Methods and systems for instrument tracking and navigation are described. In one embodiment, a non-transitory computer readable storage medium has stored thereon instructions that, when executed, cause a processor of a device to at least receive position sensor data from at least one position sensor tracking an instrument positioned within a luminal network, determine a first estimated state of the instrument derived from the position sensor data, determine a second estimated state of the instrument based on the position sensor data and at least one other type of position data, determine a location transform based on the second estimated state and the first estimated state, adjust the first estimated state based on the location transform to determine a third estimated state of the instrument, and output the third estimated state of the instrument.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 90/30 - Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
A surgical robot includes an end effector driven by a plurality of joints located along a robotic arm of the surgical robot. Additionally, the surgical robot includes a processor communicatively coupled to the robotic arm, the processor configured to apply a first torque limit to at least one of the plurality of joints when the robotic arm is actively moving, and apply a second torque limit to at least one of the plurality of joints when the robotic arm is in a stationary state, wherein the second torque limit is different from the first torque limit.
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
3.
CONTINUOUS TELEOPERATION WITH ASSISTIVE MASTER CONTROL
A medical system may include a user input device for controlling a medical instrument. The medical system may also include a sensor coupled to the user input device for generating information related to the user input device. The medical system may, while operating the user input device in an unassisted mode, identify drift of the user input device based on the information from the sensor and in accordance with identified drift, switch operation of the user input device from the unassisted mode to an assisted mode where the assisted mode may allow operation of the user input device based on a set of parameters distinct from a set of parameters used for the unassisted mode. Methods for operating a medical system that includes a user input device for controlling a medical instrument also disclosed herein.
A surgical robot includes an end effector driven by a plurality of joints located along a robotic arm of the surgical robot. Additionally, the surgical robot includes a processor communicatively coupled to the robotic arm, the processor configured to apply a first torque limit to at least one of the plurality of joints when the robotic arm is actively moving, and apply a second torque limit to at least one of the plurality of joints when the robotic arm is in a stationary state, wherein the second torque limit is different from the first torque limit.
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A robotic system may include an electrical ground line and a protective earth line electrically coupled to the electrical ground line. The robotic system may also include a testing circuit coupled to the protective-earth line via an isolation capacitor. The testing circuit may include a lock-in amplifier and may be configured to measure an impedance for the protective-earth line through the isolation capacitor. Methods for testing or monitoring protective-earth lines are also disclosed herein.
A medical system may include a first haptic interface device, one or more input sensors, one or more processors, and memory storing instructions. When executed by the one or more processors, the instructions can cause the one or more processors to: receive a first input signal from the one or more input sensors; send to the first haptic interface device a kinesthetic haptic feedback signal based at least on the first input signal for a kinesthetic haptic feedback; receive a second input signal from the one or more input sensors; and send to the first haptic interface device a vibrational tactile feedback signal based at least on the second input signal for a vibrational tactile feedback.
A surgical system may include an elongated arm support and a robotic arm supported on the elongated arm support. The robotic arm may translate along the elongated arm support. A partially enclosed cavity may be defined in the elongated arm support for receiving an electrical cable electrically coupled to the robotic arm so that the first electrical cable is within the cavity and includes a rolling loop that moves in conjunction with movement of the robotic arm.
The present disclosure relates to systems, devices, and methods to calibrate an endoscope with a location-sensor-to-camera transform or a camera-to-location-sensor transform.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 1/04 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
Certain aspects relate to manually and robotically controllable medical instruments. A manually and robotically controllable medical instrument can include an elongated shaft articulable by pull wires. The elongated shaft can be connected to an instrument handle that attaches to an instrument drive mechanism. The instrument handle can include a pulley assembly on which the pull wires can be mounted. Rotation of the pulley assembly can actuate the pull wires to cause articulation of the elongated shaft. The medical instrument also includes a manual drive input connected to the pulley assembly such that manual actuation of the manual drive input causes rotation of the first pulley assembly and a robotic drive input configured to engage with a robotic drive output of the instrument drive mechanism such that rotation of the first robotic drive output causes rotation of the pulley assembly.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 1/267 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the respiratory tract, e.g. laryngoscopes, bronchoscopes
A61B 1/307 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the urinary organs, e.g. urethroscopes, cystoscopes
Systems and techniques for endoscopically-assisted percutaneous medical procedures are described. Techniques can include inserting a first medical instrument having an elongated shaft and a first position sensor into a region of anatomy through a natural orifice. A first position of the first medical instrument within the region can be determined with the first position sensor. A target location can be defined within the region based on the determined first position. A second medical instrument can be percutaneously guided toward the target location. The techniques can be implemented with a robotically-enabled medical system.
A61B 1/313 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
A61B 5/06 - Devices, other than using radiation, for detecting or locating foreign bodies
A robotic system includes one or more robotic manipulators, one or more actuators associated with at least one of the one or more robotic manipulators, one or more sensors associated with the one or more robotic manipulators and configured to generate signals indicating a force experienced by the one or more actuators, and control circuitry communicatively coupled to the one or more robotic manipulators and the one or more sensors. The control circuitry is configured to cause the basket device to advance and retract in a dithering motion, while the basket device is moving in the dithering motion, receive the signals from the one or more sensors indicating the force experienced by the one or more actuators, determine that the force is greater than a predetermined threshold, and execute a responsive action in response to the determination that the force is greater than the predetermined threshold.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
A61B 17/221 - Calculus gripping devices in the form of loops or baskets
Methods and apparatuses provide improved navigation through tubular networks such as lung airways by providing improved estimation of location and orientation information of a medical instrument (e.g., an endoscope) within the tubular network. Various input data such as image data, EM data, and robot data are used by different algorithms to estimate the state of the medical instrument, and the state information is used to locate a specific site within a tubular network and/or to determine navigation information for what positions/orientations the medical instrument should travel through to arrive at the specific site. Probability distributions together with confidence values are generated corresponding to different algorithms are used to determine the medical instrument's estimated state.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 1/267 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the respiratory tract, e.g. laryngoscopes, bronchoscopes
A61B 5/06 - Devices, other than using radiation, for detecting or locating foreign bodies
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 90/30 - Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
A robotic system capable of performing a protrusion calibration of an endoscope is disclosed herein. The endoscope includes an elongated scope with a sensor proximate a distal end and a tubular sheath, coaxially aligned with the elongated scope, which surrounds the elongated scope. The sheath and scope are movable relative to one another on a coaxial axis. The sensor may be a camera capable of capturing an opening formed by an inner lumen of the sheath positioned at a distal end of the sheath when the scope is retracted into the sheath such that the opening is made visible to the camera. A transition position where the sheath becomes visible from hidden may be detected based on analysis of readings from the sensor. Based on the transition position, distal ends of the sheath and the scope can be calibrated to provide a particular protrusion.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 1/05 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
Methods and systems provide improved navigation through tubular networks such as lung airways by providing improved estimation of location and orientation information of a medical instrument (e.g., an endoscope) within the tubular network. Various input data such as image data and CT data, are used to model the tubular networks, and the model information is used to generate a camera pose representing a specific site location within the tubular network and/or to determine navigation information including position and orientation for the medical instrument.
