A system for distributed heat flux sensing of body tissue includes a distributed sensor, a thermal energy source, and one or more processors. The distributed sensor provides a plurality of temperature measurements corresponding to a plurality of points in a measurement range. The thermal energy source applies thermal energy to the body tissue along the measurement range. The one or more processors are configured to receive the plurality of temperature measurements from the distributed sensor, determine an amount of thermal energy applied by the thermal energy source at each of the plurality of points, and determine heat flux at each of the plurality of points based on the plurality of temperature measurements and the amount of thermal energy applied by the thermal energy source. The plurality of temperature measurements correspond to the plurality of points.
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
A61B 18/00 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
A61B 18/08 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by means of electrically-heated probes
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
G01K 1/02 - Means for indicating or recording specially adapted for thermometers
G01K 11/32 - Measuring temperature based on physical or chemical changes not covered by group , , , or using changes in transmittance, scattering or luminescence in optical fibres
A surgical instrument includes a chassis, an outer tube having a proximal end operably coupled to the chassis, and an inner tube extending within the outer tube. The inner tube has a proximal end operably coupled to the chassis to allow slidable movement of the inner tube relative to the outer tube in response to a force imparted to a distal end of the inner tube, and such that frictional force imparted to an outer surface of the outer tube is not imparted to the inner member.
A61B 17/00 - Surgical instruments, devices or methods
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
3.
SYSTEMS AND METHODS FOR TAG-BASED INSTRUMENT CONTROL
A system may access medical session data for a medical session and determine, based on the medical session data, that an event occurs within a region of interest associated with the medical session. The medical session includes performance of one or more operations by a computer-assisted medical system. The system may identify a physical location within the region of interest and associated with the event, identify content captured by an imaging device and depicting the physical location when the event occurred, and associate the content with the physical location. After the event occurs, the system may provide a user with access to the content when the physical location is within a field of view of the imaging device.
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
G06F 3/0484 - Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
Techniques for controlling grasping include a manipulator configured to be releasably coupled to an instrument, the instrument having an end effector comprising a first jaw and a second jaw; a drive system configured to apply a force or torque to the instrument to cause the end effector to grasp a material between the first jaw and the second jaw; and a processor. The processor is configured to monitor a force or torque applied by the drive system to cause the end effector to grasp the material and in response to a determination that the applied force or torque is below a lower limit of an acceptable range of force or torque, reverse a direction of the applied force or torque.
A61B 17/00 - Surgical instruments, devices or methods
A61B 17/072 - Surgical staplers for applying a row of staples in a single action, e.g. the staples being applied simultaneously
A61B 17/115 - Staplers for performing anastomosis, e.g. in a single 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
Systems and methods for providing an intelligent event system during a medical session in a medical environment include determining, based on at least one data stream, a non¬ operative activity during the medical session in the medical environment, the at least one data stream captured using at least one sensor located in the medical environment, predicting, using a machine learning model and based at least on the non-operative activity and metadata associated with the medical session, a time remaining to a milestone associated with the medical session, and performing action responsive to predicting the time remaining to the milestone.
G16H 40/20 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the management or administration of healthcare resources or facilities, e.g. managing hospital staff or surgery rooms
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
Surgical systems can include a repositionable structure, an instrument holder, and a probe holder. A control system can be configured to insert an instrument and move a sensing probe to keep the instrument within a field of view as the instrument moves, where movement of the repositionable structure moves both the instrument holder and probe holder. A control system can be configured to impose a set of constraints on degrees of freedom of motion of the system when controlling movement about a remote center and not imposing the set of constraints during an initial scan with a sensing probe. Surgical systems can include an instrument driver, a needle coupled to the instrument driver, a high frequency vibration mechanism coupled to the needle, and a low frequency vibration mechanism coupled to the needle.
A61B 90/11 - 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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
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 8/00 - Diagnosis using ultrasonic, sonic or infrasonic waves
A system receives from an imaging device a set of two-dimensional projection images associated with respective projection angles. The projection images contain projections of an anatomical structure with a flexible elongate device disposed therein, an anatomical target, and, possibly, fiducial markings. The system may reconstruct from the set of two-dimensional projection images a three-dimensional image. In some examples, prior to the reconstruction, the system may detect and in-paint pixels (within the projection images) associated with the fiducial markings, the flexible elongate device, and/or other objects. The system may enhance the reconstruction using a style transfer model. Furthermore, the system may receive shape data, in the sensor/instrument coordinate system, associated with the flexible elongate device. The system may compute a transformation between the imaging coordinate system and the instrument coordinate system, identify a target within the reconstructed image, and, using the computed transformation, update target location in the instrument coordinate system.
A method for operating a medical system comprises inserting a cannula through a body wall of a patient to a target depth, adjusting an adjustable connecting mechanism to a target setting to position an instrument holder at a target position relative to a robotic manipulator arm, and coupling the instrument holder to the cannula. The adjustable connecting mechanism comprises a plurality of depth position settings to adjust a position of the instrument holder relative to the robotic manipulator arm based on the target depth. The target setting corresponds to the target depth, and a remote center distance between the robotic manipulator arm and a remote center of motion is maintained as the adjustable connecting mechanism moves the instrument holder to the target position relative to the robotic manipulator arm. The cannula pivots about the remote center of motion.
A61B 34/20 - Surgical navigation systemsDevices 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
Techniques for controlling an imaging device include a first repositionable arm comprising a plurality of actuators configured to cause movement of the first repositionable arm and a plurality of joints; and a controller comprising one or more hardware processors. The controller is configured to determine whether an imaging device supported by the first repositionable arm comprises an articulable joint coupling an imaging apparatus to a shaft of the imaging device; in response to a determination that the imaging device comprises the articulable joint: command the plurality of actuators to move the plurality of joints and the articulable joint to position and orient a field of view of the imaging apparatus; and in response to a determination that the imaging device does not comprises the articulable joint: command the plurality of actuators to move the plurality of joints to position and orient the field of view of the imaging apparatus.
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. endoscopesIlluminating arrangements therefor
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
G06T 7/70 - Determining position or orientation of objects or cameras
A surgical training model includes a base layer having hydrogel. Harvested porcine tissue is carried by the base layer. A mesh may be coupled to the base layer.
Systems and methods are described for ultrasound guided robotic percutaneous instrument insertion into a subject. The method may include (i) obtaining images of a target volume of a subject, the images obtained by a sensing probe physically positioned by a probe holder that is coupled to a repositionable structure; (ii) reconstructing a three-dimensional (3D) representation of the target volume from the images of the target volume; (iii) segmenting the 3D representation of the target volume to identify one or more objects, boundaries, or features in the 3D representation of the target volume; (iv) determining an instrument insertion pathway including an insertion site and a treatment site; and (v) controlling the repositionable structure and an instrument holder to advance an instrument along the insertion pathway.
