Systems and methods for motion mode management include a computer-assisted device having an input control, a repositionable structure, and a controller coupled to the input control and the repositionable structure. The controller is configured to detect motion of the input control for controlling motion of the repositionable structure and in response to determining that the motion of the input control is likely to be confused with a first portion of a motion of the input control for indicating that a mode of operation of the computer-assisted device is to be changed, temporarily disable mode switching in response to motion of the input control.

Aspects of the present disclosure relate to systems, devices and methods for performing a surgical step or surgical procedure for example with visual guidance using a head mounted display or with a surgical navigation system or with a surgical robot. A computer processor can be configured to determine the pose of a first vertebra with an attached first marker and a second vertebra with an attached second marker. The computer processor can be configured to determine the pose of at least one vertebra interposed or adjacent to the first and second vertebrae with attached markers, e.g. fiducial markers.

A surgical system includes a control circuit, a surgical instrument, and a user interface is disclosed. The surgical instrument includes a plurality of components and a sensor. Each of the plurality of components of the surgical instrument includes a device parameter and is configured to transmit its respective device parameter to the control circuit. The sensor of the surgical instrument is configured to detect a tissue parameter associated with a proposed function of the surgical instrument, and transmit the detected tissue parameter to the control circuit. The control circuit is configured to analyze the detected tissue parameter in cooperation with each respective device parameter based on a system-defined constraint. The user interface is configured to indicate whether the surgical instrument comprising the plurality of components is appropriate to perform the proposed function.

A surgical instrument connectable to a surgical energy module that is configured to provide a first drive signal at a first frequency range for driving a first energy modality and a second drive signal at a second frequency range for driving a second energy modality is provided. The surgical instrument can comprise a surgical instrument component configured to receive power from a direct current (DC) power source, an end effector, and a circuit. The circuit can be configured to convert the first electrical signal to a DC voltage, apply the DC voltage to the surgical instrument component, and deliver the second energy modality to the end effector according to the second drive signal. Alternatively, the circuit can be disposed within a cable assembly configured to connect the surgical instrument to the surgical energy module.

A modular energy system including a header module configured to removably connect to an energy module. The energy module can comprise a port configured to deliver one or more energy modalities to a surgical instrument connected thereto. The header module can comprise a display screen configured to display a user interface. The header module can further include a control circuit configured to detect attachment of energy modules to the modular energy system and control the display of the user interface to display UI portions for each connected module and reconfigure the displayed UI portions to accommodate the new UI portions as additional energy modules are connected to the modular energy system.

A steerable endoscope is provided with active steering control. An endoscope includes a flexible tubular body with first and second articulating segments, and a camera. In an embodiment, the endoscope includes an orientation sensor. A controller for the endoscope performs an automated analysis of an alignment between the motion axis of the endoscope and the viewing axis of the camera, and actively steers the endoscope to improve the alignment.

A system for validating bone alterations during computer-assisted surgery, comprises a processing unit; and a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for: registering a surface of a bone in a coordinate system using a geometry of a patient specific tracker device on the surface of the bone; tracking a tool relative to the bone in the coordinate system as a function of implant geometry and of a planned implant position and orientation on the bone; and validating at least one alteration to the bone using a mating geometry of a validation tracker device applied to an altered surface of the bone.

A robotic system can incorporate one or more sensors along a robotic arm in order to permit self- or auto-alignment of the robotic arm with a cannula during a docking procedure. The sensor can detect and measure a force or moment resulting from contact between an instrument driver of the robotic arm and the cannula. In response thereto, the robotic system can translate and/or rotate components of the robotic arm in order to align the instrument driver with the cannula, thereby facilitating latching of the cannula to the instrument driver.

A system for localizing a region of interest (ROI) within a patient's body is disclosed. An embodiment of the system may comprise a pad that can be placed in association with the patient's body; one or more markers which are placed within a patient's body in association with the ROI, each marker being associated with one or more antennas and a unique collective ID; a locator comprising one or more antennas for transmitting/receiving a microwave (MW) signal into/from the patient's body in order to identify the one or more markers and a processing unit that is configured to control the operation of the system and for determining the distance from the locator to each one of the one or more markers.

Surgical robot systems, anatomical structure tracker apparatuses, and US transducer apparatuses are disclosed. A surgical robot system includes a robot, a US transducer, and at least one processor. The robot includes a robot base, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm. The end-effector is configured to guide movement of a surgical instrument. The US transducer is coupled to the end-effector and operative to output US imaging data of anatomical structure proximately located to the end-effector. The least one processor is operative to obtain an image volume for the patient and to track pose of the end-effector relative to anatomical structure captured in the image volume based on the US imaging data.