G06T 7/70 - Determining position or orientation of objects or cameras
A61B 1/267 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the respiratory tract, e.g. laryngoscopes, bronchoscopes
A61B 6/12 - Devices for detecting or locating foreign bodies
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
G06N 3/04 - Architecture, e.g. interconnection topology
G06T 7/33 - Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
G06T 7/55 - Depth or shape recovery from multiple images
G16H 30/40 - ICT specially adapted for the handling or processing of medical images for processing medical images, e.g. editing
G16H 50/50 - ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for simulation or modelling of medical disorders
A medical robotic system can include a secondary brake release to allow a user to more easily move the arms of the robotic system when the system is in a power-off or fault state. The robotic system can include a joint and a brake mechanism that can limit motion of the joint. The brake mechanism can include a braking material, a first electromagnetic assembly, and a user-commanded release mechanism. The first electromagnetic assembly can disengage the braking material from an engaged configuration to a disengaged configuration. Further, the user-commanded release device can disengage the braking material from the engaged configuration to the disengaged configuration independent of the first electromagnetic assembly.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A medical robotic system can include a secondary brake release to allow a user to more easily move the arms of the robotic system when the system is in a power-off or fault state. The robotic system can include a joint and a brake mechanism that can limit motion of the joint. The brake mechanism can include a braking material, a first electromagnetic assembly, and a user-commanded release mechanism. The first electromagnetic assembly can disengage the braking material from an engaged configuration to a disengaged configuration. Further, the user-commanded release device can disengage the braking material from the engaged configuration to the disengaged configuration independent of the first electromagnetic assembly.
Certain aspects relate to systems and techniques for compensating for compression in elongated shafts of medical instruments. Medical instruments can include elongated shafts that may experience compression when articulated. The medical instruments can be attached to instrument positioning devices that are configured to move the medical instruments to compensate for this compression. For example, an instrument positioning device can advance a medical instrument to compensate for compression in an elongated shaft of the medical instrument. In some instances, the amount of compression is determined using a compression compensation parameter. The compression compensation parameter can be determined during a calibration process of the medical instrument.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 90/98 - Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders
The systems and devices disclosed herein can include a force transfer mechanism that permits force transfer between an instrument device manipulator and a tool coupled to the instrument device manipulator. The force transfer mechanism can include a first alignment member and a second alignment member. The first alignment member can have a disengaged position in which the first alignment member is out of engagement with the second alignment member, thereby reducing or preventing engagement between an instrument device manipulator base driveshaft and a tool driveshaft and permitting rotation of the base driveshaft relative to the tool driveshaft. When in an engaged position, the second alignment member can permit engagement between the base driveshaft to the tool driveshaft and transfer of rotary motion from the base driveshaft to the tool driveshaft. Additionally, the present disclosure also relates to methods of preparing and using a medical robotic system.
A sensor array can detect a position of a magnetic element. The sensor array can include a printed circuit board and a plurality of sensors. The printed circuit board is configured to rotate about a rotation axis and relative to the magnetic element. The plurality of sensors are disposed circumferentially about the rotation axis and coupled to the printed circuit board. At least one sensor is disposed at a selected circumferential position relative to the rotation axis. The sensor is configured to change between an open state and a closed state in response to a change in the position of the magnetic element relative to the rotation axis.
A sensor array can detect a position of a magnetic element. The sensor array can include a printed circuit board and a plurality of sensors. The printed circuit board is configured to rotate about a rotation axis and relative to the magnetic element. The plurality of sensors are disposed circumferentially about the rotation axis and coupled to the printed circuit board. At least one sensor is disposed at a selected circumferential position relative to the rotation axis. The sensor is configured to change between an open state and a closed state in response to a change in the position of the magnetic element relative to the rotation axis.
Techniques for facilitating the removal of material from an anatomical structure with a robotic system are discussed herein. For example, the robotic system can include a first robotic component configured to control movement of a first device and a second robotic component configured to control movement of a second device. The first device and the second device can be controlled within a chamber of the anatomical structure to remove material from the chamber. For instance, the first device can be controlled to emit energy to break up the material into pieces and the second device can be controlled to remove the pieces from the chamber. In some cases, the first device can be controlled to gradually vary a parameter associated with the first device between a first value and a second value.
Surgical robotic systems may indicate locations of surgical tools. A surgical robotic system can include a robotic arm coupled to a surgical tool, a scope, and a viewer for displaying a field of view of a surgical site derived from the scope. The surgical robotic system may be configured to, in accordance with a determination that the surgical tool is not within the field of view, provide electrical signals for presenting a visual indicator on the viewer, indicating a location of the surgical tool.
