A graphical user interface for a remote controlled robot system that includes a robot view field that displays information provided by a robot and an observer view field that display observer information about one or more observers that can receive the robot information. The interface has various features that allow a master user to control the observation and participation of the observers.

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.

A method for remotely supporting a surgery assistant robot may include: receiving at least one piece of operation information concerning an operation of the surgery assistant robot, by a server device that performs a remote support for the surgery assistant robot; and transmitting, in response to a predetermined event, at least one of a sound, an image, or a text from the server device to at least one of the surgery assistant robot or a terminal device.

A surgical robot comprising a surgical robot arm and a surgical robot arm controller. The surgical robot arm comprises a set of joints and a joint controller. The joint controller is configured to drive a joint of the set of joints. The surgical robot arm controller comprises a processor and watchdog circuitry. The processor is configured to send joint driving signals to the joint controller on a communication link. The watchdog circuitry is configured to: receive sequence values from the processor; determine whether each received sequence value matches a next expected value of a predetermined sequence; and if the received sequence value does not match the next expected value of the predetermined sequence, disable the communication link between the processor and the joint controller.

A surgical robotic arm includes an instrument having a coupler rotatable about a longitudinal axis, the coupler including: a drive screw; a drive nut threadably coupled to the drive screw, the drive nut movable along the longitudinal axis in response to rotation of the drive screw; and a drive member coupled to the drive nut and movable in response to movement of the drive nut. The surgical robotic arm also includes an instrument drive unit having: a motor configured to engage the coupler and rotate about the longitudinal axis to rotate the coupler and the drive screw; one or more sensors configured to measure one or more properties of the motor; and a controller coupled to the sensor(s) and the motor. The controller is configured to control the motor based on the property of the motor.

In an apparatus for controlling the positioning of an object having a specified point, a first limiter establishes a movable range of the specified point of the object, and limits movement of the specified point of the object within the movable range. The movable range includes a line connecting the position of the specified point of the object and a target position for the specified point of the object. A second limiter limits change of a specified orientation of the object from increasing an angular difference between the specified orientation of the object a target orientation for the specified orientation of the object.

A packaging technique for applying an insulating pack to the housing of a battery cell. The insulating pack is formed from a self-adhesive cutout of insulating material by folding the cutout onto the sides of the housing that are to be covered. The packaging technique involves a packaging method for automatically applying an insulating pack, a battery cell including an insulating pack, a packaging station for carrying out the method, and a preparation device for preparing one or more cutouts of insulating material.

A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to align the master grip with a slave instrument commanded by the master grip by determining grip rotation values describing an orientation of the master grip, determining instrument rotation values describing an orientation of the instrument, determining an orientation error between an orientation of the master grip and the orientation of the instrument based on the grip rotation values and the instrument rotation values, and reducing the orientation error by low pass filtering the grip rotation values or the instrument rotation values.

A tool path generator utilizes a solid body model of a volume to generate a tool path for a manipulator to remove material of the volume with an energy applicator in a semi-autonomous mode. A material logger monitors movement of the energy applicator according to a cutting path taken by a practitioner in the manual mode, identifies material of the volume to which the energy applicator has been applied in the manual mode, and updates the solid body model based on the identified material. The tool path generator modifies the tool path based on the updated solid body model such that, for the semi-autonomous mode, the modified tool path accounts for the identified material of the volume to which the energy applicator has been applied in the manual mode.

Systems and methods for detecting an error in a surgical system. The surgical system includes a manipulator with a base and a plurality of links and the manipulator supports a surgical tool. The system includes a navigation system with a tracker and a localizer to monitor a state of the tracker. Controller(s) determine values of a first transform between a state of the base of the manipulator and a state of one or both of the localizer and the tracker of the navigation system. The controller(s) determine values of a second transform between the state of the localizer and the state of the tracker. The controller(s) combine values of the first transform and the second transform to determine whether an error has occurred relating to one or both of the manipulator and the localizer.