A sequence of input samples that are measures of position or orientation of an input device being held by a user are received. A current output sample of a state of linear quadratic estimator, LQE, is computed that is an estimate of the position or orientation of the input device. The current output sample is computed based on i) a previously computed output sample, and ii) a velocity term. An updated output sample of the state of the LQE is computed, based on i) a previously computed output sample, and ii) a new input sample. Other embodiments are also described and claimed.

An electronic circuit for a surgical robotic system includes a central power node, a first voltage bus that electrically couples a first power source to the node, a second voltage bus that electrically couples a second power source to the node, and several robotic arms, each arm is electrically coupled to the node via an output circuit breaker and is arranged to draw power from the node. Each bus is arranged to provide power from a respective power source to the node and each bus has an input circuit breaker that is arranged to limit a first output current flow from the node and into the bus. Each breaker that is arranged to limit a second output current flow from the node and into a respective arm. A breaker is arranged to open in response to a fault occurring within the respective arm, while the other breakers remain closed.

A frame body may be parallel to and proximate with an external surface of a structure and extend substantially horizontally from a first side to a second side. A connecting portion may be provided to be attached to a cable to provide for vertical movement of the frame body. A robotic arm may be affixed proximate to a bottom of the frame body and be able to move horizontally during treatment of the external surface. Moreover, the robotic arm may extend to an end proximate with the external surface, and a cleaning portion may be attached to the robotic arm near the end proximate with the external surface. The robotic arm may rotate, vertically moving the cleaning portion during treatment of the external surface. In addition, the cleaning portion may be separately rotated to remain substantially parallel to and proximate with the external surface during rotation of the robotic arm.

Methods, apparatus, systems, and computer-readable media are provided for selective robot deployment. In various implementations, a context of a user may be determined based at least in part on a record of one or more computing interactions associated with the user. In various implementations, a robot-performable task of the user may be identified based at least in part on the context. In various implementations, a measure of potential or actual interest of the user in deploying a robot to perform the robot-performable task may be determined. In various embodiments, the robot may be selectively deployed based on the measure of potential or actual interest.

A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms can be mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.

A method of assigning an auxiliary input device to control a surgical instrument in a robotic surgical system may include detecting a first surgical instrument coupled to a first manipulator interface assembly of a teleoperated surgical system, the manipulator interface assembly being controlled by a first input device; detecting which one of a user's left and right hands operates the first input device; and assigning control of an auxiliary function of the first surgical instrument to a first auxiliary input device disposed in a left position relative to a second auxiliary input device if the user's left hand is detected to operate the first input device, or assigning control of an auxiliary function of the first surgical instrument to a second auxiliary input device disposed in a right position relative to the first auxiliary input device if the user's right hand is detected to operate the first input device. A frame of reference of the left position and right position is relative to a user operating the first input device.

A sleeve worn on an arm allows detection of gestures by an array of sensors. Electromyography, inertial, and magnetic field sensors provide data that is processed to categorize gestures and translate the gestures into commands for robotic systems. Machine learning allows training of gestures to increase accuracy of detection for different users.

A frame body may be parallel to and proximate with an external surface of a structure and extend substantially horizontally from a first side to a second side. A connecting portion may be provided to be attached to a cable to provide for vertical movement of the frame body. A robotic arm may be affixed proximate to a bottom of the frame body and be able to move horizontally during treatment of the external surface. Moreover, the robotic arm may extend to an end proximate with the external surface, and a cleaning portion may be attached to the robotic arm near the end proximate with the external surface. The robotic arm may rotate, vertically moving the cleaning portion during treatment of the external surface. In addition, the cleaning portion may be separately rotated to remain substantially parallel to and proximate with the external surface during rotation of the robotic arm.

A manipulator system configured to perform a work to a workpiece being moved by a moving device, includes a robotic arm, having one or more joints and to which a tool configured to perform the work to the workpiece is attached, an operating device configured to operate the robotic arm, a first imaging means configured to image the workpiece, while following the movement of the workpiece, a second imaging means fixedly provided in a work area to image a situation of the work to the workpiece, a displaying means configured to display an image imaged by the first imaging means and an image imaged by the second imaging means, and a control device configured to control the operation of the robotic arm based on an operating instruction of the operating device, while detecting a moving amount of the workpiece being moved by the moving device and carrying out a tracking control of the robotic arm according to the moving amount of the workpiece.

A user interface system includes one or more controllers configured to move freely in three dimensions, where the one or more controllers include an inertial sensor coupled to measure movement of the one or more controllers, and output movement data including information about the movement. The user interface system further includes a processor coupled to receive the movement data, where the processor includes logic that, when executed by the processor, causes the user interface system to perform operations, including receiving the movement data with the processor, identifying an unintentional movement in the movement data with the processor, and outputting unintentional movement data that identifies the unintentional movement.