In some embodiments, a robotic arm includes a first link, a second link, and a rotational joint. The rotational joint is coupled to the first link and the second link and permits the first link to move relative to the second link. The rotational joint includes a rotor, a harmonic drive mechanism, and a vibration damper. The rotor is coupled to the first link and configured to provide a rotor torque. The harmonic drive mechanism is coupled to the rotor and configured to multiply the rotor torque. The vibration damper is coupled to the harmonic drive mechanism and the second link. The vibration damper permits transfer of the rotor torque from the harmonic drive mechanism to the second link and reduces vibrations of the robotic arm
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
G06T 7/246 - Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
A surgical robotics system can include a column-based mount platform and at least one robotic arm coupled to the mount platform. The robotic arm can include a setup linkage and a distal manipulator linkage that collectively define a remote center of motion. The setup linkage can be adjusted to manipulate a pose of the distal manipulator linkage and a location of the remote center of motion. Further, the distal manipulator linkage can be configured to isolate a degree of freedom of motion of a tool coupled thereto to articulate the tool about the remote center of motion. Optionally, the mount platform can be supported by a column of a surgical bed or system. Further, the setup linkage can be robotic. Furthermore, the distal manipulator linkage can use a hardware-constrained remote center of motion. In some embodiments, the distal manipulator linkage can include a parallelogram linkage.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
Robotic medical systems can control vibration of an instrument tip. A robotic medical system can include a robotic arm, a sensor positioned on the robotic arm, and one or more processors. The robotic medical system can be configured to receive an input specifying a target position of the robotic arm. In accordance with the input, the robotic medical system can provide first actuation signals to cause movement of at least a portion of the robotic arm. During the movement, the robotic medical system can receive sensor signals from the sensor. The robotic medical system can generate processed signals based on the received sensor signals and generate control signals according to the processed signals. The robotic medical system can provide second actuation signals based on the first actuation signals and the control signals so that a vibration of the robotic arm is suppressed.
G05B 19/4155 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
28.
METHOD OF ANCHORING PULLWIRE DIRECTLY ARTICULATABLE REGION IN CATHETER
A catheter comprises a flexible polymer catheter body including a proximal shaft section and a distal working section, a wire support structure embedded within the distal working section of the catheter body, a proximal adapter mounted to the proximal shaft section of the catheter body, and a wire disposed within the catheter body. The wire has a proximal end and a distal end. The proximal end of the wire being operably connected to the proximal adapter, and the distal end of the wire is anchored to the wire support structure.
Robotic medical systems may use real-time three-dimensional (3-D) images to convey information to assist a physician or physician assistant. A robotic medical system can include one or more robotic arms. The robotic medical system can include one or more robotic displays. The robotic medical system can be configured to display a 3-D rendering that includes a graphical representation of the one or more robotic arms. The robotic medical system can be configured to update the 3-D rendering in accordance with a pre-programmed workflow corresponding to a procedure, to guide a user through the procedure.
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A system and method of tracking a flexible elongate instrument within a patient is disclosed herein. The system is configured to obtain remote localization measurement data of the flexible elongate instrument and obtain elongation measurement data of the flexible elongate instrument. This data is combined and transformed to a coordinate reference frame to produce a localization of the flexible elongate instrument that is more accurate than the remote localization measurements or elongation measurement data alone. The combined localization is then provided to a localization consumer.
A robotic system includes an instrument comprising an outer body and an inner body configured to be driven through a lumen in the outer body, one or more instrument manipulators configured to control movement of the outer and inner bodies, and one or more computer devices configured to store data representing a model of at least a portion of a luminal network, a position of a target with respect to the luminal network, and a path to the target, identify a portion of the luminal network along the path having a shape matching a park assistance signature, and cause an output to be provided indicating an outer body parking position corresponding to the identified portion of the luminal network.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 1/267 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the respiratory tract, e.g. laryngoscopes, bronchoscopes
A61B 1/273 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
A61B 1/307 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the urinary organs, e.g. urethroscopes, cystoscopes
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
32.
SYSTEMS AND METHODS FOR ROBOTIC ARM ALIGNMENT AND DOCKING
Certain aspects relate to systems and techniques for alignment and docking of robotic arm of a robotic system for surgery. In one aspect, the system includes a robotic arm, a drive mechanism attached to the robotic arm, and a cannula. The system may further include a first sensor coupled to either the robotic arm or the drive mechanism configured to direct automatic movement of the robotic arm towards the cannula, and a second sensor, that is different than the first sensor, coupled to either the robotic arm or the drive mechanism configured to direct manual movement of the robotic arm towards the cannula.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A tool driver for a robotic system can include a sensor to allow the surgical robotic system to determine if a tool or a sterile adapter are fully coupled to the tool driver. The tool driver can include a rotating output that can manipulate a tool and translate perpendicular to a surface of a tool driver body. The tool driver can include a drive mechanism to rotate the rotating output.
A tool driver for a robotic system can include a sensor to allow the surgical robotic system to determine if a tool or a sterile adapter are fully coupled to the tool driver. The tool driver can include a rotating output that can manipulate a tool and translate perpendicular to a surface of a tool driver body. The tool driver can include a drive mechanism to rotate the rotating output.
The systems and devices disclosed herein can include a force transfer mechanism that permits force transfer between an instrument device manipulator and a tool coupled to the instrument device manipulator. The force transfer mechanism can include a first alignment member and a second alignment member. The first alignment member can have a disengaged position in which the first alignment member is out of engagement with the second alignment member, thereby reducing or preventing engagement between an instrument device manipulator base driveshaft and a tool driveshaft and permitting rotation of the base driveshaft relative to the tool driveshaft. When in an engaged position, the second alignment member can permit engagement between the base driveshaft to the tool driveshaft and transfer of rotary motion from the base driveshaft to the tool driveshaft. Additionally, the present disclosure also relates to methods of preparing and using a medical robotic system.
G05B 19/19 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A device may operate a guide wire and be operable by a single operator digit. The device may include an insertion control device for advancing the guide wire in a forward and in a reverse direction and along a longitudinal axis of the guide wire; and a rotary device for rolling a guide wire about the longitudinal axis. A robotic instrument driver may be operatively coupled to the device and configured to control axial movement of the guide wire along the longitudinal axis according to input received from the insertion control device and to control rotational movement of the guide wire according to input received from the rotary device.
A robotic surgical system comprises a horizontal platform to support a patient, a rail positioned about the horizontal platform, a carriage operatively coupled to and configured to translate along the rail, and a robotic arm operatively coupled to the carriage and translated about the patient by the rail. The robotic arm is configured to operate on the patient in a variety of positions provided by the translating carriage. The rail provides a rounded path for the carriage, such as a U-shaped path. The U-shaped path may comprise a first leg and a second leg, the first leg longer than the second leg. Furthermore, the system may comprise a plurality of carriages operatively coupled to the rail and a plurality of robotic arms. Also, the system may further comprise a central base which the horizontal platform can articulate relative to, such as by translating horizontally or vertically, rotating, or titling.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 1/267 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the respiratory tract, e.g. laryngoscopes, bronchoscopes
A61B 1/273 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
A61B 1/303 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the vagina, i.e. vaginoscopes
A61B 1/307 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the urinary organs, e.g. urethroscopes, cystoscopes
A61B 1/31 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the rectum, e.g. proctoscopes, sigmoidoscopes
A61B 1/313 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 50/10 - Furniture specially adapted for surgical or diagnostic appliances or instruments
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
A robotic system includes an end effector comprising one or more drive outputs configured to cause articulation of an elongate shaft of an instrument coupled to the end effector, a memory, and a memory storing computer-executable instructions, that when executed, cause the processor to: determine a pulley rotation, when applied to a pulley coupled to the elongate shaft by the end effector, expected to articulate the elongate shaft to a desired articulation, drive the one or more drive outputs based at least in part on the pulley rotation, monitor tension on one or more pull wires coupled to the pulley, and controlling the one or more drive outputs based at least in part on the tension.
