Provided are systems and methods for registration of location sensors. In one aspect, a system includes an instrument and a processor configured to provide a first set of commands to drive the instrument along a first branch of the luminal network, the first branch being outside a path to a target within a model. The processor is also configured to track a set of one or more registration parameters during the driving of the instrument along the first branch and determine that the set of registration parameters satisfy a registration criterion. The processor is further configured to determine a registration between a location sensor coordinate system and a model coordinate system based on location data received from a set of location sensors during the driving of the instrument along the first branch and a second branch.

A patient securing overlay is provided that includes a sheet of fabric for supporting a patient's torso on a surgical table. The sheet of fabric has an upper surface configured to face the patient and a lower surface configured to face a surgical table mattress or underbody support. The sheet of fabric includes friction enhancing elements applied to at least a portion of the upper surface thereof. The sheet of fabric can include an extension at a foot end of the sheet of fabric that provides material to be tucked under a foot end of the surgical table mattress or underbody support for securing the foot end of the sheet of fabric to the surgical table mattress or underbody support. The extension can include one or more friction enhancing elements.

A patient securing overlay is provided that includes a sheet of fabric for supporting a patient's torso on a surgical table. The sheet of fabric has an upper surface configured to face the patient and a lower surface configured to face a surgical table mattress or underbody support. The sheet of fabric includes friction enhancing elements applied to at least a portion of the upper surface thereof. The sheet of fabric can include an extension at a foot end of the sheet of fabric that provides material to be tucked under a foot end of the surgical table mattress or underbody support for securing the foot end of the sheet of fabric to the surgical table mattress or underbody support. The extension can include one or more friction enhancing elements.

A method for imaging a patient's gastrointestinal tract using a capsule camera and a patient positioning system are disclosed. According to the method, the capsule camera is administered to a patient by swallowing the capsule camera through patient's mouth. For each target examination position selected from a set of examination positions: the patient positioning system is adjusted to a target positioner bed position associated with the target examination position with the patient on the positioner be. Adjusting patient positioning system comprises adjusting the positioner bed to tilt at a tilt angle, and wherein the set of examination positions comprises at least two different tilt angles; and the patient positioning system still is held at the target examination position for a pre-defined period of dwelling time to allow the capsule camera to capture stable pictures. Image data captured by the capsule camera are then collected.

A surgical underlay pad configured to secure a patient's torso while in a Trendelenburg position, the pad comprised of a flexible substrate with a self-adhesive silicone material layer or coat on one or more sides of the substrate and having a shear strength such that when the pad is positioned on an operating table surface and the table is tilted beyond the horizontal, the pad resists sliding. The silicone material can be applied as a continuous coat or in a variety of patterns. The pad is removable and repositionable, and the silicone coat forms a water resistant bond with the operating table surface. The silicone coat reduces the overall mass of the pad, and is cost effective, easier to manufacture, and produces less environmental waste. References to “gel” used in this disclosure include the use of low-tack silicone material.

A surgical underlay pad configured to secure a patient's torso while in a Trendelenburg position, the pad comprised of a flexible substrate with a self-adhesive silicone material layer or coat on one or more sides of the substrate and having a shear strength such that when the pad is positioned on an operating table surface and the table is tilted beyond the horizontal, the pad resists sliding. The silicone material can be applied as a continuous coat or in a variety of patterns. The pad is removable and repositionable, and the silicone coat forms a water resistant bond with the operating table surface. The silicone coat reduces the overall mass of the pad, and is cost effective, easier to manufacture, and produces less environmental waste. References to “gel” used in this disclosure include the use of low-tack silicone material.

A distraction frame for use with a surgical table, wherein the surgical table includes a base for positioning on a floor, the distraction frame including a table mount for fixation to the base of the surgical table; at least one horizontal strut mounted to the table mount; at least one vertical strut mounted to the at least one horizontal strut; and at least one distraction mechanism mounted to the at least one vertical strut, wherein the at least one distraction mechanism may be connected to a limb of a patient for applying a distraction force to the limb of the patient; wherein the table mount may transfer to the floor a force moment imposed on the table mount when the at least one distraction mechanism applies a distraction force to a limb of a patient.

A distraction frame for use with a surgical table, wherein the surgical table includes a base for positioning on a floor, the distraction frame including a table mount for fixation to the base of the surgical table; at least one horizontal strut mounted to the table mount; at least one vertical strut mounted to the at least one horizontal strut; and at least one distraction mechanism mounted to the at least one vertical strut, wherein the at least one distraction mechanism may be connected to a limb of a patient for applying a distraction force to the limb of the patient; wherein the table mount may transfer to the floor a force moment imposed on the table mount when the at least one distraction mechanism applies a distraction force to a limb of a patient.

A robotic surgery system for supporting a patient and a robotic surgical manipulator. The robotic surgery system includes a base, a pillar coupled to the base at a first end and extending vertically upwardly to an opposing second end, and an attachment structure coupled to the second end of the pillar. A patient table is coupled to the attachment structure. A robot support arm has a first end coupled to the attachment structure. The robot support arm extends vertically upwardly from the first end to a second end. The robot support arm may further extend horizontally over the patient table to support a robotic surgical manipulator that will extend generally downward from the robot support arm toward a patient supported by the patient table to place an end effector of the robotic surgical manipulator adjacent a desired surgical site on the patient.

A robotic surgery system for supporting a patient and a robotic surgical manipulator. The robotic surgery system includes a base, a pillar coupled to the base at a first end and extending vertically upwardly to an opposing second end, and an attachment structure coupled to the second end of the pillar. A patient table is coupled to the attachment structure. A robot support arm has a first end coupled to the attachment structure. The robot support arm extends vertically upwardly from the first end to a second end. The robot support arm may further extend horizontally over the patient table to support a robotic surgical manipulator that will extend generally downward from the robot support arm toward a patient supported by the patient table to place an end effector of the robotic surgical manipulator adjacent a desired surgical site on the patient.