A situationally aware surgical system configured for use during a surgical procedure performed on a patient by an operating clinician is disclosed including a surgical instrument configured to generate a signal and a cloud-based analytics subsystem including a memory and a control circuit. The memory is configured to store a plurality of baseline variables. The control circuit is configured to receive the signal, determine a type of surgical procedure being performed, at least in part, on the received signal, determine that a baseline variable of the plurality of baseline variables corresponds to the determined type of surgical procedure, determine a procedural variable of the surgical procedure based, at least in part, on the received signal, compare the determined procedural variable to the corresponding baseline variable, and generate an alert for the operating clinician based, at least in part, on the comparison.

Various systems and methods for evaluating a surgical staff are disclosed. A computer system, such as a surgical hub, can be configured to be communicably coupled to a surgical device and a camera. The computer system can be programmed to determine contextual information pertaining to a surgical procedure based at least in part on perioperative data received from the surgical device during a surgical procedure. Further, the computer system can visually determine a physical characteristic of a surgical staff member via the camera and compare the physical characteristic to a baseline to evaluate the surgical staff member.

In one embodiment, a medical image processing apparatus includes: processing circuitry configured to extract 3D blood vessel data of an object from 3D image data of the object, detect a tip position of a medical device moving in a blood vessel in real time from a fluoroscopic image of the object inputted during an operation, and calculate at least one of a recommended route and a recommended direction of the medical device from the 3D blood vessel data, a rough route of the medical device, and the tip position of the medical device; and a terminal device configured to display a 3D blood vessel image of the object generated from the 3D blood vessel data and to designate the rough route of the medical device on the 3D blood vessel image.

Various systems and methods for evaluating a surgical staff are disclosed. A computer system, such as a surgical hub, can be configured to be communicably coupled to a surgical device and a camera. The computer system can be programmed to determine contextual information pertaining to a surgical procedure based at least in part on perioperative data received from the surgical device during a surgical procedure. Further, the computer system can visually determine a physical characteristic of a surgical staff member via the camera and compare the physical characteristic to a baseline to evaluate the surgical staff member.

This application relates to a surgical data acquisition method. In one aspect, the surgical data acquisition method includes acquiring information about movement of a surgical robot, and dividing a hexahedral block including a maximum movement range of the surgical robot into a plurality of sub-blocks of a specified number. The method may also include storing, for each of the plurality of sub-blocks, information on a sub-block corresponding to a position in which the surgical robot has moved and information about the movement of the surgical robot within the sub-block.

The application provides a device, method and system for registration. The registration device includes a fixing member; a frame connected to the fixing member, at least one trackable element mounted on the frame; and a collection device connected to the fixing member, wherein the collection device is configured to simultaneously collect multiple point data from an object to be registered. The registration method includes obtaining simultaneously, by a registration device, a point cloud data from a surface of a cartilage of an object to be registered; and performing surface fitting based on the point cloud data to obtain a fitted surface of the cartilage of the object to be registered. The registration system includes the registration device; a first point cloud data acquisition module, configured to receive the point cloud data from the collection device; and a surface fitting module, configured for surface fitting with the point cloud data.

A surgical robot comprising a surgical robot arm and a surgical robot arm controller. The surgical robot arm comprises a set of joints and a joint controller. The joint controller is configured to drive a joint of the set of joints. The surgical robot arm controller comprises a processor and watchdog circuitry. The processor is configured to send joint driving signals to the joint controller on a communication link. The watchdog circuitry is configured to: receive sequence values from the processor; determine whether each received sequence value matches a next expected value of a predetermined sequence; and if the received sequence value does not match the next expected value of the predetermined sequence, disable the communication link between the processor and the joint controller.

A surgical robotic system may comprise a manipulator assembly including a manipulator arm having a distal portion. The surgical robotic system may also comprise a registration device mounted to a surgical table. The table mounted registration device includes a registration element shaped to contact with the distal portion of the manipulator arm by receiving the distal portion of the manipulator arm to define a spatial relationship between the manipulator assembly and the table mounted registration device. The distal portion of the manipulator arm moves in a plurality of degrees of freedom. The plurality of degrees of freedom is reduced by the table mounted registration device when the table mounted registration device is in contact with the distal portion of the manipulator arm. The surgical robotic system may also comprise a control system that determines the spatial relationship between the manipulator assembly and the table mounted registration device.

Methods and systems for registering a manipulator assembly and independently positionable surgical table are provided herein. In one aspect, methods include attaching a registration device to a particular location of the surgical table and attaching a manipulator arm of the manipulator assembly to the registration device and determining a position and/or orientation of the surgical table relative the manipulator assembly using joint state sensor readings from the manipulator arm. In another aspect, methods for registration include tracking of one or more optical or radio markers with a sensor associate with the manipulator assembly to determine a spatial relationship between the surgical table and manipulator assembly.

Devices, systems, and methods are provided in which movement of a tool is controlled based on sensed parameters. In one embodiment, an electromechanical tool is provided having an instrument shaft and an end effector formed thereon. The electromechanical tool is configured to be mounted on an electromechanical arm, and the electromechanical tool is configured to move with or relative to the electromechanical arm and perform surgical functions. A controller is operatively coupled to the electromechanical arm and the electromechanical tool and is configured to retard advancement of the electromechanical tool toward a tissue surface based on a sensed amount of displacement of a tissue surface, a strain on the tissue of the patient, the temperature of the electromechanical tool, or the like.