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
40.
SURGICAL ROBOTICS SYSTEMS WITH IMPROVED ROBOTIC ARMS
A robotic surgical system can include one or more adjustable arm supports that support one or more robotic arms. The adjustable arm supports and/or robotic arms can be configured to be deployed from low mount positions, for example, from positions below the surface of the table. The robotic arms can include a plurality of joints providing a plurality of degrees of freedom. The joints may be grouped into a proximal shoulder, an elbow, and a distal wrist. The robotic arms can include one or more redundant degrees of freedom. An insertion mechanism, associated with the robotic arm and configured for providing insertion of an instrument along an assertion axis, can be provided at a distal end of the robotic arms.
A robotic system includes an end effector comprising one or more drive outputs configured to cause articulation of an elongate shaft of an instrument coupled to the end effector, a memory, and a memory storing computer-executable instructions, that when executed, cause the processor to: determine a pulley rotation, when applied to a pulley coupled to the elongate shaft by the end effector, expected to articulate the elongate shaft to a desired articulation, drive the one or more drive outputs based at least in part on the pulley rotation, monitor tension on one or more pull wires coupled to the pulley, and controlling the one or more drive outputs based at least in part on the tension.
Methods and systems for administering directed fluidics during a medical procedure for removing an object are disclosed. A method includes inserting first and second medical instruments into a treatment site, providing irrigation and aspiration of the treatment site through the first and second medical instruments, determining a characteristic of one of the irrigation and the aspiration, and selecting a characteristic of the other of the irrigation and aspiration based on the determined characteristic.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 1/015 - Control of fluid supply or evacuation
A61B 1/267 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the respiratory tract, e.g. laryngoscopes, bronchoscopes
A61B 1/307 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the urinary organs, e.g. urethroscopes, cystoscopes
A61B 10/02 - Instruments for taking cell samples or for biopsy
A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
A61B 17/22 - Surgical instruments, devices or methods, e.g. tourniquets for removing obstructions in blood vessels, not otherwise provided for
A61B 17/221 - Calculus gripping devices in the form of loops or baskets
A61B 18/26 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibre; Hand-pieces therefor for producing a shock wave, e.g. laser lithotripsy
A61B 46/10 - Surgical drapes specially adapted for instruments
A61M 1/00 - Suction or pumping devices for medical purposes; Devices for carrying-off, for treatment of, or for carrying-over, body-liquids; Drainage systems
Systems and methods for dynamic adjustments based on load inputs for robotic systems are provided. In one aspect, a robotic system includes a first robotic arm having at least one joint, a set of one or more processors, and at least one computer-readable memory in communication with the set of one or more processors and having stored thereon computer-executable instructions. The computer executable instructions cause the one or more processors to determine a first external load threshold for the at least one joint based on a maximum safe load capability of the first robotic arm, and adjust the first external load threshold during a medical procedure.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
44.
ELONGATE MEMBER WITH COUPLER TO PROVIDE RADIAL TRANSITION OF TRANSLATING MEMBER
An apparatus includes a proximal elongate portion, a distal elongate portion, a coupler, a proximal tendon assembly, and a distal tendon assembly. The proximal and distal elongate portions share a central longitudinal axis. The coupler is longitudinally interposed between the proximal elongate portion and the distal elongate portion. The coupler includes a first channel. The proximal tendon assembly extends through the proximal elongate portion. The proximal tendon assembly includes a proximal portion of a tendon positioned at a first radial distance from the central longitudinal axis. The distal tendon assembly extends through the distal elongate portion. The distal tendon assembly includes a distal portion of the tendon positioned at a second radial distance from the central longitudinal axis. The tendon passes through the channel of the coupler, which accommodates repositioning of the tendon from the first radial distance to the second radial distance.
A61B 1/307 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the urinary organs, e.g. urethroscopes, cystoscopes
A61B 17/221 - Calculus gripping devices in the form of loops or baskets
An apparatus includes an elongate body and a tendon assembly. The elongate body includes a sidewall comprising a flexible material, a proximal portion, and a distal portion. The tendon assembly is operable to drive deflection of a portion of the elongate body away from the central longitudinal axis. The tendon assembly includes a tendon housing and a tendon. The tendon extends through the sidewall. The tendon housing has a distal end secured at a longitudinal position along the elongate body. The tendon is slidably disposed in the tendon housing. The tendon has a distal portion extending distally from the distal end of the tendon housing. The distal portion of the tendon is fixedly secured relative to the elongate body.
A61B 1/307 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the urinary organs, e.g. urethroscopes, cystoscopes
A61B 17/221 - Calculus gripping devices in the form of loops or baskets
A medical instrument comprises an elongate shaft including a tip at a distal end, and a dual- wire pulley coupled with pull wires configured to transfer tensions to the tip to articulate the tip. The dual-wire pulley is configured to receive an amount of rotation from an actuator. The amount of rotation is calculated based on a kinematic model of a dual -wire pulley articulation response.
An apparatus includes an elongate body, first and second tendons, and first and second stiffening members. The tendons extend through the elongate body and have respective distal ends that are fixedly secured relative to the distal end of the elongate body. The tendons are operable to drive articulation of the distal portion of the elongate body. The stiffening members have respective distal ends that are fixedly secured relative to the distal end of the elongate body. The first tendon and the first stiffening member are positioned adjacent to each other along the proximal portion; and are angularly offset from each other along the distal portion. The second tendon and the second stiffening member are positioned adjacent to each other along the proximal portion; and are angularly offset from each other along the distal portion.
