A system for controlling the position of an articulated robotic arm includes a robotic catheter procedure system having the articulated robotic arm and a controller coupled to the articulated robotic arm. The system further includes a patient table positioned proximate to and separate from the articulated robotic arm and a tracking system coupled to the controller and configured to measure a change in a position of the patient table. The controller is configured to adjust the position of the articulated robotic arm based on the measured change in position of the patient table.

A manipulator system includes arithmetic logic units for calculating an operation quantity per unit time of a power source mounted on a surgical instrument as a first operation quantity and calculating an operation quantity per unit time of the power source as a second operation quantity. A determining unit is used for outputting a shutoff signal for de-energizing the power source if the first operation quantity is smaller than a first threshold value and the second operation quantity is larger than a second threshold value. A cutoff unit is configured to cut off the drive signal output from the output unit to the power source in response to the shutoff signal output for de-energizing the power source from the determining unit.

Certain aspects relate to systems and techniques for driving axial motion of a shaft of a medical instrument using a drive device. A drive device configured to facilitate axial motion of an elongated shaft of a medical instrument can include a body comprising a channel configured to receive the elongated shaft of the medical instrument, a roller configured to engage with the elongated shaft such that, when rotated, the roller drives axial motion of the elongated shaft received in the channel, a first drive input coupled to the body, wherein the first drive input is operable by a robotic system to rotate the roller, a cover configured to selectively open or close the channel, and a second drive input coupled to the body, wherein the second drive input is operable to actuate the cover.

Certain aspects relate to systems and techniques for driving axial motion of a shaft of a medical instrument using a drive device. Axial motion can include insertion and/or retraction of the instrument. For example, a robotic medical system can include a medical instrument comprising an instrument base and a flexible shaft configured for insertion into a patient, and a first robotic arm attachable to the instrument base of the medical instrument. The system also includes a drive device configured to engage the flexible shaft, and a second robotic arm attachable to the drive device. The second robotic arm is configured to operate the drive device to drive axial motion of the flexible shaft, and the first robotic arm is configured to move in coordination with operation of the drive device.

Certain aspects relate to systems and techniques for driving axial motion of a shaft of a medical instrument using a drive device. A robotic medical system can include a drive device comprising a pair of rollers configured to engage a shaft of a medical instrument and a processor configured to operate the rollers to drive insertion of the shaft at a first rate during a first insertion period when a distal tip of the shaft is positioned within an access sheath inserted into the patient, and operate the rollers to transition to driving insertion of the shaft at a second rate that is slower than the first rate during a second insertion period when the distal tip of the shaft is positioned beyond a distal tip of the access sheath.

A surgical method is provided for use with a teleoperated surgical system (surgical system), the method comprising: recording surgical instrument kinematic information indicative of surgical instrument motion produced within the surgical system during the occurrence of the surgical procedure; determining respective kinematic signatures associated with respective surgical instrument motions; producing an information structure in a computer readable storage device that associates respective kinematic signatures with respective control signals; comparing, during a performance of the surgical procedure surgical instrument kinematic information during the performance with at least one respective kinematic signature; launching, during a performance of the surgical procedure an associated respective control signal in response to a match between surgical instrument kinematics during the performance and a respective kinematic signature.

A system for controlling the position of an articulated robotic arm includes a robotic catheter procedure system having the articulated robotic arm and a controller coupled to the articulated robotic arm. The system further includes a patient table positioned proximate to and separate from the articulated robotic arm and a tracking system coupled to the controller and configured to measure a change in a position of the patient table. The controller is configured to adjust the position of the articulated robotic arm based on the measured change in position of the patient table.

An endoscope system includes: a processor that is connectable to a peripheral device; and a terminal device configured to communicate with the processor. The terminal device is configured to transmit terminal identification information, and an authentication result indicating whether a user of the terminal device is a registered user that has been pre-registered. The processor includes a communication circuit configured to transmit processor identification information, and authentication information that enables mutual communication, to the terminal device, and receive the terminal identification information and the authentication result from the terminal device; a connection determining circuit configured to determine whether the terminal device is a destination that is enabled to perform mutual communication based on the authentication result; and a communication control circuit configured to enable communication between the terminal device and the peripheral device based on a determination result of the connection determining circuit and on the authentication result.

A computerized method for estimating joint friction in a joint of a robotic wrist of an end effector. Sensor measurements of force or torque in a transmission that mechanically couples a robotic wrist to an actuator, are produced. Joint friction in a joint of the robotic wrist that is driven by the actuator is computed by applying the sensor measurements of force or torque to a closed form mathematical expression that relates transmission force or torque variables to a joint friction variable. A tracking error of the end effector is also computed, using a closed form mathematical expression that relates the joint friction variable to the tracking error. Other aspects are also described and claimed.

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).