The present invention is relates to a user controller having a thumb sheath with an open side defined in the thumb sheath. Further embodiments relate to thumb presence sensors and sensory feedback components associated with the thumb sheath. Additional embodiments relate to an adjustable thumb sheath. Still other embodiments relate to systems comprising such user controllers.

Certain aspects relate to systems and techniques for surgical robotic arm admittance control. In one aspect, there is provided a system including a robotic arm and a processor. The processor may be configured to determine a force at a reference point on the robotic arm based on an output of a torque sensor and receive an indication of a direction of movement of the reference point. The processor may also determine that a component of the force is in the same direction as the direction of movement of the reference point, generate at least one parameter indicative of a target resistance to movement of the robotic arm, and control the motor, based on the at least one parameter, to move the robotic arm in accordance with the target resistance.

A robotic surgical system for treating a patient is disclosed including a surgical tool movable relative to the patient and a user input device including a base and a space joint including a central portion movable relative to the base to effect a motion. The robotic surgical system further includes a control circuit configured to receive a user selection signal indicative of a selection between a first motion scaling profile of the motion of the surgical tool and a second motion scaling profile of the motion of the surgical tool, receive a motion control signal from the user input device indicative of a user input force, and cause the surgical tool to be moved in response to the motion control signal in accordance with the first motion scaling profile or the second motion scaling profile based on the user selection signal. The first motion scaling profile is different than the second motion scaling profile.

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.

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 robotic surgical system includes a linkage, an input device, and a processing unit. The linkage moveably supports a surgical tool relative to a base. The input device is rotatable about a first axis of rotation and a second axis of rotation. The processing unit is in communication with the input device and is operatively associated with the linkage to rotate the surgical tool about a first axis of movement based on a scaled rotation of the input device about the first axis of rotation by a first scaling factor and to rotate the surgical tool about a second axis of movement based on a scaled rotation of the input device about the second axis of rotation by a second scaling factor that is different from the first scaling factor.

A robotic surgical system for treating a patient is disclosed including a surgical tool movable relative to the patient and a user input device configured to remotely control the surgical tool. The surgical tool includes a shaft and an end effector. The user input device includes a base and a controller movable to effect a first control motion a second control motion. The controller includes a first accessibility mode and a second accessibility mode. The robotic surgical system further includes a control circuit configured to receive a motion control signal from the user input device, determine a controller accessibility mode, permit the first control motion in response to the motion control signal in the first accessibility mode and in the second accessibility mode and permit the second control motion in response to the motion control signal in the second accessibility mode but not the first accessibility mode.

A floating drive for a medical robot includes an actuator that drives a rod forward and backward in a first direction, a manipulation member that operates with driving force of the actuator, and a transmission member that is located between the actuator and the manipulation member and that is engaged with the rod to transmit an operation of the rod to the manipulation member. The transmission member is restricted in its displacement having a component in a second direction orthogonal to the first direction, and the transmission member is separated from the rod in the second direction and transmitting force in the first direction from the rod to the manipulation member.

In a robotic surgical system, a control device is configured or programmed to perform first scaling on at least a rotational component in a received operation amount, and calculate a rotation angle of a joint axis of a robot arm by performing an inverse kinematics calculation on a translational component and the rotational component after the first scaling is performed.

Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.