Surgical robotic systems may regulate external forces for teleoperation. A surgical robot can include a surgical instrument configured to mount on a robotic arm. The surgical robot can estimate an external force applied to the surgical instrument during teleoperation while the surgical instrument or the robotic arm is in motion. The surgical robot can pause the motion of the surgical instrument or the robotic arm in response to detecting that the external force exceeds a first threshold. The surgical robot can reduce a velocity of the surgical instrument or the robotic arm in response to detecting that the external force exceeds a second threshold, which is lower than the first threshold.
An apparatus includes an elongate body, first and second tendons, and first and second stiffening members. The tendons extend through the elongate body and have respective distal ends that are fixedly secured relative to the distal end of the elongate body. The tendons are operable to drive articulation of the distal portion of the elongate body. The stiffening members have respective distal ends that are fixedly secured relative to the distal end of the elongate body. The first tendon and the first stiffening member are positioned adjacent to each other along the proximal portion; and are angularly offset from each other along the distal portion. The second tendon and the second stiffening member are positioned adjacent to each other along the proximal portion; and are angularly offset from each other along the distal portion.
A system including an instrument having an elongate body, and a control system communicatively coupled to the instrument. The control system is configured to access a branched skeleton model defining a skeleton including a plurality of segments representing respective segments of a luminal network, identify a segment of the plurality of segments of the branched skeleton model corresponding to a position of a distal end of the instrument, determine a depth along the segment corresponding to the position of the distal end of the instrument, and determine a position of the distal end of the instrument relative to an anatomical map of the luminal network based on the identified segment and the depth along the segment.
A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 90/30 - Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
51.
DETERMINATION OF DIRECTION REVERSAL EXITS FOR ROBOTICALLY CONTROLLED ENDOSCOPES
A method for robotically controlling an endoscope comprises: navigating an elongate shaft in a patient body, the elongate shaft including a tip at a distal end, articulating the tip in a first direction with a first pull wire coupled to a dual-wire pulley, reversing articulation of the tip to a second direction with a second pull wire coupled to the dual-wire pulley based on a nonlinear response region of a kinematic model, determining an end point of the nonlinear response region, and, when articulation of the tip in the second direction reaches the end point, articulating the tip based on a linear response region.
An apparatus includes a proximal elongate portion, a distal elongate portion, a coupler, a proximal tendon assembly, and a distal tendon assembly. The proximal and distal elongate portions share a central longitudinal axis. The coupler is longitudinally interposed between the proximal elongate portion and the distal elongate portion. The coupler includes a first channel. The proximal tendon assembly extends through the proximal elongate portion. The proximal tendon assembly includes a proximal portion of a tendon positioned at a first radial distance from the central longitudinal axis. The distal tendon assembly extends through the distal elongate portion. The distal tendon assembly includes a distal portion of the tendon positioned at a second radial distance from the central longitudinal axis. The tendon passes through the channel of the coupler, which accommodates repositioning of the tendon from the first radial distance to the second radial distance.
An apparatus includes an elongate body and a tendon assembly. The elongate body includes a sidewall comprising a flexible material, a proximal portion, and a distal portion. The tendon assembly is operable to drive deflection of a portion of the elongate body away from the central longitudinal axis. The tendon assembly includes a tendon housing and a tendon. The tendon extends through the sidewall. The tendon housing has a distal end secured at a longitudinal position along the elongate body. The tendon is slidably disposed in the tendon housing. The tendon has a distal portion extending distally from the distal end of the tendon housing. The distal portion of the tendon is fixedly secured relative to the elongate body.
A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.
A61B 46/10 - Surgical drapes specially adapted for instruments
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters
Methods of segmenting an anatomical feature into a plurality of portions can involve receiving an image of an anatomical feature, segmenting the image into a plurality of portions based on a trained image segmentation neural network, each portion of the plurality of portions assigned a portion label, determining a nodule location associated with a nodule in the anatomical feature, assigning the nodule to a portion of the plurality of portions in the image based on the nodule location, computing at least one distance metric between a first point on a boundary of the portion and a second point away from the boundary of the portion, and generating a distance-coded image based on the distance metric, wherein the distance-coded image indicates distances from a boundary of the portion to points exterior to the boundary based on a color scheme.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 1/267 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the respiratory tract, e.g. laryngoscopes, bronchoscopes
An apparatus includes a scope base configured to be positioned extracorporeally relative to a patient. The scope base is configured to attach to at least one drive mechanism. The apparatus also includes an outer sheath extending distally from the scope base, an insertion channel extending through each of the scope base and the outer sheath, and a scope shaft actuatable relative to the scope base and slidably disposed within the insertion channel. The scope shaft includes a rigid proximal shaft portion configured to be driven by the at least one drive mechanism. The scope shaft also includes a deflectable distal shaft portion. The deflectable distal shaft portion is deflectable relative to the proximal shaft portion. The scope shaft further includes a distal end configured to provide visualization of a body cavity.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 1/313 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
A system includes a surgical scope, a feed device, and a controller. The surgical scope is configured to extend through a surgical opening in a body wall of a patient and into a body cavity and includes a distal tip having a lens configured to visualize an anatomical structure. The feed device is operable to selectively advance and retract the surgical scope relative to the body wall. The controller is in communication with the surgical scope and the feed device, and is configured to determine a present target distance measured from the distal tip to the anatomical structure, and compare the present target distance to a threshold target distance. Based on the comparison, the controller is configured to at least one of control the feed device to advance, retract, or halt the surgical scope longitudinally relative to the body wall, or provide a notification to a user of the system.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
Robotic systems can be capable of collision detection and avoidance. A robotic medical system can include a robotic arm, an input device configured to receive one or more user inputs for controlling the robotic arm, and a display configured to provide information related to the robotic medical system. The display can include a first icon that is representative of the robotic arm and includes at least a first state and a second state. The robotic medical system can be configured to control movement of the robotic arm based on the user inputs received at the input device in real time, determine a distance between the robotic arm and a component, and provide information to the user about potential, near, and/or actual collisions between the arm and the component.
An object sizing system sizes an object positioned within an anatomical feature. The object sizing system navigates an elongate body to a location within an anatomical feature and proximate to the object. An imaging sensor coupled to the elongate body captures images of the object. The object sizing system captures the object with a basket. The object sizing system captures an image of the object with the imaging sensor. The object sizing system detects a basket marker in the captured image. The object sizing system determines a distance from the object to the imaging sensor based on the detected basket marker. The object sizing system determines an estimated size of the object based at least in part on the distance.
