Embodiments relate to robotic arm assemblies. The robotic arm assembly includes an end-effector assembly. The end-effector assembly includes an instrument assembly. The instrument assembly includes an instrument and instrument driven portion. The elongated body includes an instrument central axis. The instrument driven portion includes a first central axis. The instrument driven portion is secured to a proximal end of the instrument in such a way that, when the instrument driven portion is driven to rotate, the instrument rotates relative to the first central axis. The end-effector assembly includes an instrument drive assembly. The instrument drive assembly includes an instrument drive portion. The instrument drive portion includes a second central axis. The instrument drive portion is configured to drive the instrument driven portion to rotate the distal end of the instrument relative to the first central axis. The second central axis intersects with and orthogonal to the first central axis.

A surgical manipulator and method of operating the same. The surgical manipulator includes an arm with a plurality of links and joints, wherein an angle between adjacent links forms a joint angle. The arm includes a distal end configured to support a surgical instrument with an energy applicator. At least one controller is coupled to the arm and models the surgical instrument and the energy applicator as a virtual rigid body. The controller(s) determine a commanded pose for the surgical instrument and the energy applicator based on a summation of a plurality of forces and/or torques, wherein the plurality of forces and/or torques are selectively applied to the virtual rigid body to emulate orientation and movement of the surgical instrument and the energy applicator. The controller(s) determine commanded joint angles for the arm that place the surgical instrument and the energy applicator according to the commanded pose.

A surgical manipulator and method of operating the same. The surgical manipulator includes an arm with a plurality of links and joints, wherein an angle between adjacent links forms a joint angle. The arm includes a distal end configured to support a surgical instrument with an energy applicator. At least one controller is coupled to the arm and models the surgical instrument and the energy applicator as a virtual rigid body. The controller(s) determine a commanded pose for the surgical instrument and the energy applicator based on a summation of a plurality of forces and/or torques, wherein the plurality of forces and/or torques are selectively applied to the virtual rigid body to emulate orientation and movement of the surgical instrument and the energy applicator. The controller(s) determine commanded joint angles for the arm that place the surgical instrument and the energy applicator according to the commanded pose.

A catheter procedure system includes a base and a robotic mechanism having a longitudinal axis and being movable relative to the base along the longitudinal axis. The robotic mechanism includes a robotic drive base including at least one drive mechanism, a cassette operatively secured to the robotic drive base, a rigid guide coupled to the cassette and fixed relative to the robotic mechanism and a flexible track having a distal end, a proximal end and a plurality of reflective sections. At least a portion of the flexible track is disposed within the rigid guide. The robotic mechanism also includes a position detector mounted to the robotic drive base and positioned beneath the flexible track. The position detector is configured to detect light reflected off of the reflective sections of the flexible track and to determine the position of the distal end of the flexible track based on the detected reflected light.

A catheter procedure system includes a base and a robotic mechanism having a longitudinal axis and being movable relative to the base along the longitudinal axis. The robotic mechanism includes a robotic drive base including at least one drive mechanism, a cassette operatively secured to the robotic drive base, a rigid guide coupled to the cassette and fixed relative to the robotic mechanism and a flexible track having a distal end, a proximal end and a plurality of reflective sections. At least a portion of the flexible track is disposed within the rigid guide. The robotic mechanism also includes a position detector mounted to the robotic drive base and positioned beneath the flexible track. The position detector is configured to detect light reflected off of the reflective sections of the flexible track and to determine the position of the distal end of the flexible track based on the detected reflected light.

A method for providing a feedback on a surgical outcome by a computer includes dividing, by the computer, actual surgical data obtained in an actual surgical process into a plurality of detailed surgical operations to obtain actual surgical cue sheet data composed of the plurality of detailed surgical operations, obtaining, by the computer, reference cue sheet data about the actual surgery, and comparing, by the computer, the actual surgical cue sheet data with the reference cue sheet data, and providing, by the computer, the feedback based on the comparison result.

A method for providing a feedback on a surgical outcome by a computer includes dividing, by the computer, actual surgical data obtained in an actual surgical process into a plurality of detailed surgical operations to obtain actual surgical cue sheet data composed of the plurality of detailed surgical operations, obtaining, by the computer, reference cue sheet data about the actual surgery, and comparing, by the computer, the actual surgical cue sheet data with the reference cue sheet data, and providing, by the computer, the feedback based on the comparison result.

An end effector for a surgical clip applier includes a housing, jaws that include opposed first and second jaw members, each comprising an independent structure movable relative to the other, the first jaw member defining a first inner surface and the second jaw member defining a second inner surface opposite the first inner surface, and an actuation mechanism arranged within the housing and operable to move the jaws between open and closed positions. The actuation mechanism includes an actuation plate longitudinally movable within the housing, and a transition pin extending from the actuation plate and received within corresponding slots defined in each jaw member. Linear movement of the actuation plate drives the transition pin through the corresponding slots and thereby moves the jaws between the open and closed positions.

An end effector for a surgical clip applier includes a housing, jaws that include opposed first and second jaw members, each comprising an independent structure movable relative to the other, the first jaw member defining a first inner surface and the second jaw member defining a second inner surface opposite the first inner surface, and an actuation mechanism arranged within the housing and operable to move the jaws between open and closed positions. The actuation mechanism includes an actuation plate longitudinally movable within the housing, and a transition pin extending from the actuation plate and received within corresponding slots defined in each jaw member. Linear movement of the actuation plate drives the transition pin through the corresponding slots and thereby moves the jaws between the open and closed positions.

A method for enhanced surgical navigation, and a system performing the method and displaying graphical user interfaces associated with the method. A 3D spatial map of a surgical site is generated using a 3D endoscope including a camera source and an IR scan source. The method includes detecting a needle tip protruding from an anatomy and determining a needle protrusion distance corresponding to a distance between the needle tip and a surface of the anatomy using the 3D spatial map. A position of a surgical tool in the 3D spatial map is detected and a determination is made by the system indicative of whether the needle protrusion distance is sufficient for grasping by the surgical tool. A warning is generated when it is determined that the needle protrusion distance is not sufficient for grasping by the surgical tool.