A slave manipulator manipulates a medical device in response to operator manipulation of an input device through joint control systems. The stiffness and strength of the slave manipulator are adjustable according to criteria such as the mode of operation of the slave manipulator, the functional type of the medical device currently being held by the slave manipulator, and the current phase of a medical procedure being performed using the slave manipulator by changing corresponding parameters of the control system. For safety purposes, such changes are not made until it is determined that it can be done in a smooth manner without causing jerking of the medical device. Further, an excessive force warning may be provided to surgery staff when excessive forces are being commanded on the slave manipulator for more than a specified period of time.

A working system includes at least one movable apparatus movable and at least one stationary apparatus. The movable apparatus includes a working unit performing a predetermined work. The stationary apparatus includes a control unit performing drive control of the working unit. A control method of the system includes: instructing, when the movable apparatus has reached a working position, the control unit of the stationary apparatus to establish communication with the working unit of the movable apparatus; updating status information indicating a communication establishment status, after the communication instruction; instructing the control unit to transmit an operation signal to the working unit in the working position; instructing the control unit to disconnect the communication, after the signal transmission instruction step; and updating the status information after the disconnection instruction.

A slave manipulator manipulates a medical device in response to operator manipulation of an input device through joint control systems. The stiffness and strength of the slave manipulator are adjustable according to criteria such as the mode of operation of the slave manipulator, the functional type of the medical device currently being held by the slave manipulator, and the current phase of a medical procedure being performed using the slave manipulator by changing corresponding parameters of the control system. For safety purposes, such changes are not made until it is determined that it can be done in a smooth manner without causing jerking of the medical device. Further, an excessive force warning may be provided to surgery staff when excessive forces are being commanded on the slave manipulator for more than a specified period of time.

A system includes an input control, an instrument, a memory storing instructions, and one or more processors coupled to the memory. A first axis of a first coordinate frame is defined along a length of the input control and is associated with an orientation of the input control. A second axis of a second coordinate frame is defined along a length of the instrument and is associated with an orientation of the instrument. When executing the instructions, the one or more processors perform steps including, while in a following state, receiving a first command corresponding to a rotation of the input control about the first axis, in response to the first command, generating a second command to rotate the instrument around the second axis without rotating the instrument around any axis orthogonal to the second axis, and controlling movement of the instrument according to the second command.

A system includes a master manipulator and a controller. The controller determines, before the system enters a following mode, a relative orientation between an orientations of an axis of the master manipulator in an eye frame and a corresponding axis of a slave instrument tip in a camera frame. After the system enters the following mode, the controller determines whether an orientation misalignment between the orientations of the axis of the master manipulator and the corresponding axis of the slave instrument tip is less than or equal to a maximum permitted orientation error. When the orientation misalignment is less than or equal to the maximum permitted orientation error, the controller receives a command indicating a desired orientation of the slave instrument tip from the master manipulator and commands the system to orient the slave instrument tip based on the desired orientation of the slave instrument tip and the relative orientation.

A dynamic representation of a robot in an environment is produced, one or more observer agent collects data, and respective values of one or more metrics for the robot are computed based at least in part on the collected data. Tasks for the robot to perform are generated. Ratings and challenge questions are generated. A server may produce a user interface and a value of a metric based on collected observer data.

A slave manipulator manipulates a medical device in response to operator manipulation of an input device through joint control systems. The stiffness and strength of the slave manipulator are adjustable according to criteria such as the mode of operation of the slave manipulator, the functional type of the medical device currently being held by the slave manipulator, and the current phase of a medical procedure being performed using the slave manipulator by changing corresponding parameters of the control system. For safety purposes, such changes are not made until it is determined that it can be done in a smooth manner without causing jerking of the medical device. Further, an excessive force warning may be provided to surgery staff when excessive forces are being commanded on the slave manipulator for more than a specified period of time.

A working system includes at least one movable apparatus movable and at least one stationary apparatus. The movable apparatus includes a working unit performing a predetermined work. The stationary apparatus includes a control unit performing drive control of the working unit. A control method of the system includes: instructing, when the movable apparatus has reached a working position, the control unit of the stationary apparatus to establish communication with the working unit of the movable apparatus; updating status information indicating a communication establishment status, after the communication instruction; instructing the control unit to transmit an operation signal to the working unit in the working position; instructing the control unit to disconnect the communication, after the signal transmission instruction step; and updating the status information after the disconnection instruction.

A slave manipulator manipulates a medical device in response to operator manipulation of an input device through joint control systems. The stiffness and strength of the slave manipulator are adjustable according to criteria such as the mode of operation of the slave manipulator, the functional type of the medical device currently being held by the slave manipulator, and the current phase of a medical procedure being performed using the slave manipulator by changing corresponding parameters of the control system. For safety purposes, such changes are not made until it is determined that it can be done in a smooth manner without causing jerking of the medical device. Further, an excessive force warning may be provided to surgery staff when excessive forces are being commanded on the slave manipulator for more than a specified period of time.

A system includes a master manipulator and a controller. The controller determines, before the system enters a following mode, a relative orientation between an orientations of an axis of the master manipulator in an eye frame and a corresponding axis of a slave instrument tip in a camera frame. After the system enters the following mode, the controller determines whether an orientation misalignment between the orientations of the axis of the master manipulator and the corresponding axis of the slave instrument tip is less than or equal to a maximum permitted orientation error. When the orientation misalignment is less than or equal to the maximum permitted orientation error, the controller receives a command indicating a desired orientation of the slave instrument tip from the master manipulator and commands the system to orient the slave instrument tip based on the desired orientation of the slave instrument tip and the relative orientation.