A61B 1/307 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the urinary organs, e.g. urethroscopes, cystoscopes
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 1/04 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
A61B 1/06 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
A61B 5/06 - Devices, other than using radiation, for detecting or locating foreign bodies
A61B 5/107 - Measuring physical dimensions, e.g. size of the entire body or parts thereof
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
62.
DEVICES, SYSTEMS, AND METHODS FOR CONTROLLING ACTIVE DRIVE SYSTEMS
The present application is related to devices, systems, and methods for controlling active drive systems. In one embodiment, the drive system may include a first surface and a second surface for engaging an elongate member. The first and second surfaces may be attached to a drive mechanism to move the elongate member. The first surface may be slidable relative to the drive mechanism and may have a clearance between the drive mechanism and an end of the first surface during movement of the elongate member in a non-slip condition. A sensor may be associated with the first surface and may be configured to detect movement of the first surface in a slip condition.
A robotically enabled teleoperated system can include a controller and a robotic tool capable of manipulation by the controller. The controller can include a handle, a gimbal and a positioning platform. The handle can be configured for actuation by an operator to cause a corresponding manipulation of the robotic tool. The gimbal can include a joint and a load cell. The joint can be configured to be manipulated based on an impedance control, such that manipulation of the gimbal causes a corresponding manipulation of the robotic tool based on a displacement of the joint. A portion of the positioning platform can be configured to be manipulated based on an admittance control, such that manipulation of the positioning platform causes a corresponding manipulation of the robotic tool based on a force imparted on the controller and measured by the load cell.
Systems, devices and methods are provided in which an instrument can translate along an insertion axis. Rather than relying primarily on a robotic arm for instrument insertion, the instruments described herein have novel instrument based insertion architectures that allow portions of the instruments themselves to translate along an insertion axis. For example, an instrument can comprise a shaft, an end effector on a distal end of the shaft, and a handle coupled to the shaft. The architecture of the instrument allows the shaft to translate relative to the handle along an axis of insertion. The translation of the shaft does not interfere with other functions of the instrument, such as end effector actuation.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
66.
SYSTEMS AND METHODS FOR CONCOMITANT MEDICAL PROCEDURES
Systems and methods for performing concomitant medical procedures are disclosed. In one aspect, the method involves controlling a first robotic arm to insert a first medical instrument through a first opening of a patient and controlling a second robotic arm to insert a second medical instrument through a second opening of the patient. The first robotic arm and the second robotic arm are part of a first platform and the first opening and the second opening are positioned at two different anatomical regions of the patient.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 1/267 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the respiratory tract, e.g. laryngoscopes, bronchoscopes
A61B 1/273 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
A61B 1/307 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the urinary organs, e.g. urethroscopes, cystoscopes
A system and method for variable damping of a hand-controlled input device, thereby providing damped control of a medical tool (e.g., for teleoperation), is disclosed. The system includes a robotic user interface and a control unit for applying different variable damping coefficients to the robotic user interface based on one or more variables. The robotic user interface includes one or more links and one or more joints that cooperate to facilitate remote manipulation of a medical tool. The control unit is configured to receive motion information from the one or more joints, determine a damping modifier from a plurality of different damping modifiers based on the received motion information, apply the determined damping modifier to at least one joint of the one or more joints to modify a force or torque of the at least one joint during a manipulation of the medical tool.
G16H 40/67 - ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
68.
SYSTEM AND METHOD FOR GUIDING ADJUSTMENT OF A REMOTE CENTER IN ROBOTICALLY ASSISTED MEDICAL PROCEDURES
At least one robotic arm is coupled to an instrument and docked to a cannula. The cannula includes a first location of the cannula and a second location of the cannula. The at least one robotic arm is capable of entering a guided mode whereby a remote center of motion changes from the first location of the cannula to the second location of the cannula, and wherein an alert associated with the guided mode informs a user of entry into the guided mode.
A system and method for damped manipulation of a medical tool is disclosed. The system includes a robotic arm and a control unit. The robotic arm includes one or more links and one or more joints that cooperate to move the medical tool. The control unit is configured to receive a position and a velocity of a first joint of the one or more joints, apply a damping function to the first joint based on the received position or velocity to modify a force or torque of the first joint, and vary the damping function applied to the first joint based on the position or velocity when the position or velocity changes while the medical tool is moved.
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
70.
ELECTROMAGNETIC DISTORTION DETECTION AND COMPENSATION
Systems and methods for electromagnetic (EM) distortion detection and compensation are disclosed. In one aspect, the system includes an instrument, the system configured to: determine a reference position of the distal end of the instrument at a first time based on EM location data, determine that the distal end of the instrument at a second time is static, and determine that the EM location data at the second time is indicative of a position of the distal end of the instrument having changed from the reference position by greater than a threshold distance. The system is further configured to: determine a current offset based on the distance between the position at the second time and the reference position at the first time, and determine a compensated position of the distal end of the instrument based on the EM location data and the current offset.
G16H 40/40 - ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the management of medical equipment or devices, e.g. scheduling maintenance or upgrades
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
G16H 70/20 - ICT specially adapted for the handling or processing of medical references relating to practices or guidelines
Techniques relate to providing image data, indicators, and/or other data associated with a medical instrument with the appropriate orientation to assist a user in performing a procedure. For example, a user interface can present an image representation representing image data from a scope and/or a working channel indicator indicating an angle of rotation of a working channel of the scope. When the scope rolls, a rotation adjustment can be applied to the image representation to rotate the image representation within the user interface. Further, the working channel indicator can rotate within the user interface.
G06T 3/60 - Rotation of a whole image or part thereof
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 1/018 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor for receiving instruments
Provided are systems and techniques for a medical procedure. For example, the system may include one or more robotic arms, an imaging device, a master controller, a viewer configured to render one or more digital images based on image data from the imaging device, at least one computer-readable memory having stored thereon executable instructions, and one or more processors. The one or more processors may be configured to execute the instructions to cause the system to: in a first mode of operation, cause movement of at least one of the robotic arms; and in a second mode of operation, cause the viewer to display an interactive menu and a graphical overlay on the one or more digital images.