A61B 90/11 - 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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
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 8/00 - Diagnosis using ultrasonic, sonic or infrasonic waves
A system receives from an imaging device a set of two-dimensional projection images associated with respective projection angles. The projection images contain projections of an anatomical structure with a flexible elongate device disposed therein, an anatomical target, and, possibly, fiducial markings. The system may reconstruct from the set of two-dimensional projection images a three-dimensional image. In some examples, prior to the reconstruction, the system may detect and in-paint pixels (within the projection images) associated with the fiducial markings, the flexible elongate device, and/or other objects. The system may enhance the reconstruction using a style transfer model. The system or another system may train the style transfer model by generating two-dimensional projections for a training set based on a three-dimensional ground truth image.
An image processing system may process a frame of captured image data at each image processing stage of a plurality of image processing stages of an image processing pipeline to generate a frame of processed image data. Based on the processing the frame of captured image data at each image processing stage of the plurality of image processing stages, the image processing system may determine a value of a variance component of noise for a pixel in the frame of processed image data. The image processing system may generate a frame of adjusted image data comprising a pixel having a signal value that is based on the processed image data and the value of the variance component of noise for the pixel in the frame of processed image data.
An electrode treatment device includes an electrode strip arranged in the shape of a helix with a first end of the electrode strip attached to an elongate flexible body, such as a catheter tube, and a second end of the electrode strip attached to a flexible shaft that extends from the body. When the helical electrode is contracted around the body and/or shaft, the device may be less than 2 mm in diameter to facilitate endoluminal insertion and treatment of gastrointestinal or lung tissue, for example. The shaft is rotatable relative to the body to radially expand the helix to a deployed position in apposition to target tissue for electrosurgical treatment (e.g., treatment in a lumen). The electrode strip may consist of conductive foil or may comprise a flexible printed circuit with one or more electrodes formed thereon. The device may be operated by a robotic manipulator.
Implementations of a suturing device and related methods are provided. The suturing device includes a housing that defines an arcuate needle track having a first end and a second end and a gap between the first end and second end of the arcuate needle track. The suturing device further includes a reciprocating drive to advance an arcuate needle along the arcuate needle track that includes a drive pawl to drive the arcuate needle along the arcuate needle track.
A61B 17/04 - Surgical instruments, devices or methods for closing wounds or holding wounds closedAccessories for use therewith for suturing woundsHolders or packages for needles or suture materials
A61B 17/00 - Surgical instruments, devices or methods
A61B 17/06 - NeedlesHolders or packages for needles or suture materials
Systems and methods for minimally invasive computer-assisted telesurgery are described. A computer-assisted teleoperated surgery system includes a teleoperated instrument actuation pod. The surgical instrument actuation pod includes a plurality of linear actuators arranged around a surgical instrument. The linear actuators engage with actuator engagement members on the instrument and so drive movable parts on the instrument. The actuation pod is mounted on a teleoperated manipulator. Instrument pod mass is close to the teleoperated manipulator to minimize the pod's inertia, momentum, and gravity effects on the manipulator.
Various of the disclosed embodiments provide systems and methods for training a machine learning system to anticipate semantic features of surgical theater data, even in the absence of fully-labeled data. Specifically, embodiments may compress, then reconstruct, the available surgical theater data, even if unlabeled, and in doing so, teach an encoding and decoding machine learning system to recognize semantic features salient to downstream training and applications. In addition, many of the disclosed embodiments accommodate a wide variety of surgical theater data modalities, e.g., pairs of visual intensity video surgical theater data and depth frame video surgical theater data. Masking, losses, and other disclosed features may further improve the system's ability to infer semantic correlations. Using various of the disclosed embodiments, machine learning applications may be made possible that would be otherwise unfeasible in low-data surgical theater data regimes.
G16H 40/20 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the management or administration of healthcare resources or facilities, e.g. managing hospital staff or surgery rooms
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
G16H 50/70 - ICT specially adapted for medical diagnosis, medical simulation or medical data miningICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for mining of medical data, e.g. analysing previous cases of other patients
18.
CONDITIONAL BRAKE ENGAGEMENT TO INHIBIT BACK-DRIVING OF SYSTEM COMPONENTS
A medical system includes a manipulator assembly and a control system coupled to the manipulator assembly. The manipulator assembly includes an actuator for driving a medical instrument along an insertion axis of the manipulator assembly and a brake for inhibiting movement of the medical instrument along the insertion axis. The control system is configured to determine whether the medical system is in a first operation mode involving actuator driven movement of the medical instrument along the insertion axis or a second operation mode involving no actuator-driven movement of the medical instrument along the insertion axis, and based determining that the medical system is in the second operation mode, control the brake to inhibit movement of the medical instrument along the insertion axis caused by an external force.
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 90/90 - Identification means for patients or instruments, e.g. tags
A61B 34/20 - Surgical navigation systemsDevices 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 90/50 - Supports for surgical instruments, e.g. articulated arms
19.
SYSTEMS AND METHODS FOR INTEGRATING INTRA-OPERATIVE IMAGE DATA WITH MINIMALLY INVASIVE MEDICAL TECHNIQUES
A system comprises a processor, a display, and a memory having computer readable instructions stored thereon that, when executed by the processor, cause the system to receive intra-operative three-dimensional image data from an imaging system. A portion of the intra-operative three-dimensional image data corresponds to an instrument disposed in a patient anatomy. The computer readable instructions, when executed by the processor, further cause the system to generate two-dimensional projection image data from the intra-operative three-dimensional image data, display the two-dimensional projection image data on the display, and identify, within the two-dimensional projection image data, a three-dimensional location of a portion of the instrument.
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 34/00 - Computer-aided surgeryManipulators 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
20.
DISTURBANCE COMPENSATION IN COMPUTER-ASSISTED DEVICES
Disturbance compensation in teleoperated devices include a first articulated arm, a second articulated arm, and a control unit. The control unit is configured to detect a first disturbance to the first articulated arm occurring at a first time, the first disturbance moving an imaging device supported by the first articulated arm away from a first orientation of the imaging device toward a second orientation of the imaging device, and after the first time: receive a first indication of a first user input to move an end effector supported by the second articulated arm while the imaging device is not at the first orientation, determine, based on the first indication, a first command for moving the end effector as if the imaging device has the first orientation, and command a second plurality of actuators of the second articulated arm to move the end effector according to the first command.
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
B25J 9/06 - Programme-controlled manipulators characterised by multi-articulated arms
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
Systems and methods are provided for control of a surgical system. Accordingly, a controller of the surgical system detects a number of instances of a deviation of a sensor signal from a design sensor signal. An error rate is then determined for the sensor signal, and on a condition that the error rate exceeds an error rate threshold, an error tolerant mode is entered in which a normal operational mode of the surgical system is stopped and a resolution timer is initiated. If a resolution signal is received prior to the expiration of the resolution timer, the normal operational mode is resumed, but if the resolution signal is not received prior to the expiration of the resolution timer, a fault mode is entered.
Systems and methods are provided for control of computer‑assisted system. Accordingly, an output signal is received from a force sensor unit. The output signal corresponds to a sensed force exerted on a distal end portion of a medical instrument of the surgical system. A force vector corresponding to a magnitude and direction of the sensed force is determined. A first haptic output based on the force vector and a second haptic output indicative of a limiting operating condition are concurrently provided.
