A teleoperated system comprises a display, a master input device, and a control system. The control system is configured to determine an orientation of an end effector reference frame relative to a field of view reference frame, determine an orientation of a master input device reference frame relative to a display reference frame, establish an alignment relationship between the master input device reference frame and the display reference frame, and command, based on the alignment relationship, a change in a pose of the end effector in response to a change in a pose of the master input device. The alignment relationship is independent of a position relationship between the master input device reference frame and the display reference frame. In one aspect, the teleoperated system is a telemedical system such as a telesurgical system.

A method for controlling an articulating surgical instrument is disclosed. The instrument includes a manipulator and a positioner actuable to position a distal segment within an instrument workspace. The manipulator is attached to the distal segment and includes a distal end configured for mounting an operational tool for performing an operation within the instrument workspace, the manipulator being actuable to manipulate the distal end of the manipulator. The method involves receiving input including position input signals representing a position within an input workspace and orientation input signals representing an orientation within the input workspace and causing generating position control signals for actuating the positioner to move the distal segment within the instrument workspace to a physical position represented by the position input signal and generating manipulation control signals based on the orientation input signals for actuating the manipulator to orient the distal end within the instrument workspace.

Wearable user interface devices are described. A wearable user interface device can include a wearable base connected to a trackable device component by a linkage. The linkage can connect to a pivoted support that the trackable device is mounted on, and which maintains poses when the user interface device is not manipulated by a user's hand. The pivoted support has several orthogonal axes intersecting at a center of rotation located inside a device body of the trackable device. Other embodiments are also described and claimed.

A controller includes an attachment member and an interface. The attachment member is configured to secure the controller to a hand of a clinician. The interface includes a first controller that is configured to operate an imaging device of a surgical system. The controller can secure about a finger of a clinician and be engagable by a thumb of the same hand of the clinician. Alternatively, the controller can be disposed in a palm of a hand of a clinician and engaged by a finger of the hand.

Described herein are methods and systems for determining force in a robotic surgical system. In some embodiments, a force applied by a robotic component (e.g. a robotic arm, a segment of a robotic arm, or a joint of a robotic arm) is determined. Also described herein are methods and systems for providing visual (e.g., direction and magnitude) feedback to a user without the need for direct haptic feedback. Such visual feedback may be presented to the user in conjunction with haptic feedback.

A medical system comprises a flexible device configured to be positioned at least partially within an anatomical passageway of a plurality of anatomical passageways within a patient anatomy. The medical system further comprises a memory device including computer executable instructions. The computer executable instructions are for performing operations comprising determining a deformation force exerted by a section of the flexible device. The operations further comprise registering a model of a candidate anatomical passageway of the plurality of anatomical passageways to a model of the flexible device based on: a shape of the flexible device; and the deformation force exerted by the section of the flexible device.

A teleoperated system comprises a display, a master input device, and a control system. The control system is configured to determine an orientation of an end effector reference frame relative to a field of view reference frame, determine an orientation of a master input device reference frame relative to a display reference frame, establish an alignment relationship between the master input device reference frame and the display reference frame, and command, based on the alignment relationship, a change in a pose of the end effector in response to a change in a pose of the master input device. The alignment relationship is independent of a position relationship between the master input device reference frame and the display reference frame. In one aspect, the teleoperated system is a telemedical system such as a telesurgical system.

A medical navigation system is provided for controlling medical equipment during a medical procedure. The medical navigation system includes a passive radio frequency identification (RFID) tag, an RFID sensor for detecting the passive RFID tag, a controller coupled to the RFID sensor, and a robotic arm having an end effector and controlled by the controller. The RFID sensor provides a signal to the controller indicating presence of an activated passive RFID tag. The passive RFID tag has an antenna, an RFID circuit, and a switching device coupled to the RFID circuit for activating the passive RFID tag. The passive RFID tag is used to control a payload attached to the end effector.

A teleoperational system comprises a teleoperational control system and a teleoperational manipulator configured for operating an instrument in an environment. The teleoperational system also comprises an operator controller in communication with the teleoperational control system. The teleoperational control system includes a processing unit including one or more processors. The processing unit is configured to determine whether an operator of the operator controller has a head portion directed toward a display region of a display device and based on a determination that the operator’s head portion is directed toward the display region, initiate an operator following mode in which movement of the operator controller provides a corresponding movement to the teleoperational manipulator. The teleoperational system may be a teleoperational medical system.

A floating optical fiber connector interface generally includes a retention bracket, a translating socket slidingly associated with the retention bracket, and a biasing element positioned between the retention bracket and the translating socket. A tab portion may permit translation of the translating socket with respect to the retention bracket, and an aperture configured to receive a carriage optical fiber connector. The translating socket may translate with respect to the retention bracket within a plane and may further translate in the insertion direction, and the biasing element may resist translation of the translating socket. An alignment plate may be configured to align an instrument interface for connection to a carriage, including a telescoping standoff operable to position the plate at a first position in which the plate is spaced apart from the carriage and to position the plate at a second position in which the plate is adjacent to the carriage.