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
B25J 9/02 - Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian co-ordinate type
B25J 9/06 - Programme-controlled manipulators characterised by multi-articulated arms
Systems and methods are described herein that improve control of a shapeable or steerable instrument using shape data. Additional methods include preparing a robotic medical system for use with a shapeable instrument and controlling advancement of a shapeable medical device within an anatomic path. Also described herein are methods for altering a data model of an anatomical region.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A machine-learned model is used in the detection of anomalies in operation of the instrument drive chain of a surgical robotic system. For example, normal operation (e.g., cable force) based on operation information (e.g., position and/or load) is predicted by the machine-learned model, which prediction is then compared to actual operation. The comparison results in early detection of anomalies based on machine-learned prediction and the corresponding incorporation of historical operation.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
G16H 40/67 - ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
An instrument device manipulator (IDM) is attached to a surgical arm of a robotic system and comprises a surgical tool holder and an outer housing. The surgical tool holder includes an attachment interface that can secure a surgical tool in a front-mount configuration (where the attachment interface is on a face opposite of a proximal extension of the surgical tool) or a back-mount configuration (where the attachment interface is on the same face as the proximal extension of the surgical tool). The surgical tool holder may rotate continuously within the outer housing. In a back-mount configuration, the surgical tool holder may have a passage that receives the proximal extension of the tool and allows free rotation of the proximal extension about the rotational axis. A surgical drape separates the IDM and robotic arm from a tool, while allowing electrical and/or optical signals to pass therebetween.
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
Certain aspects relate to systems and techniques for a bipolar medical instrument. In one aspect, the medical instrument includes a first end effector, a first set of one or more distal pulleys coupled to the first end effector, and a wrist configured to house the first set of distal pulleys. The medical instrument also includes a plurality of cables extending through the wrist and a first insulating member formed between the first end effector and the first set of one or more distal pulleys.
A61B 18/12 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
A system includes a controller, a robotic arm in communication with the controller and having a head, and a surgical scope coupled with the head and having a scope shaft sized and configured to be inserted through an opening in a body wall and into a body cavity of a patient. The controller is programmed to control the robotic arm to manipulate the surgical scope relative to the patient while inhibiting the head from entering a predefined zone of a robotic arm workspace that overlies the body wall.
An apparatus includes a proximal structure configured to be positioned extracorporeally relative to a patient and defining a primary axis, and a distal structure extending distally from the proximal structure and configured to be passed through a body wall and into a body cavity of the patient. The distal structure cooperates with the proximal structure to define a working channel sized and configured to receive and guide a surgical instrument distally therethrough. The distal structure includes a proximal portion and an angled distal portion. The angled distal portion defines a secondary axis that is angled relative to the primary axis. At least the angled distal portion of the distal structure is rotatable relative to proximal structure about the primary axis.
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 1/018 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor for receiving instruments
A machine-learned model is used in the detection of anomalies in operation of the instrument drive chain of a surgical robotic system. For example, normal operation (e.g., cable force) based on operation information (e.g., position and/or load) is predicted by the machine-learned model, which prediction is then compared to actual operation. The comparison results in early detection of anomalies based on machine-learned prediction and the corresponding incorporation of historical operation.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A medical instrument includes an instrument base, the instrument base including a first robotic drive input and a linear actuator coupled to the first robotic drive input, the first robotic drive input configured to couple to a corresponding robotic drive output of a robotic instrument driver, and an elongate shaft extending from a proximal portion of the instrument base, wherein the linear actuator couples to a portion of the elongate shaft at a point distal to the proximal portion of the instrument base.
A system includes a proximal sheath, a distal sheath, and a scope shaft. The proximal sheath has a distal end with a first connection member and is configured to be positioned extracorporeally relative to a patient. The distal sheath has a proximal end with a second connection member configured to releasably connect with the first connection member. A distal sheath portion of the distal sheath is configured to be passed through a body wall and into a body cavity of the patient. The scope shaft is slidable through the proximal and distal sheaths to access the body cavity and includes a distal tip section having a lens configured to visualize the body cavity.
An apparatus includes a proximal structure configured to be positioned extracorporeally relative to a patient, and a distal structure extending distally from the proximal structure and configured to be passed through a body wall and into a body cavity of the patient. The distal structure cooperates with the primary structure to define a primary axis and a working channel sized and configured to receive and guide a surgical scope shaft distally therethrough along the primary axis. The proximal structure has a greater maximum dimension in a direction transverse to the primary axis than the distal structure. The apparatus further includes an articulation feature at a distal end of the distal structure that is configured to articulate relative to the proximal structure to direct the surgical scope shaft along a secondary axis that is angled relative to the primary axis.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 1/313 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
An instrument includes an elongate shaft, a set of pull wire lumens disposed within the elongate shaft, the set of pull wire lumens comprising first, second, third, and fourth pull wire lumens, and a set of pull wire segments comprising first, second, third, and fourth pull wire segments disposed within the first, second, third, and fourth pull wire lumens, respectively, each of the set of pull wire segments having a proximal portion that is configured to be manipulated by a robotic input.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
Certain aspects relate to systems, devices, and techniques for clot manipulation and removal. At least some of the devices for clot manipulation and removal can be robotically controlled. These devices can include one or more elongate members that can be robotically driven through a patient's vasculature. One such device can include a first elongate member that can serve as an access sheath, a second elongate member that can serve as a clot removal catheter, a third elongate member that can serve as a clot disruptor, and a fourth elongate member that can serve as a guidewire.
A61B 17/12 - Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord
A robotic system includes an elongate instrument, a robotic manipulator, and control circuitry configured to determine an estimated position within a preoperative model of a luminal network that corresponds to a current position of the instrument, determine first and second expected subsequent branches associated with an estimated current branch where the instrument is positioned, receive image data representing an interior of the luminal network from the imaging device, identify first and second branch openings in an image associated with the image data, determine a first vector between the first branch opening and the second branch opening, determine a second vector between the first and second expected subsequent branches with respect to an image of the preoperative model, and map the first branch opening and the second branch opening to the first and second expected subsequent branches, respectively, based on the first vector and the second vector.
