Systems, instruments, and methods for surgical navigation with verification feedback are provided. The systems, instruments, and methods may be used to verify a trajectory of a surgical tool during a procedure. The systems, instruments, and methods may receive one or more captured images of an anatomical portion of a patient; execute a surgical plan to insert the surgical tool into the anatomical portion; receive sensor data collected from one or more sensors being inserted into the anatomical portion; determine whether the sensor data corresponds to the surgical plan; and send, in response to determining that the sensor data does not correspond to the surgical plan, an alert indicating that the surgical tool is not being inserted according to the surgical plan. The one or more sensors may be attached to the surgical tool.

A machine is configured to access force data generated by a force sensor, where the force sensor is communicatively coupled to a proximal portion of a flexible elongate device that has a distal portion configured to travel within an environment, and where the force sensor is configured to detect forces and generate the force data therefrom. The machine, based on the force data, identifies an insertion force encountered by the distal portion of the flexible elongate device from among the forces detected by the force sensor. The machine then, based on the identified insertion force, initiates a responsive operation performed by a control system communicatively coupled to the flexible elongate device.

An interventional robot system and a readable storage medium. In the interventional robot system, a touch switch is arranged on an operation lever and connected to a processor, and is configured to send a current switch state to the processor; a master-end encoder is arranged on the operation lever and connected to the processor, and is configured to send to the processor an operation lever displacement generated in response to the operation lever being controlled to perform a current operation; a null sensor is arranged on a base and connected to the processor, and is configured to send a current sensor state to the processor; and the processor is configured to control an interventional robot slave end to perform a movement corresponding to the operation lever displacement, such that an elongated medical instrument is accurately controlled to move, and invalid operations are eliminated.

Generally, a sterile adapter for use in robotic surgery may include a frame configured to be interposed between a tool driver and a surgical tool, a plate assembly coupled to the frame, and at least one rotatable coupler supported by the plate assembly and configured to communicate torque from an output drive of the tool driver to an input drive of the surgical tool.

Mediated-reality imaging systems, methods, and devices are disclosed herein. In some embodiments, an imaging system includes a camera array configured to (i) capture intraoperative image data of a surgical scene in substantially real-time and (ii) track a tool through the scene. The imaging system is further configured to receive and/or store preoperative image data, such as medical scan data corresponding to a portion of a patient in the scene. The imaging device can register the preoperative image data to the intraoperative image data, and display the preoperative image data and a representation of the tool on a user interface, such as a head-mounted display.

Disclosed herein are methods to detect a free-falling or other non-surgical motions of the user interface device (UID) of a surgical robotic system so that the surgical robotic system may pause the robotic arm controlled by the UID to prevent the robotic arm from mimicking the unintentional movement of the UID. Contact sensors embedded in the UID may be used to detect conditions indicating that a user does not possess full control of the UID. After determining that the user does not have full control of the UID, the UID may detect if the UID is experiencing non-surgical motions using motion sensors such as inertial sensors. By conditioning analysis of the data from the motion sensors by the initial determination that the UID is not being held based on the contact sensors, the method increases the robustness of the detection of non-surgical motions and reduces the probability of false positives.

The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. A tool driver is coupled to a distal end of a robotic arm and includes a roll drive disk driven by a rotary motor. One or more processors are configured to detect an attachment of a surgical tool to the tool driver. The surgical tool includes a roll tool disk to be engaged with the roll drive disk of the tool driver, actuate of the roll drive disk through the rotary motor, determine that a measured torque of the rotary motor exceeds a preset torque threshold for a preset period of time since the actuation, and report a successful engagement between the roll drive disk and the roll tool disk.

A surgical hair clipper includes a clipper body and a blade assembly connected to the clipper body. The blade assembly includes a moveable blade configured to reciprocate to remove hair from a skin area and a blade housing that houses the moveable blade. The blade housing has a guide surface that faces the skin area during a hair removal process. A touch sensor is exposed at the guide surface for contact with the skin area during use. A processor receives a signal from the touch sensor when the touch sensor contacts the skin area. The processor uses logic saved in a memory to instruct a feedback device to provide an indication of skin contact between the touch sensor and the skin area.

A packaging system includes a packaging container and a packaging element. The packaging container include a first half having a base surface and an outer wall defining an inset receiving area, a second half sized and configured to couple to the first half in a locking relationship, and a coupling element extending from the base surface of the first half. The packaging element includes a central coupling body defining an opening sized and configured to receive the coupling element of the packaging container therethrough and a plurality of secondary coupling elements each coupled to an outer perimeter of the central coupling body. A plurality of surgical elements are each coupled to one of the plurality of secondary coupling elements.

A medical device has been disclosed. The medical device includes a parallel manipulator. The parallel manipulator having an end platform coupled to a surgical tool and a base platform coupled to machine module. The machine module is coupled to the surgical tool through a transmission shaft disposed between the end platform and the base platform.