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 34/20 - Surgical navigation systemsDevices 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
23.
SYSTEMS AND METHODS FOR PARTITIONING MODELS OF ANATOMICAL STRUCTURES INTO FUNCTIONAL SEGMENTS
An example method may include determining, by a computing system and based on a set of seeds determined from data representative of a labeled first tubular structure and a labeled second tubular structure in a model of at least a portion of an anatomical structure, a partitioning of the model into segments. The method may further include outputting, by the computing system, data representative of the segments.
Implementations relate to control switch position sensing across a rotational joint. In some implementations, a control input device includes a base member and a roll member rotatable about a central axis with respect to the base member in a roll degree of freedom. A switch contact portion is rotatable with the roll member and moveable to multiple positions in a switch degree of freedom. A first sensor element is coupled to and moveable with the switch contact portion and can be a passive element. A base sensor element is coupled to the base member and configured to sense a proximity of the first sensor element to the base sensor element, and to output a signal indicative of a current position of the switch contact portion in the switch degree of freedom independently of a rotational orientation of the roll member in the roll degree of freedom.
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
25.
SYSTEMS AND METHODS IMPLEMENTING DISTANCE-BASED IMAGE SENSOR WINDOWING
An illustrative system may include a stereoscopic imaging device comprising: a first image sensor having a first pixel array and configured to provide a first windowed output, the first windowed output comprising first image information associated with pixels included within a first window of the first pixel array, and a second image sensor having a second pixel array and configured to provide a second windowed output, the second windowed output comprising second image information associated with pixels included within a second window of the second pixel array, and an imaging control system configured to dynamically adjust at least one of the first position of the first window within the first pixel array or the second position of the second window within the second pixel array based on a working distance between a target surface within a scene and the stereoscopic imaging device.
H04N 13/239 - Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
G06T 7/70 - Determining position or orientation of objects or cameras
A method comprises identifying connected anatomical structures in stored images of a patient anatomy and generating a plurality of cylindrical linkage elements representing the connected anatomical structures. The method also comprises receiving tracking data corresponding to a point on an instrument positioned within at least one of the connected anatomical structures; and matching the point on the instrument to one of the plurality of cylindrical linkage element
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
Systems and method of visualizing patient anatomy during planning or executing a medical procedure are described. The systems and methods are directed to labeling anatomical regions of interest with ill-defined or poorly visible boundaries based on reference images with labels for the corresponding reference images. The example methods include obtaining an image of patient anatomy and obtaining a plurality of reference images with labels of one or more anatomical regions of interest (ROIs). The example methods further include computing transformations between the image of patient anatomy and reference images. Still further, the example methods include generating sets of one or more labels of ROIs within the image of patient anatomy. Still further, the example methods include displaying a graphical user interface (GUI) depicting anatomical ROIs (computed based on reference image) within patient anatomy.
A sterile drape assembly for draping equipment to create a sterile barrier around the equipment may comprise a hollow elongated drape body and a closure mechanism. The drape body extends between a first end and a second end and has a first drape portion comprising the first end and a second drape portion comprising the second end. The closure mechanism releasably closes, or is configured to releasably close, the first end of the drape body. The sterile drape assembly has a partially inverted state in which the first drape portion is folded back over and covers the second drape portion, and the second drape portion defines a partially enclosed interior volume configured to receive at least a first portion of the equipment.
A data cable assembly and a power cable assembly. The data cable assembly including a first power cable and a first ground cable each including a plurality of cladded wires. The data cable assembly further including an data transmission cable and, in some instances, a clocking cable. The data transmission cable can be an active optical cable including, at each of its ends, an electrical-optical configured to covert received electrical signals to optical signals and convert received optical signals to electrical signals. The power cable assembly including a first, second, and third high power cable and a first, second, and third high power grounding cable, where each of the cables of the power cable assembly includes a plurality of cladded wires.
H01B 7/04 - Flexible cables, conductors, or cords, e.g. trailing cables
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
H01B 1/02 - Conductors or conductive bodies characterised by the conductive materialsSelection of materials as conductors mainly consisting of metals or alloys
H01B 7/00 - Insulated conductors or cables characterised by their form
H01B 7/40 - Insulated conductors or cables characterised by their form with arrangements for facilitating mounting or securing
A method is performed by a computing system. The method includes receiving image data from an imaging device, and determining, using the image data, a plurality of image-space tools, each image-space tool associated with a tool of a plurality of tools, each tool controlled by a manipulator of a plurality of manipulators. The method further includes determining a first correspondence between a first image-space tool of the plurality of image-space tools and a first tool of the plurality of tools based on a first disambiguation setting associated with the first tool.
Teleoperated control includes commanding, in response to a first input to move a tool while an imaging device is mounted to a first manipulator and a tool is mounted to a second manipulator, actuator(s) of the second manipulator to move the tool with a first motion relative to a first reference frame that corresponds with a first movement of an input device relative to a display, the first reference frame defined based on the imaging device mounted to the first manipulator; and commanding, in response to receiving a second input to move the tool while the imaging device is mounted to the third manipulator, the actuator(s) to move the tool with a second motion relative to a second reference frame that corresponds with a second movement of the input device relative to the display, the second reference frame defined based on the imaging device being mounted to the third manipulator.
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 method performed by a computing system comprises determining an entry position and entry vector of an entry port in a surgical coordinate space. The entry port provides a passageway for insertion of a first medical instrument into a patient's body. The determination of the entry position and entry vector occurs while the first medical instrument is external to the entry port. The method also comprises positioning the first medical instrument based on the entry position and the entry vector of the entry port and advancing a distal end of the first medical instrument along the entry vector into the entry port.
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 90/13 - 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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints guided by light, e.g. laser pointers
33.
AGE ESTIMATION OF CABLE-DRIVEN SURGICAL INSTRUMENTS
Systems and methods for generating an age determination model based on sets of experimental data of testing instruments. A control system of a computer-assisted system is configured to use the age determination model to provide a change in instrument age of an operating instrument under its control. The control system may provide guidance to a user based on the age of the operating instrument, and may perform one or more remedial actions when an updated instrument age of the operating instrument exceeds an age threshold.
G16H 40/40 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT 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 50/70 - ICT specially adapted for medical diagnosis, medical simulation or medical data miningICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for mining of medical data, e.g. analysing previous cases of other patients
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
34.
METHODS AND SYSTEMS FOR COORDINATING CONTENT PRESENTATION FOR COMPUTER-ASSISTED SYSTEMS
A coordination system for coordinating content presentation associated with a session involves using a computer-assisted medical system, the coordination system including a session awareness engine and a content selection engine. The session awareness engine being configured to obtain data from the computer-assisted medical system, the data indicative of an operational state of the computer-assisted medical system and determine a context of the session based on the data. The content selection engine being configured to select a content for presentation to a user of the computer-assisted medical system from a variety of contents by applying a content selection logic to the context of the session and facilitate presentation of the content to the user.
