Embodiments of architecture, systems, and methods to develop a learning/evolving system to robotically perform and model one or more activities of a medical procedure where the medical procedure may include diagnosing a patient's medical condition(s), treating medical condition(s), and robotically diagnosing a patient's medical condition(s) and performing one or more medical procedure activities based on the diagnosis without User intervention where the activities may be performed in computer-based environment formed by the learning/evolving system, live, or a combination thereof.

A computer implemented method for determining a configuration of a medical robotic arm, wherein the configuration comprises a pose of the robotic arm and a position of a base of the robotic arm, comprising the steps of: —acquiring treatment information data representing information about the treatment to be performed by use of the robotic arm; —acquiring patient position data representing the position of a patient to be treated; and —calculating the configuration from the treatment information data and the patient position data.

A device sized and shaped for insertion into a body comprising: at least one mechanical limb comprising: a support segment; a first flexible section extending from the support segment and terminating in a coupling section; and a second flexible section extending from the coupling section and terminating in a tool or a connector for a tool; wherein a long axis of one or more of the flexible sections is bendable in a single bending plane; wherein a long axis length of the first flexible section is at least double a maximum extent of the first flexible section perpendicular to a flexible section long axis; wherein a long axis length of the second flexible section is at least double a maximum extent of the second flexible section perpendicular to a flexible section long axis.

Systems, methods, software and techniques for generating a milling path for a tool of a surgical system are provided. The milling path is designed to remove a resection volume associated with an anatomical volume. A reference guide is defined with respect to the resection volume. Sections are defined along the reference guide in succession. Each section intersects the reference guide at a different intersection point and is at a specified orientation relative to the reference guide at the intersection point. Each section further intersects the resection volume. A section path is generated to be bounded within each section and defined relative to the resection volume. A plurality of transition segments are generated and each transition segment connects section paths of successive sections along the reference guide.

A computer-assisted teleoperated system includes a pre-load assembly in an instrument manipulator that is under the control of a controller. The controller can automatically cause the preload assembly to engage and disengage a preload. A surgical apparatus includes an instrument manipulator assembly and a sterile adapter assembly. The sterile adapter assembly is mounted in the distal face of the instrument manipulator assembly. When the preload assembly configures the instrument manipulator assembly to apply a preload force on the sterile adapter assembly, the sterile adapter assembly is removable from the distal face of the instrument manipulator. The sterile adapter assembly includes a mechanical sterile adapter assembly removal lockout and a mechanical instrument removal lockout.

A surgical system and method of operating the same include a manipulator with a base, a robotic arm coupled to the base, and a saw tool coupled to the robotic arm to perform a cut of a bone. A control system is coupled the manipulator and obtains data defining a cutting plane for the bone and a pre-determined depth of the bone to be cut by the saw tool along the cutting plane. The control system associates a virtual planar boundary with the bone along the cutting plane and controls the manipulator to autonomously align the saw tool to the cutting plane. The control system controls the manipulator to activate and autonomously move the saw tool along the cutting plane to perform the cut. Autonomous movement of the saw tool is constrained to remain within the virtual planar boundary and not exceed the pre-determined depth.

A surgical robot includes: a surgical instrument; a manipulator that supports a surgical instrument without holding a trocar and includes an instrument interface to which the surgical instrument is attached, an arm including rotational joints, and a prismatic joint; and a controller. The controller may store a center of motion of the surgical instrument and control motion of the manipulator such that with the shaft inserted through the trocar and the tool located in a body cavity of the patient, a relationship T1≥L is established in a case of L≤T0, wherein: L represents an intra-body cavity length of the surgical instrument; T0 represents a maximum possible linear movement amount of the prismatic joint from an origin position along the axial direction; and T1 represents a first linear movement amount of the prismatic joint from the origin position to a current position along the axial direction.

A surgery supporting apparatus is capable of controlling a posture of a surgical instrument that is inserted into a body cavity and mechanically drivable. The apparatus includes a robot arm that can control the posture of the surgical instrument, which is attached to the robot arm via a gimbal mechanism.

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.

A computing system may identify a surgical instrument for a surgical procedure in an operating room (OR). The computing system may detect a control input by a health care professional (HCP) to control the surgical instrument. The computing system may determine the HCP's access control level associated with the surgical instrument. The computing system may determine whether the HCP has an authorization to control the surgical instrument. If the computing system determines that HCP is unauthorized to control the surgical instrument based on the access control level associated with the HCP, the computing system may block the control input by the HCP. If the computing system determines that the HCP is authorized to control the surgical instrument based on the access control level associated with the HCP, the computing system may effectuate the control input by the HCP to control the surgical instrument.