A patient console for a robotic surgical system can include a base, and a positioning assembly attached to the base and configured to position an instrument controller assembly. The positioning assembly includes a remote control device operatively connected to the positioning assembly to control movement of one or more portions of the positioning assembly such that a user is capable of having a direct line-of-sight of a patient when using the remote control device.

A control system for controlling a surgical robot system, the surgical robot system comprising at least one surgical robot, each of the at least one surgical robot comprising a base, and an arm extending from the base to an attachment for an instrument, the arm comprising a plurality of joints whereby the configuration of the arm can be altered, the control system comprising: a main controller configured to: receive communications from one or more devices of an operator console identifying inputs from an operator of the at least one surgical robot; generate control signals for controlling the movement of the at least one surgical robot arm based on the inputs; and send communications to the at least one surgical robot identifying the control signals; and a safety monitor configured to analyse at least a portion of the communications to and/or from the main controller to determine whether the surgical robot system is in a fault state, and in response to determining that the surgical robot system is in a fault state, cause at least one of the one or more devices of the operator console and the at least one surgical robot to transition to a safe state.

Systems and a method are provided for programming a cobot for a plurality of cells of an industrial environment. A physical cobot is provided within a lab cell comprising physical lab objects. A virtual simulation system receives information inputs on a virtual cobot representing the physical cobot, regarding a virtual lab cell comprising virtual lab objects, and on a plurality of virtual industrial cells comprising virtual industrial objects. Inputs are received from the physical cobot's movement during teaching whereby the physical cobot is moved in the lab cell to the desired position(s) while providing, via a user interface, a visualization of the virtual cobot's movement within a meta cell generated by superimposing the plurality of virtual industrial cells with the virtual lab cell, so that collisions with any object are minimized. A robotic program is generated based on the received inputs of the physical cobot's movement.

The present invention relates to devices and methods for controlled motion of a tool. In one embodiment, the device can support a tool needed to perform an activity requiring a highly-precise, stable motion, while also accommodating a person's hand for the purposes of moving the tool. In another embodiment, the device of the present invention allows for rotational motion of a tool independently of the directive motion of the tool. In yet another embodiment, the present invention relates to the design of a force transducer useful in a cooperative robot. The device and methods of the present invention are particularly useful for microsurgery or other tasks that are typically performed using cooperative robotics.

The application provides a device, method and system for registration. The registration device includes a fixing member; a frame connected to the fixing member, at least one trackable element mounted on the frame; and a collection device connected to the fixing member, wherein the collection device is configured to simultaneously collect multiple point data from an object to be registered. The registration method includes obtaining simultaneously, by a registration device, a point cloud data from a surface of a cartilage of an object to be registered; and performing surface fitting based on the point cloud data to obtain a fitted surface of the cartilage of the object to be registered. The registration system includes the registration device; a first point cloud data acquisition module, configured to receive the point cloud data from the collection device; and a surface fitting module, configured for surface fitting with the point cloud data.

The disclosure relates to a method for guiding position and orientation of a robotic device holding a surgical tool configured for working a planned region of an anatomical structure, the robotic device comprising a base and an actuation unit coupled to the base and configured to move the surgical tool relative to the base, the method comprising: providing a user interface displaying a virtual representation (1) of the anatomical structure and a virtual representation (2) of a target region on the anatomical structure; detecting a presence of a distal tip (3) of the tool in the target region; changing a visual aspect of the virtual representation (2) of the target region when the tool tip (3) is detected in said target region; based on the position of the target region, computing a virtual goal (4) defining a spatial range of position and orientation of the robotic device in which the tool is capable of working at least a determined part of the planned region of the anatomical structure; displaying the virtual goal (4) and a virtual representation of an axis of the base on the user interface, and changing position and orientation of said virtual representation of the base axis as a user changes position and orientation of the robotic device while maintaining the tool tip in the target area; changing a visual aspect of the virtual goal (4) when the virtual representation of the base axis is inside the virtual goal.

Various systems and methods for evaluating a surgical staff are disclosed. A computer system, such as a surgical hub, can be configured to be communicably coupled to a surgical device and a camera. The computer system can be programmed to determine contextual information pertaining to a surgical procedure based at least in part on perioperative data received from the surgical device during a surgical procedure. Further, the computer system can visually determine a physical characteristic of a surgical staff member via the camera and compare the physical characteristic to a baseline to evaluate the surgical staff member.

Systems and methods of providing a haptic barrier for an instrument include a computer-assisted device. The computer-assisted device includes a grip input control, a repositionable arm configured to support an instrument, and one or more processors. The one or more processors are configured to detect a position of the grip input control in a first direction of a degree of freedom having In a first region, a second region, and a third region between the first and second regions; in response to determining that the detected position is in the first region, operate the instrument according to a first mode; in response to determining that the detected position is in the third region, provide a haptic barrier to resist movement of the grip input control through the third region; and in response to determining that the detected position is in the second region, operate the instrument according to a second mode.

A surgical robotic system comprises a manipulator assembly including at least one manipulator arm having a distal portion that is movable with the manipulator arm. The robotic system further comprises a registration device mounted to a surgical table. The registration device includes a registration element shaped to contact with the distal portion of the manipulator arm by receiving the distal portion to define a spatial relationship between the manipulator assembly and the surgical table. The distal portion is movable in a plurality of degrees of freedom, and the plurality of degrees of freedom is reduced by the registration device when the registration device is in contact with the distal portion. The robotic system further comprises a control system that determines the spatial relationship between the manipulator assembly and the surgical table by receiving at least one sensor reading that indicates a position or an orientation of the manipulator arm.

The present invention relates to devices and methods for controlled motion of a tool. In one embodiment, the device can support a tool needed to perform an activity requiring a highly-precise, stable motion, while also accommodating a person's hand for the purposes of moving the tool. In another embodiment, the device of the present invention allows for rotational motion of a tool independently of the directive motion of the tool. In yet another embodiment, the present invention relates to the design of a force transducer useful in a cooperative robot. The device and methods of the present invention are particularly useful for microsurgery or other tasks that are typically performed using cooperative robotics.