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
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
G16H 50/20 - ICT specially adapted for medical diagnosis, medical simulation or medical data miningICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for computer-aided diagnosis, e.g. based on medical expert systems
Surgical tools include an end effector mounted to an instrument shaft for articulation relative to the instrument shaft. A surgical tool includes an instrument shaft, an intermediate member pivotally coupled to the instrument shaft, an end effector and four tension members. The end effector includes an end effector base that is pivotally coupled to the intermediate member. The end effector base includes four attachment features. Each of the four tension members interfaces with an associated one of the four attachment features. The four tension members extend distally within a lumen of the instrument shaft and are arranged in diagonally opposed pairs.
A system comprises a teleoperational manipulator configured to control operation of a medical instrument in a surgical environment. The system further comprises an operator input system including an input device and a processing unit including one or more processors. The processing unit is configured to display an image of a field of view of the surgical environment and display a menu including a set of directionally arranged menu options. The processing unit is further configured to transition the input device from a first constraint state for interaction with the medical instrument to a second constraint state for interaction with the menu. In the second constraint state, the input device is constrained to move in one or more directions based on the set of directionally arranged menu options.
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
G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
G06F 3/0346 - Pointing devices displaced or positioned by the userAccessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
G06F 3/0354 - Pointing devices displaced or positioned by the userAccessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
G06F 3/0362 - Pointing devices displaced or positioned by the userAccessories therefor with detection of 1D translations or rotations of an operating part of the device, e.g. scroll wheels, sliders, knobs, rollers or belts
G06F 3/0482 - Interaction with lists of selectable items, e.g. menus
G06F 3/0487 - Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
37.
MASTER-TO-SLAVE ORIENTATION MAPPING WHEN MISALIGNED
A system includes a controller configured to be coupled to an input control and a robotic arm, the robotic arm being configured to hold and position an instrument. The controller is configured to receive a first command from the input control to manipulate the instrument; determine, when there is an orientation misalignment between an orientation of the input control in an eye coordinate frame and an orientation of a distal portion of the instrument in a camera coordinate frame, a desired orientation of the distal portion, the desired orientation for causing the distal portion to rotate in a same manner about an axis defined with respect to the distal portion as the input control rotates about a corresponding axis defined with respect to the input control; and transmit a second command to the robotic arm to cause the instrument to be oriented according to the desired orientation 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
A medical device includes a shaft, an electrically insulative outer cover, an electrically insulative spacer, and a wrist assembly. The outer cover is positioned over an outer surface of the shaft and a distal end portion of the outer cover extends beyond a distal end surface of the shaft. The spacer comprises a first coupling portion, a second coupling portion, and a circumferential annular protrusion. The first coupling portion of the spacer is coupled to an inner surface of the shaft. The wrist assembly is coupled to the second coupling portion of the spacer. The annular protrusion of the spacer includes a shoulder and a seal surface. The shoulder of the annular protrusion is in contact with the distal end surface of the shaft, and the shaft is electrically isolated by the seal surface of the annular protrusion contacting the inner surface of the outer cover.
A system comprises an elongate instrument including a first and second channels. The system also comprises an expandable device coupled to the elongate instrument. The expandable device is in fluid communication with the first and second channels. The system also comprises a pump for circulating a fluid through the first and second channels and a heating system for heating the fluid. The system also comprises a drainage system for removing the fluid from the expandable device and restricting drainage flow. A control system controls temperature and delivery of the heated fluid through the first channel and the second channel to heat the elongate instrument and the expandable device with the heated fluid while maintaining the expandable device in an uninflated configuration, inflate the expandable device with the heated fluid, ablate an anatomic passage with the inflated and heated expandable device, and deflate the expandable device.
Implementations of suturing needles, suturing devices, and related methods are provided. An illustrative suturing needle includes a needle body having a leading end and a trailing end. The needle body includes an outer tubular body having a proximal end and a distal end configured to pierce tissue, and at least one at least one elongate inner body made of superelastic material disposed within and operably coupled to the outer tubular body. The outer tubular body deforms from a first configuration into a second configuration in response to the application of force by the at least one elongate inner body on the outer tubular body.
A medical robotic system and method of operating such comprises taking intraoperative external image data of a patient anatomy, and using that image data to generate a modeling adjustment for a control system of the medical robotic system (e.g., updating anatomic model and/or refining instrument registration), and/or adjust a procedure control aspect (e.g., regulating substance or therapy delivery, improving targeting, and/or tracking performance).
A method of modeling anatomic deformation comprises receiving a reference three dimensional model of a branched anatomical formation in a reference state. The method further comprises applying a three dimensional deformation field to the reference three dimensional model to create a deformed three dimensional model of a deformed state of the branched anatomical formation and dynamically displaying an image of the deformed three dimensional model of the deformed state of the branched anatomical formation.
The present disclosure describes a system and method for using machine learning to assist in mucosal ablation procedures. The system includes a camera, a catheter, a memory, and a processor communicatively coupled to the memory. The camera produces a video of a mucosa of an organ and the catheter is positioned in the organ. The processor generates, using the video from the camera, a map of the organ and identifies, using a neural network and the video from the camera, a first portion of the mucosa to be ablated. The processor also determines, using the map and motion of the catheter, that the catheter is positioned by the first portion of the mucosa and in response to determining that the catheter is positioned by the first portion of the mucosa, ablates, using the catheter, the first portion of the mucosa.
An endosuturing system includes a cinch linearly moveable along a longitudinal axis, the cinch including an inner cinch member and an outer cinch member selectively movable relative to one another to provide a suture lock. The endosuturing system also including a suture needle having a distal needle tip and an opposite, proximal end, the suture needle having a nested position within the inner cinch member of the cinch. The endosuturing system further including a needle driver coaxial with the cinch and linearly moveable along the longitudinal axis, and a needle collet coaxial with the cinch and configured to releasably couple to the proximal end of the suture needle.
A61B 17/04 - Surgical instruments, devices or methods for closing wounds or holding wounds closedAccessories for use therewith for suturing woundsHolders or packages for needles or suture materials
A61B 17/06 - NeedlesHolders or packages for needles or suture materials
A biopsy tool includes a flexible cannula having a cutting surface on a distal end portion of the flexible cannula. In some examples, an atraumatic tip on a distal end portion of the flexible stylet extends from the distal end portion of the flexible cannula and at least partially shields the cutting surface of the flexible cannula when the biopsy tool is in a closed configuration.
Systems and methods for performing a minimally invasive procedure within anatomic passageways include an outer catheter including one or more first lumens, a sealing device coupled to the outer catheter, an inner instrument configured to be slideably deployed through one of the one or more first lumens, and one or more first sensors for detecting bleeding wherein the one or more first sensors are configured to be positioned distal to the sealing device. In some embodiments, the outer catheter includes a fiber optic shape sensor. In some embodiments, the inner instrument includes a second lumen, wherein a working instrument is configured to be slideably received through the second lumen. In some embodiments, the inner instrument or the working instrument includes a dilation device for expanding an opening in a surface of the anatomic passageways at a point of entry. In some embodiments, the inner instrument includes a biopsy needle.
