A tool path generator utilizes a solid body model of a volume to generate a tool path for a manipulator to remove material of the volume with an energy applicator in a semi-autonomous mode. A material logger monitors movement of the energy applicator according to a cutting path taken by a practitioner in the manual mode, identifies material of the volume to which the energy applicator has been applied in the manual mode, and updates the solid body model based on the identified material. The tool path generator modifies the tool path based on the updated solid body model such that, for the semi-autonomous mode, the modified tool path accounts for the identified material of the volume to which the energy applicator has been applied in the manual mode.

A tool path generator utilizes a solid body model of a volume to generate a tool path for a manipulator to remove material of the volume with an energy applicator in a semi-autonomous mode. A material logger monitors movement of the energy applicator according to a cutting path taken by a practitioner in the manual mode, identifies material of the volume to which the energy applicator has been applied in the manual mode, and updates the solid body model based on the identified material. The tool path generator modifies the tool path based on the updated solid body model such that, for the semi-autonomous mode, the modified tool path accounts for the identified material of the volume to which the energy applicator has been applied in the manual mode.

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.

Surgical systems and methods for generating a tool path. A manipulator is configured to support and move a surgical instrument. Controller(s) obtain data that defines a volume of tissue to be removed from a surgical site. The controller(s) operate the manipulator to move the surgical instrument to remove first portions of the volume and acquire data defining the first portions removed from the volume. The controller(s) identify, based on the volume and the acquired data, additional portions of the volume of tissue that require removal. The controller(s) generate a tool path that passes through the additional portions and operate the manipulator to move the surgical instrument along the tool path to remove the additional portions.

A surgical manipulator is disclosed which includes a surgical instrument, an arm comprising a plurality of links and being configured to support and move the surgical instrument, and at least one controller. The at least one controller is configured to model the surgical instrument as a virtual rigid body. Forces and torques are applied externally to the surgical instrument. The at least one controller determines a commanded pose of the surgical instrument based on evaluation of the forces and torques and controls movement of the arm to place the surgical instrument according to the commanded pose.

A computer-assisted medical system includes a manipulator arm and a controller. The controller includes a computer processor and is configured to determine a kinematic configuration, the kinematic configuration being prior to an installation of a replacement tool on the manipulator arm. The kinematic configuration is of the manipulator arm and a previous tool attached to the manipulator arm and with an end effector of the previous tool located at an insertion location. The controller is further configured to determine a reference geometry of the previous tool in the kinematic configuration, determine an insertion trajectory for the replacement tool based on the reference geometry, and facilitate an insertion of the replacement tool toward a target location of the insertion trajectory by controlling the replacement tool to move in accordance with the insertion trajectory.

Techniques relate to aligning one or more robotic arms of a robotic system to one or more alignment positions. For example, resistance for manual movement of a robotic arm can be set based on a direction of movement of a distal end of the robotic arm with respect to one or more alignment positions. The robotic arm can provide a first amount of resistance for manual movement in a direction closer to the one or more alignment positions and to provide a second amount of resistance for manual movement in a direction away from the one or more alignment positions. In some instances, the robotic arm can be automatically moved to the one or more alignment positions when the robotic arm is within a distance to the one or more alignment positions.

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.

An autonomous farming system includes a computing device that is configured to obtain plant characteristic data that characterizes one or more plant characteristics of a plant growing in at least one growing module. The computing device is further configured to determine at least one growing deficiency of the plant based on the plant characteristic data using a farming engine and to send at least one farming action to a farming controller operatively coupled to the at least one growing module. The at least one farming action includes a remedial action to improve growing conditions of the plant.

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.