A system and method for moving a robotic unit in vivo. The robotic unit can include a camera subassembly having a camera assembly coupled to a camera axially extending support member, a first robot arm subassembly having a first robot arm coupled to a first robot arm axially extending support member, and a second robot arm subassembly having a second robot arm axially extending support member, wherein when inserted in a cavity of a patient through an insertion point, the camera assembly and the first and second robot arms can be controlled for actuating at least one joint of each of the robot arms to reverse direction such that an end effector region of each of the first and second robot arms is facing towards the insertion point, and moving the camera assembly in a selected direction such that the camera elements are facing towards the insertion point.

In certain embodiments, an ophthalmic system includes an anamorphic depth gauge (ADG) device and a computer. The ADG device measures the z-location in the interior of an eye and includes a detector array arranged at an oblique angle with respect to the z-axis. The array generates a detector signal in response to detecting a light beam, which has a z-focus in the interior of the eye. A set of line focus optical elements focuses the light beam to form a line focus on the detector array, and a set of nominal focus optical elements focuses the light beam to form a nominal focus on the detector array. The computer: generates an image using the detector signal; determines the position of the nominal focus on the line focus according to the image; and determines the z-location of the z-focus from the position of the nominal focus on the line focus.

An implant tool system includes an implantable medical lead and a delivery catheter. The implantable medical lead is configured to be delivered through an access point on a body of a patient. The delivery catheter is configured to deliver the implantable medical lead along an implantation path in the body of the patient. A visual marker is positioned on a body of the implantable medical lead. The visual marker is positioned proximal a distal end of the implantable medical lead by a distance indicative of a length of lead to introduce into the body of the patient. The visual marker may be positioned such that introduction of the length of lead into the body of the patient provides lead slack that reduces the likelihood of one or more of dislodgment of the implantable medical lead from the implant point or damage to a tissue of the patient.

A method is provided for operating a powered surgical stapler having a motor unit, a controller, and a stapling assembly having a plurality of movable members that are actuatable longitudinally by the motor unit to clamp, staple, and cut tissue. The controller determines that a movable member of the stapling assembly is in a first predetermined position, and then executes an actuation algorithm to activate the motor unit to actuate the movable member longitudinally from the first predetermined position toward a second predetermined position. The controller observes an actual longitudinal displacement of the movable member between the first and second predetermined positions. The controller compares the actual longitudinal displacement to an expected longitudinal displacement and determines that the actual longitudinal displacement differs from the expected longitudinal displacement by a difference value. The controller then adjusts the actuation algorithm based on the difference value.

A device configured to provide a faster and more accurate measurement of depths of holes for placement of bone screws and fastener for bone implant fixation procedures. The device includes a combination of a bone probe for physical examination of a hole drilled in a bone and a depth gauge member for determining a depth of the hole and providing digital measurement of the depth.

A robotic system includes first and second manipulator assemblies in an operating environment and having separately movable bases. A processing unit is configured to receive first sensor data from a first plurality of sensors disposed on the first manipulator assembly, wherein the first sensor data provide spatial information about the operating environment external to the first manipulator assembly. A first spatial relationship of the second manipulator assembly relative to the first manipulator assembly is determined using data including the first sensor data. A first alignment relationship between the first and second manipulator assemblies is established based on the first spatial relationship. Based on the first alignment relationship, motion of the second manipulator assembly is commanded in response to a command from a first input device operable by an operator.

Systems and methods are disclosed in which changes in the position and/or orientation of an anatomical structure or of a surgical tool can be measured quantitatively during surgery. In some embodiments, the systems and methods disclosed herein can make use of inertial motion sensors to determine a position or orientation of an instrument or anatomy at different times and to calculate changes between different positions or orientations. In other embodiments, such sensors can be utilized in conjunction with imaging devices to correlate sensor position with anatomical landmarks, thereby permitting determination of absolute angular orientation of a landmark. Such systems and methods can facilitate real-time tracking of progress during a variety of procedures, including, e.g., spinal deformity correction, etc.

A combination drill guide and depth gauge surgical instrument for use during a surgical procedure to implant an acetabular cup component into a surgically-prepared acetabulum of a patient's hip includes an elongated shaft having a drill guide on an end thereof. The instrument also includes a retractable depth probe that may be used to gauge the depth of the holes drilled by use of the drill guide. A method of using such an instrument is also disclosed.

A system according to at least one embodiment of the present disclosure includes a processor; at least one robotic arm; and a memory storing data for processing by the processor that, when processed by the processor, cause the processor to: manipulate the at least one robotic arm when holding an object; and determine a configuration of the object based on a position of the at least one robotic arm and information describing another point of the object relative to the at least one robotic arm.

The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. One example system for detecting a hardstop for a surgical tool includes a wrist connected to and driven by a plurality of cables of a tool driver, a plurality of sensors configured to detect forces associated with the plurality of cables one or more processors configured to perform a comparison of the forces associated with the plurality of cables, selected a highest tension cable from the plurality of cables based on the comparison of the forces associated with the plurality of cables, set a force assigned to the highest tension cable to a predetermined value, calculate a variable torque threshold for the wrist based on a sum of the predetermined value for the highest tension cable and detected forces for remaining cables in the plurality of cables, receive a joint torque value for the wrist, perform a comparison of the received joint torque value for the wrist to a variable wrist torque threshold and identify a hardstop based on the comparison of the received joint torque value for the wrist to the variable wrist torque threshold.