A61B 10/02 - Instruments for taking cell samples or for biopsy
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. endoscopesIlluminating arrangements therefor for the respiratory tract, e.g. laryngoscopes, bronchoscopes
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
A61B 5/02 - Detecting, measuring or recording for evaluating the cardiovascular system, e.g. pulse, heart rate, blood pressure or blood flow
A61B 10/04 - Endoscopic instruments, e.g. catheter-type instruments
A61B 17/00 - Surgical instruments, devices or methods
A61B 17/12 - Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord
A61B 18/00 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
A61B 34/20 - Surgical navigation systemsDevices 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
The present disclosure relates to computer assisted volume reduction procedures. The computer system includes a memory and a processor. The processor determines, based on a first video of a stomach and a patient profile, a plan for a volume reduction procedure on a stomach. The processor also generates, based on a second video of the stomach, a map of the stomach and presents, on a display during the volume reduction procedure, at least one of the second video or the map. The processor further determines, based on the map and the plan, a location where a suture should be applied to the stomach, generates, based on the plan, an overlay that indicates the location, and presents the overlay on the display to indicate, on at least one of the second video or the map, the location in the stomach to place the suture.
G16H 50/20 - ICT specially adapted for medical diagnosis, medical simulation or medical data miningICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for computer-aided diagnosis, e.g. based on medical expert systems
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
The present disclosure relates to a computer system and method for guiding sutures. The computer system includes a memory and a processor communicatively coupled to the memory. The processor receives a video of an inside of a stomach and determines, based on the video and using a neural network, a first location on the stomach where a first suture should be applied. The processor also presents, on a display, the video and an overlay that indicates the first location on the stomach.
G16H 50/20 - ICT specially adapted for medical diagnosis, medical simulation or medical data miningICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for computer-aided diagnosis, e.g. based on medical expert systems
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
Methods and systems for redundant power detection, including forward power and reverse power, utilize sensors separate from microwave power sensors. The redundant power detection can be compared to measurements of the microwave power sensors to ensure that the sensors are operating correctly.
A61B 18/18 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
A61B 18/00 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
G01R 21/02 - Arrangements for measuring electric power or power factor by thermal methods
A first display image includes a first captured image captured by an imaging device and showing a first view of a surgical area, which shows surface anatomy located at the surgical area and an object located at the surgical area, and an augmentation region. The augmentation region occludes at least a portion of the first view. Subsequent to capture of the first captured image, the system detects an overlap between the object and the augmentation region and determines whether the overlap is due to motion of the object. The system directs the display device to display a second display image including a second captured image captured by the imaging device. Inclusion of the augmentation region in the second display image and/or an extent of the occlusion within the overlap in the second display image is based on the determination whether the overlap is due to motion of the object.
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
G06V 10/25 - Determination of region of interest [ROI] or a volume of interest [VOI]
G06V 10/26 - Segmentation of patterns in the image fieldCutting or merging of image elements to establish the pattern region, e.g. clustering-based techniquesDetection of occlusion
51.
SYSTEMS AND METHODS FOR INTEGRATING IMAGERY CAPTURED BY DIFFERENT IMAGING MODALITIES INTO COMPOSITE IMAGERY OF A SURGICAL SPACE
An exemplary system accesses images of a surgical space captured by different imaging modalities and, based on the images, generates a composite image and directs a display device to display the composite image. An exemplary composite image includes a first portion of the composite image that includes a first representation of a first portion of the surgical space, the first representation generated based on the first image, and a second portion of the composite image that includes a second representation of a second portion of the surgical space, the second representation generated based on the second image modified by gradient information of the first image.
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 surgeryManipulators or robots specially adapted for use in surgery
Techniques for image detection during grasping and stapling include a computer-assisted device comprising an end effector having a first jaw and a second jaw, an imaging sensor mounted to the end effector and configured to capture one or more images of a material graspable by the end effector, and one or more processors coupled to the end effector and the imaging sensor. The one or more processors are configured to determine an orientation of a view of the imaging sensor relative to a workspace, generate orientation hints based on the orientation of the view, and cause display of the one or more orientation hints proximate to a first image of the end effector, on a user interface to provide an indication of the orientation of the end effector within a workspace.
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 5/00 - Measuring for diagnostic purposes Identification of persons
The present disclosure relates to a computer system and method for estimating stomach volume. The computer system includes a memory and a processor communicatively coupled to the memory. The processor receives a video of an inside of a stomach and generates, based on the video, a map of the stomach. The processor also calculates, based on the map of the stomach, a volume of the stomach and detects, based on the video and using a neural network, a suture applied to the stomach during an endoscopic sleeve gastroplasty procedure that causes a change to a shape of the stomach. The processor further updates the map of the stomach based on the change to the shape of the stomach and updates the calculated volume of the stomach based on the update to the map of the stomach.
G06V 10/26 - Segmentation of patterns in the image fieldCutting or merging of image elements to establish the pattern region, e.g. clustering-based techniquesDetection of occlusion
A61B 5/107 - Measuring physical dimensions, e.g. size of the entire body or parts thereof
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
G06T 7/62 - Analysis of geometric attributes of area, perimeter, diameter or volume
G06V 10/82 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
G06V 10/94 - Hardware or software architectures specially adapted for image or video understanding
54.
SYSTEMS AND METHODS FOR ENDOSCOPIC TISSUE SUTURING
An apparatus comprises a delivery tube extending through a working channel of an elongate device. An outer portion of a termination member is coupled to a distal end portion of the delivery tube. The apparatus may also comprise a capture device. The capture device includes a first control member and a suture strand engagement portion coupled to an end of the first control member. The apparatus also includes an inner portion of the termination member coupled to an end portion of a second control member. The first control member is actuatable to extend the suture strand engagement portion distally of the delivery tube to capture a suture strand and draw the suture strand within the outer portion of the termination member. The second control member is independently actuatable to move the inner portion of the termination member into the outer portion of the termination member to clamp the suture strand.
A61B 17/04 - Surgical instruments, devices or methods for closing wounds or holding wounds closedAccessories for use therewith for suturing woundsHolders or packages for needles or suture materials
A61B 17/06 - NeedlesHolders or packages for needles or suture materials
A61B 17/00 - Surgical instruments, devices or methods
55.
SYSTEMS AND METHODS FOR ENDOSCOPIC TISSUE SUTURING
A61B 17/04 - Surgical instruments, devices or methods for closing wounds or holding wounds closedAccessories for use therewith for suturing woundsHolders or packages for needles or suture materials
A61B 17/06 - NeedlesHolders or packages for needles or suture materials
A61B 17/00 - Surgical instruments, devices or methods
56.
Motor Interface for Parallel Drive Shafts Within an Independently Rotating Member
Method of actuating an end effector of a surgical device employ a drive shaft to actuate the end effector. A method of actuating an end effector of a surgical device includes rotating a main shaft relative to the proximal chassis. An end effector base of the end effector is supported by a wrist mechanism coupled between the end effector base and the main shaft. The end effector base is reoriented relative to the main shaft by operating a wrist articulation mechanism. A drive shaft is supported for rotation within a lumen of the main shaft. A feature of the end effector is actuated by rotating an input shaft of the end effector by rotating the drive shaft relative to the main shaft.
