orientations of the elongate body. The object sizing system analyzes the captured images based on the acquired robot data to estimate a size of the object.

A robotic surgical tool for a robotic instrument driver that includes a handle having a first end, at least one spline rotatably coupled to the handle and extending proximally from the first end, a carriage movably mounted to the at least one spline and including a first layer and a second layer operatively coupled to the first layer. At least one spline extends through a portion of at least one of the first and second layers and the carriage translates along the at least one spline. The robotic surgical tool also includes an elongate shaft extending from the carriage and penetrating the first end, the shaft having an end effector arranged at a distal end thereof and an activating mechanism coupled to one or both of the first and second layers and actuatable to operate a function of the end effector.

A system and a method are disclosed for forming an anastomosis between a first layer of tissue and a second layer of tissue of a patient's body. The system includes a first anastomosis device component and a second anastomosis device component configured to interact with the first anastomosis device component. The first anastomosis device component is configured to be delivered to a first lumen inside the patient's body. The second anastomosis device component is configured to be delivered to a second lumen inside the patient's body. The second anastomosis device includes one or more sensors configured to capture sensor data for determining an alignment of the second anastomosis device component relative to the first anastomosis device component, or for characterizing the position or orientation of the second anastomosis device component in three-dimensional space.

Systems and methods for performing concomitant medical procedures are disclosed. In one aspect, the method involves controlling a first robotic arm to insert a first medical instrument through a first opening of a patient and controlling a second robotic arm to insert a second medical instrument through a second opening of the patient. The first robotic arm and the second robotic arm are part of a first platform and the first opening and the second opening are positioned at two different anatomical regions of the patient.