A method includes advancing an end effector of a surgical tool to a surgical site, the surgical tool being pivotably mounted to a robotic arm at a tool driver, engaging tissue at the surgical site with the end effector, calculating a force vector assumed on the end effector by engaging the tissue, optimizing the force vector to obtain an optimized force vector, and actuating the end effector after applying the optimized force vector on the end effector.

A method includes advancing an end effector of a surgical tool to a surgical site, setting a desired force vector to be assumed on the end effector during actuation of the end effector, engaging tissue at the surgical site with the end effector and calculating a force vector assumed on the end effector, and maneuvering the end effector to obtain the desired force vector.

Described herein is an apparatus for guiding an elongated flexible instrument, the apparatus comprising a variable-length support assembly adapted to maintain a length of the elongated flexible instrument in a fixed configuration relative to the variable-length support assembly as the variable-length support assembly is moved along a longitudinal axis. The variable-length support assembly includes a plurality of linkages connected in series along the longitudinal axis, and the variable-length support assembly has a compact configuration and an expanded configuration.

Catheterization employing a cable extending from the catheter to a fixed point of attachment is performed by providing a sensor to detect rotation of the catheter about its longitudinal axis, the rotation causing the cable to form a twist. The cable extends through a cable arranger that operates to remove the twist. A controller receives signals from the sensor and generates control signals to actuate the cable arranger responsively to the signals from the sensor.

Techniques are described for testing whether an end effector, or component thereof, is correctly or incorrectly installed to a manipulation system. In an example, a manipulation system can include a manipulator arm configured to receive an end effector having a first moveable jaw, a transducer configured to provide first effort information of the end effector as the end effector moves, and a processor configured to provide a command signal to effect a first test move of the first moveable jaw, and to provide an installation status of the end effector using the first effort information of the first test move.

A method for assisting navigation of an endoscopic device using a controller with the aid of a digital image data record of an imaging examination modality is provided. The digital image data record describes an image of an object to be examined with the aid of the endoscopic device in a cavity element. A digital two-dimensional or multi-dimensional model of the object to be examined is determined based on the image data record. An operating action that predetermines a relative location of a sensor of the endoscopic device in relation to the object based on the model is received. The model is registered with the endoscopic device and/or a digital endoscopic data record supplied by the endoscopic device. An initial location of the sensor is compared with the predetermined location, and a navigation signal for navigating the endoscopic device is generated taking into account the predetermined relative location.

A robotic surgical system employs a surgical instrument (20), a robot (40) for navigating the surgical instrument (20) relative to an anatomical region (10) within a coordinate system (42) of the robot (40), and a robot controller (43) for defining a remote center of motion for a spherical rotation of the surgical instrument (20) within the coordinate system (42) of the robot (40) based on a physical location within the coordinate system (42) of the robot (40) of a port (12) into the anatomical region (10). The definition of the remote center of rotation is used by the robot controller (43) to command the robot (40) to align the remote center of motion of the surgical instrument (20) with the port (12) into the anatomical region (10) for spherically rotating the surgical instrument (20) relative to the port (12) into the anatomical region (10).

A system comprises an instrument carriage configured to support an instrument. The instrument comprises a joint output and an input coupling configured to move the joint output. The instrument carriage comprises an actuating element. The actuating element comprises a drive input and an actuator coupled to drive the drive input. The drive input is configured to engage the input coupling. The system also comprises a control system configured to drive the drive input with the actuator and determine whether the drive input has engaged the input coupling based on a determination of whether the actuator experiences a resistance greater than a resistance threshold.

The disclosed technology relates to robotic surgical systems for improving surgical procedures. In certain embodiments, the disclosed technology relates to robotic surgical systems for use in osteotomy procedures in which bone is cut to shorten, lengthen, or change alignment of a bone structure. The osteotome, an instrument for removing parts of the vertebra, is guided by the surgical instrument guide which is held by the robot. In certain embodiments, the robot moves only in the locked plane (one of the two which create the wedgei.e., the portion of the bone resected during the osteotomy). In certain embodiments, the robot shall prevent the osteotome (or other surgical instrument) from getting too deep/beyond the tip of the wedge. In certain embodiments, the robotic surgical system is integrated with neuromonitoring to prevent damage to the nervous system.

A method of controlling a robotic arm in a surgical system comprises manually applying a force to a body of the robotic arm. Force information is received from ae force sensor on the robotic arm and a controller determines, using the force information, whether the force is a gesture force input. If the force is determined to be a gesture force input, the controller initiates electromechanical movement of the manipulator arm to a draping configuration, instrument attachment configuration, storage configuration, or home configuration.