A method of operating a shape sensing apparatus is provided. The method comprises receiving shape data from an elongated shape sensor having a first portion coupled to a reference fixture, a second portion coupled to an anatomic target, and a third portion coupled to the reference fixture. The first and third portions are maintained in a known kinematic relationship. The method further comprises determining a first shape of the elongated shape sensor between the first and second portions. The method further comprises determining a second shape of the elongated shape sensor between the third and second portions. The method further comprises determining a position of the second portion at the anatomic target from the first and second shapes.
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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
58.
SYSTEMS AND METHODS FOR ORIENTATION DETECTION AND TOOL INSTALLATION
An apparatus comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the apparatus to capture, via an image sensor of a tool installed at least partially within a catheter, a first image within a lumen of the catheter. The first image comprises a plurality of pixels. The instructions further cause the apparatus to identify a first subset of the pixels comprising a viewable feature, and a second subset of the pixels comprising a background color. The instructions further cause the apparatus to adjust the second subset to a neutral color, create a modified image by filtering the pixels to remove the second subset, determine an angular orientation of the viewable feature in the modified image, and determine a rotational offset of the tool relative to the catheter based on the angular orientation of the viewable feature.
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. endoscopesIlluminating arrangements therefor
A61B 17/00 - Surgical instruments, devices or methods
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A surgical instrument, such as a tissue sealing instrument, is provided with an end effector having first and second movable jaws that define a gap therebetween in the closed position for clamping, sealing and/or stapling tissue. The jaws are movable relative to each other in the closed position to reduce a thickness of least one portion of this gap. This configuration allows the jaws to be moved closer together to reduce the overall size of the instrument when, for example, the instrument is introduced and retracted through an opening in the patient, or maneuvered within a body cavity. The surgical instrument may also have multiple settings for use with different staple cartridges, while still maintaining a fixed dimension between the two jaws for clamping, stapling and/or sealing tissue, providing a more adaptable surgical instrument that allows the surgeon to use different staple cartridges without having to change surgical instruments.
Medical systems and methods include a flexible elongate device having an articulable body portion and an actuator configured to control articulation of the articulable body portion of the flexible elongate device. A control system determines an insertion distance or location of a tool inserted into the flexible elongate device and controls operation of the actuator to change an articulation state of the articulable body portion.
A device for positioning in the body of an animal, the device comprising a first portion and a second portion that may be positioned in contact with one other, the first portion and the second portion each comprising a biocompatible conductive thermoplastic material, such that when the device is positioned in the body of an animal and electric current flows from the first portion to the second portion, heat is generated by electrical resistance at the point of contact between the first portion and the second portion so as to melt regions of the first portion and the second portion, and when the electric current is thereafter terminated, the melted regions of the first portion and the second portion re-solidify so that a weld is formed between the first portion and the second portion.
A61B 17/06 - NeedlesHolders or packages for needles or suture materials
A61B 17/04 - Surgical instruments, devices or methods for closing wounds or holding wounds closedAccessories for use therewith for suturing woundsHolders or packages for needles or suture materials
B29C 65/34 - Joining of preformed partsApparatus therefor by heating, with or without pressure using heated elements which remain in the joint, e.g. "verlorenes Schweisselement"
62.
ALIGNMENT AND ENGAGEMENT FOR TELEOPERATED ACTUATED SURGICAL INSTRUMENT
A method of aligning a surgical instrument with the instrument sterile adapter for coupling the surgical instrument and an instrument carriage includes inserting the instrument shaft of the surgical instrument into an entry guide held in a fixed relation to the instrument carriage and the instrument sterile adapter, insertion of the instrument shaft into the entry guide constraining the surgical instrument to rotation around a first cylindrical axis of the instrument shaft and axial translation along the first cylindrical axis of the instrument shaft. The method further includes passing the instrument shaft of the surgical instrument through the shaft receiving slot of the instrument sterile adapter.
A61B 46/10 - Surgical drapes specially adapted for instruments
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. endoscopesIlluminating arrangements therefor
A61B 17/00 - Surgical instruments, devices or methods
A61B 18/00 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 46/23 - Surgical drapes specially adapted for patients with means to retain or hold surgical implements
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
F16H 1/20 - Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
An illustrative apparatus includes an objective lens system mounted in a distal end of the apparatus, the objective lens system having a lengthwise axis; and a window mounted in a distal face of the apparatus, the window having a surface oriented at an angle to the lengthwise axis of the objective lens system.
H04N 13/239 - Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
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. endoscopesIlluminating 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. endoscopesIlluminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
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. endoscopesIlluminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
Systems and methods are described for segmenting medical image data. The method may include (i) obtaining a plurality of image data depicting a portion of a subject; (ii) inputting, the plurality of image data into a deep learning model trained to generate a confidence map; (iii) generating a first binary map based on the confidence map and a first confidence threshold and a second binary map based on the confidence map and a second confidence threshold; (iv) discarding one or more connected components of the second binary map below a threshold size; and (v) causing a display device to display a graphical user interface (GUI) based on at least a portion of the plurality of image data, wherein the portion of the plurality of image data is labeled based on the first binary map and the second binary map. The method may be implemented by the system.
G06V 10/26 - Segmentation of patterns in the image fieldCutting or merging of image elements to establish the pattern region, e.g. clustering-based techniquesDetection of occlusion
G06V 10/28 - Quantising the image, e.g. histogram thresholding for discrimination between background and foreground patterns
G06V 10/44 - Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersectionsConnectivity analysis, e.g. of connected components
G16H 30/40 - ICT specially adapted for the handling or processing of medical images for processing medical images, e.g. editing
65.
GROUNDED VIRTUAL PORTAL FOR ROBOTIC MEDICAL SYSTEM
A grounded virtual portal to interface with a robotic medical system is provided. The system can include an input controller coupled to a first structure via a plurality of linkages. The first structure can be mechanically coupled to a base structure. The input controller can control an object of a medical environment. A head mounted display can be coupled to a second structure extending the base structure. The head mounted display can be configured to render an extended reality environment corresponding to the medical environment. A processor can establish a grounded reference frame for the input controller to be maintained in the extended reality environment rendered via the head mounted display, and configure, based on the plurality of linkages and the grounded reference frame, a force scaler function for bidirectional force delivery between the input controller and the object of the medical environment.
A61B 34/00 - Computer-aided surgeryManipulators 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
G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
A method performed by a computing system comprises receiving shape information for an elongate flexible portion of a medical instrument. The medical instrument includes a reference portion movably coupled to a fixture having a known pose in a surgical reference frame. The fixture includes a constraint structure having a known constraint structure location in the surgical reference frame. The elongate flexible portion is coupled to the reference portion and is sized to pass through the constraint structure. The method further includes receiving reference portion position information in the surgical reference frame; determining an estimated constraint structure location in the surgical reference frame from the reference portion position information and the shape information; determining a correction factor by comparing the estimated constraint structure location to the known constraint structure location; and modifying the shape information based upon the correction factor.