A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 1/05 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
A61B 1/267 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the respiratory tract, e.g. laryngoscopes, bronchoscopes
A61B 1/273 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
A61B 1/307 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the urinary organs, e.g. urethroscopes, cystoscopes
A61B 1/313 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
An instrument driver comprises a base and a jaw assembly coupled to the base. The jaw assembly includes a first jaw having a gripping surface and a second jaw having a gripping surface. The instrument driver further comprises a driver assembly operably coupled to the jaw assembly to advance an elongated member relative to the base by translating the first and second jaws toward each other, thereby closing the jaw assembly and gripping the member between the respective gripping surfaces of the first and second jaws, translating the jaw assembly in a first axial direction when the jaw assembly is closed, translating the first and second jaws away from each other, thereby opening the jaw assembly and releasing the member from between the respective gripping surfaces of the first and second jaws, and translating the jaw assembly in a second axial direction when the jaw assembly is opened.
Certain aspects relate to systems and techniques for medical robotic systems that leverage a versatile, open kinematic chain together with a set of medical-procedure-specific software-controlled actuation constraints in order to perform a variety of medical procedures. The robotic system can be operated in a first mode by identifying a remote center and constraining the actuation of motorized joints to maintain intersection of at least an insertion axis with the remote center. The robotic system can be operated in a second mode by identifying a virtual rail position and constraining the actuation of motorized joints to maintain alignment of the insertion axis along the virtual rail.
Systems and methods for detecting contact between a link and an external object are provided. In one aspect, there is provided a robotic system, including a manipulatable link, a rigid shell configured to overlay the manipulatable link, and one or more sensors positioned between the rigid shell and the manipulatable link. The one or more sensors are configured to detect contact between the rigid shell and an external object.
An instrument having a flexible and elongated body includes at least a lumen and a flex member disposed within the lumen. The flex member may be capable of providing steering control to a first portion of the elongate body while providing load bearing support to a second portion of the elongate body. A pull wire may be disposed within the flex member, and at least a distal portion of the pull wire may be coupled to the elongate body and a proximal portion of the pull wire may be operatively coupled to a control unit. The control unit may be coupled to a proximal portion of the elongate body. In addition, a control member may be operatively coupled to the control unit such that a distal portion of the control member may be positioned near a proximal portion of the flex member. The control member may be configured to support the flex member and control the movement or displacement of the flex member. Furthermore, the flex member may be configured to selectively decouple articulation or steering forces of a first portion of the elongate body away from a second portion of the elongate body; thereby, preventing compression of the second portion of the elongate body while maintaining elasticity or flexibility of the second portion of the elongate body.
A medical system includes a scope configured to capture at least one endoscopic image, a display device configured to display the endoscopic image, one or more processors, and a memory storing instructions for execution by the one or more processors, the stored instructions including instructions that cause the one or more processors to determine an orientation of the scope associated with the endoscopic image. The stored instructions may include instructions to determine at least one reference axis associated with a luminal network. The reference axis may indicate a first anatomical direction and a second anatomical direction. The stored instructions may include instructions to generate an orientation indicator based on the reference axis. The stored instructions may include instructions to cause the display to present the endoscopic image and the orientation indicator, the orientation indicator overlaid on the endoscopic image.
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
94.
SYSTEMS AND METHODS FOR POSITIONING AN ELONGATE MEMBER INSIDE A BODY
Systems and methods for introducing and driving flexible members in a patient's body are described herein. In one embodiment, a robotic method includes positioning a flexible elongated member that has a preformed configuration, wherein at least a part of the flexible elongated member has a first member disposed around it, and wherein the first member includes a first wire for bending the first member or for maintaining the first member in a bent configuration, releasing at least some tension in the first wire to relax the first member, and advancing the first member distally relative to the flexible elongated member while the first member is in a relaxed configuration.
Certain aspects relate to systems and techniques for navigation-assisted medical devices. Some aspects relate to correlating features of depth information generated based on captured images of an anatomical luminal network with virtual features of depth information generated based on virtual images of a virtual representation of the anatomical luminal network in order to automatically determine aspects of a roll of a medical device within the luminal network.
A device is provided for preventing buckling of a flexible elongate member during insertion of the flexible elongate member. The device includes a support frame comprising a first end, a second end, and multiple pairs of support members. The support frame is configured to reversibly move from a collapsed configuration to an expanded configuration when the first and second ends are moved away from each other. The device also includes multiple open channels coupled to the multiple pairs of support members of the support frame. The multiple open channels are configured to allow the flexible elongate member to be top loaded into the multiple open channels. Also, the multiple open channels are maintained in an axial alignment as the support frame is moved between the expanded and collapsed configurations.
A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters
F16L 3/12 - Supports for pipes, cables or protective tubing, e.g. hangers, holders, clamps, cleats, clips, brackets substantially surrounding the pipe, cable or protective tubing comprising a member substantially surrounding the pipe, cable or protective tubing
Provided are systems and methods for location sensor-based branch prediction. In one aspect, the method includes determining a first orientation of an instrument based on first location data generated by a set of one or more location sensors for the instrument and determining a second orientation of the instrument at a second time based on second location data. A distal end of the instrument is located within a first segment of a model at the first time and the second time and the first segment branches into two or more child segments. The method also includes determining data indicative of a difference between the first orientation and the second orientation and determining a prediction that the instrument will advance into a first one of the child segments based on the data indicative of the difference.
G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
Robotic medical systems can be capable of establishing procedural setup. A robotic medical system can include a kinematic chain having at least a first robotic arm. The robotic medical system can be configured to execute first movement of the kinematic chain to a first pose in accordance with a first recommended pose corresponding to a first procedure to be performed on a patient. After the kinematic chain reaches the first pose, the robotic medical system can obtain first data corresponding to a boundary condition of the kinematic chain in accordance with an input from a user and/or second data corresponding to a current state of the patient. The robotic medical system can be configured to adjust at least a portion of the kinematic chain from the first pose to a second pose in accordance with the obtained first data and/or second data.
G05B 19/4155 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
A surgical robotic system can include a robotic arm coupled to a flexible scope and a viewer for displaying a field of view of a surgical site derived from the flexible scope. The surgical robotic system may be configured to operate the flexible scope in a particular mode of a plurality of modes. In accordance with a determination that the flexible scope is operating in the particular mode, the surgical robotic system may provide electrical signals for presenting a first visual indicator, corresponding to the respective mode, on the viewer.
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
An aspiration catheter can include an elongate shaft and an instrument base coupled to the shaft and configured to control actuation of at least a distal portion of the shaft. The shaft can include a lumen configured to couple to an aspiration system to provide aspiration to a target site, such as to remove an object from a patient. The instrument base can be controlled robotically and/or manually to articulate at least the distal portion of the shaft.