A61B 34/20 - Surgical navigation systemsDevices 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. endoscopesIlluminating 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. endoscopesIlluminating arrangements therefor for the respiratory tract, e.g. laryngoscopes, bronchoscopes
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
A system may comprise a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to record position data for an instrument during an image capture period and determine an instrument position change from the recorded position data. The computer readable instructions, when executed by the processor, may also cause the system to compare the instrument position change to a position change threshold and based on the comparison, determine whether to use image data captured by an imaging system during the image capture period in a registration 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
A bi-directional endosuturing device, including a housing defining an endoscope aperture and having an axis. The endosuturing device further including a first plication arm and a second plication arm extending distally from the housing, the first plication arm and second plication arm facing one another and configured to engage tissue disposed therebetween. Additionally, the endosuturing device includes a first needle receiver disposed adjacent the first plication arm, the first needle receiver configured to releasably secure a needle and orient needle transverse to the axis; and a second needle receiver disposed adjacent the second plication arm, the second needle receiver configured to releasably secure the needle and orient the needle transverse to the axis, the first and second needle receiver aligned with one another to pass the needle therebetween.
A61B 17/04 - Surgical instruments, devices or methods for closing wounds or holding wounds closedAccessories for use therewith for suturing woundsHolders or packages for needles or suture materials
A61B 17/06 - NeedlesHolders or packages for needles or suture materials
Implementations of a suturing device related methods are provided. The suturing device includes a housing that defines an arcuate needle track having a first end and a second end and a gap between the first end and second end of the arcuate needle track. The suturing device further includes a drive system to advance an arcuate needle along the arcuate needle track that includes a drive member operably coupled to an elongate flexible member. The elongate flexible member can reciprocate over at least one bearing surface that directs the elongate flexible member from a first path laying in a first plane that is parallel to a centerline of the arcuate needle track to a second path laying in a second plane different from the first plane.
A61B 17/04 - Surgical instruments, devices or methods for closing wounds or holding wounds closedAccessories for use therewith for suturing woundsHolders or packages for needles or suture materials
A61B 17/06 - NeedlesHolders or packages for needles or suture materials
70.
SURGICAL INSTRUMENT WITH FLEXIBLE SHAFT AND ACTUATION ELEMENT GUIDE
A surgical instrument includes a shaft, a force transmission mechanism disposed at a first end of the shaft, an end effector disposed at a second end of the shaft, an actuation element that extends along the shaft from the force transmission mechanism to the end effector, and an actuation element guide extending along the shaft. The actuation element guide defines a lumen in which the actuation element guide is received. The actuation element guide is compressed into a pre-compressed state along at least a portion of an axial length of the shaft. The actuation element guide can be compressed between first and second blocks of the instrument. The instrument can include a flush tube configured to receive a cleaning fluid, with the actuation element guide being in flow communication with the flush tube to receive the cleaning fluid in the lumen of the actuation element guide.
A system includes a connector assembly and a receiver assembly. The connector assembly includes a hermetically-sealed housing, a first induction coil disposed within the housing and electrically coupled to a surgical instrument, and a first light guide disposed within the housing and optically coupled to the surgical instrument. The receiver assembly includes a second induction coil electrically coupled to a power source, a second light guide, and a receptacle configured to receive the connector assembly such that, while the connector assembly is positioned in the receptacle, the first induction coil is aligned with the second induction coil and the first light guide is optically aligned with the second light guide.
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. endoscopesIlluminating arrangements therefor
Techniques for assisting tool exchange include a manipulator and one or more processors. The one or more processors are configured to detect initiation of a tool exchange and in response to detecting the initiation of the tool exchange: determine a location of a source of a replacement tool; command retraction of a first tool along an insertion degree of freedom of the first tool, the first tool being mounted to the manipulator; command movement of the manipulator from a first configuration into a second configuration, the first configuration being a current configuration of the manipulator, the second configuration being determined based on the determined location of the replacement tool; detect mounting of the replacement tool to the manipulator; command movement of the manipulator into the first configuration; and command insertion of the replacement tool along the insertion degree of freedom.
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
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
B25J 15/04 - Gripping heads with provision for the remote detachment or exchange of the head or parts thereof
An electrosurgical system for sealing and cutting tissue includes an electrosurgical signal generator sealing stage to provide an AC sealing signal on a set of sealing electrodes, an electrosurgical signal generator cutting stage to provide an AC cutting signal on a set of cutting electrodes, and one or more controllers configured to control the electrosurgical signal generator sealing stage and the electrosurgical signal generator cutting stage. The set of sealing electrodes and the set of cutting electrodes share at least one electrode in common. The set of sealing electrodes and the set of cutting electrodes are coupled to a plurality of surfaces positioned on first and second jaws of an end effector. In some embodiments, the AC sealing signal and the AC cutting signal are in-phase.
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
A61B 17/00 - Surgical instruments, devices or methods
A61B 18/00 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
A computer-assisted system includes a manipulator structure configured to support an imaging instrument having a field of view that defines a view frame, and a control system. The manipulator structure and the imaging instrument together have an aggregate set of joints. The control system, in an imaging instrument movement mode: receives a user input to move the field of view with a desired motion, determines, based on the desired motion, a motion command that moves the field of view in accordance with a first alignment relationship that establishes a first one-to-one mapping between first, second, and third translational and rotational degrees of freedom of the input device in an input device base frame and respective first, second, and third translational and rotational degrees of freedom of the field of view in the view frame, and commands the aggregate set of joints based on the motion command.
A61B 34/00 - Computer-aided surgeryManipulators 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
Disclosed is determining to command reach assist motion for a computer-assisted system including a repositionable assembly. The repositionable assembly includes a proximal repositionable structure having a distal portion, a distal repositionable structure that supports an instrument, a sensor system, an input device, and a control system. The control system is configured to command motion of a plurality of joints that pivots the distal portion about a remote center of motion in response to receiving a motion command from the input device. The control system is further configured to determine, based on sensor signals generated by the sensor system, to reconfigure the proximal repositionable structure and command, in response to determining to reconfigure the proximal repositionable structure, the proximal repositionable structure to move the distal portion relative to the workspace such that the reachable space of the instrument is moved relative to the workspace.
Techniques for rapid halt of repositionable arms include a computer-assisted device comprising a first repositionable arm configured to support a first end effector, a second repositionable arm configured to support a second end effector, and a control unit communicably coupled to the first repositionable arm and the second repositionable arm. The control unit is configured to monitor an actual motion of at least one structure selected from the group consisting of the first repositionable arm and the first end effector, determine a composite deviation between a plurality of kinematic or dynamic values of the actual motion and the plurality of kinematic or dynamic values of a desired motion of the at least one structure, determine whether the composite deviation is greater than a deviation threshold, and in response to the composite deviation being greater than the deviation threshold: halt motion of the first repositionable arm or the second repositionable arm.
Systems and methods for navigating during a medical procedure are described. A processing unit receives, from a sensing system, indications of positions, in a first coordinate system, of a first sensor and a second sensor disposed at a flexible elongate device. The processing unit further receives imaging data from an imaging unit and determines, based on the imaging data, an indication of position, in a second coordinate system, of a fiducial of the flexible elongate device. The fiducial is disposed at the flexible elongate device at a separation distance from the first sensor. The processing unit then registers the first coordinate system to the second coordinate system based on the received imaging data and the received sensor system data.
A61B 34/20 - Surgical navigation systemsDevices 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
78.
SYSTEMS AND METHODS FOR IMPLEMENTING A ZOOM FEATURE ASSOCIATED WITH AN IMAGING DEVICE IN AN IMAGING SPACE
An illustrative system includes a memory storing instructions and a processor communicatively coupled to the memory. The processor may be configured to execute the instructions to perform a process comprising receiving an instruction to move an imaging device, which is located within an imaging space and coupled to a robotic manipulating arm of a computer-assisted surgical system, towards an object in the imaging space, determining, based on the instruction, that the imaging device is located at a position that is at or near a threshold distance from the object in the imaging space, preventing the imaging device from moving closer to the object than the threshold distance, and automatically activating, in response to preventing the imaging device from moving closer to the object than the threshold distance, an image zoom feature to zoom in a view of the imaging space.
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
79.
POSITIONING AN IMAGING DEVICE TO VIEW A PORTION OF AN INSTRUMENT DURING INSERTION OF THE INSTRUMENT
A computer-assisted system includes a first repositionable structure configured to support a first instrument comprising an imaging device with a field of view, a second repositionable structure configured to support a second instrument; and a control system. The first repositionable structure a first plurality of links coupled by a first plurality of joints. The control system is configured to, while the first repositionable structure is supporting the first instrument: in response to detecting an indication to track an insertion of the second instrument into a workspace, determine a configuration of the first plurality of joints that poses the field of view to include an intermediate position for a distal portion of the second instrument as the second instrument is inserted into the workspace, and, in response to determining the configuration, command the first plurality of joints toward the configuration.
A surgical cannula includes a bowl section; a tube; and an attachment portion extending from the bowl section. The attachment portion is configured to engage with at least one of a cannula sterile adaptor and a cannula mount of a surgical system. The attachment portion extends from the bowl section along a radial direction with respect to a longitudinal axis of the cannula. The attachment portion tapers in a direction away from the bowl section.
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
81.
SYSTEMS AND METHODS FOR CONTROLLING A ROBOTIC MANIPULATOR OR ASSOCIATED TOOL
A system comprises a robotic manipulator for control of motion of a medical tool. The robotic manipulator including a joint and a link connected to the joint. The link is configured to connect to the medical tool. A processing unit of the system is configured to receive first data from an encoder of the joint. A first tool tip estimate of a first parameter of a tool tip coupled at a distal end of the medical tool is generated using the first data. The first parameter of the tool tip is a position or a velocity of the tool tip. Second data is received from a sensor system located at a sensor portion of the link or the medical tool. The joint is controlled based on a first difference between the first tool tip estimate and a second tool tip estimate generated using the first and second data.
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
Various of the disclosed embodiments provide systems and methods for assessing surgical team performance during nonoperative periods within the surgical theater. Particularly, one or more sensors placed throughout the surgical theater may acquire data during the nonoperative period, and in some embodiments, over the course of several procedures and nonoperative periods within the theater. Disclosed embodiments segment and analyze this data to infer undesirable or inefficient behavior, as well as progress in improving behaviors, during the periods between surgical procedures. A plurality of topologies and metrics for assessing nonoperative periods are also disclosed, as well as systems and methods for monitoring and providing feedback.
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
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
G06Q 10/06 - Resources, workflows, human or project managementEnterprise or organisation planningEnterprise or organisation modelling
G06Q 10/0639 - Performance analysis of employeesPerformance analysis of enterprise or organisation operations
83.
DIGITAL MANAGEMENT AND COORDINATION OF SURGICAL THEATER TASKS
Various of the disclosed embodiments provide guidance to team members in a surgical theater and improve surgical theater efficiency by providing dynamic and context- aware action assignments to various of the theater team members. Real-time monitoring of the surgical theater with one or more sensors located within the surgical theater may facilitate identification of personnel, the state of the personnel's respective task actions, and the general state of the theater. This monitoring may be coupled with tailored task overlap model management and rendering systems disclosed herein to provide team members with immediate feedback, as well as to encourage gradual adjustments nudging team members to more optimal performances.
G16H 40/20 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the management or administration of healthcare resources or facilities, e.g. managing hospital staff or surgery rooms
A telescoping arm, such as for a surgical manipulator, includes a first arm portion and a second arm portion. An interior surface of the first arm portion defines a helical groove and a plurality of axial grooves. A drive assembly for the telescoping arm includes a helical drive assembly having a helical member moveably engaging and constrained by the helical groove of the first arm portion and a rotational drive assembly having a plurality of axial members moveably engaging and constrained by the plurality of axial grooves of the first arm portion.
A display system includes a display panel, a first reflector, and a second reflector. The display panel provides first image light representative of a displayed image to the first reflector and provides second image light representative of at least a portion of the displayed image to the second reflector without first being reflected by the first reflector. The first reflector reflects the first image light toward the second reflector. The second reflector reflects the first image light toward an eyepiece. The second reflector is positioned relative to the second image light and a polarization direction of the second image light incident on the second reflector has a first orientation such that reflectance of a portion of the second image light from the second reflector is approximately zero. A light control device behind the display panel may control a distribution angle of image light from the display panel.
A method performed by a computing system comprises receiving a collected set of spatial information for a distal portion of an instrument at a plurality of locations within a set of anatomic passageways and receiving a set of position information for a reference portion of the instrument when the distal portion of the instrument is at each of the plurality of locations. The method also comprises determining a reference set of spatial information for the distal portion of the instrument based on the collected set of spatial information and the set of position information for the reference portion of the instrument and registering the reference set of spatial information with a set of anatomical model information.
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. endoscopesIlluminating 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. endoscopesIlluminating 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. endoscopesIlluminating 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 10/04 - Endoscopic instruments, e.g. catheter-type instruments
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
An exemplary image viewing system includes a display device configured to emit visible light representative of an image provided for display by the image viewing system, an infrared light source configured to emit infrared light, a viewing lens, and a black glass mirror provided between the infrared light source and the viewing lens. The black glass mirror comprises black glass and a coating on an outer surface of the black glass. The coating is configured to reflect a first portion of the visible light emitted from the display device towards the viewing lens, pass a second portion of the visible light emitted from the display device to the black glass, and pass a portion of the infrared light emitted from the infrared light source toward the viewing lens. The black glass is configured to pass the portion of the infrared light and absorb the second portion of the visible light.
G02B 27/00 - Optical systems or apparatus not provided for by any of the groups ,
G02B 27/28 - Optical systems or apparatus not provided for by any of the groups , for polarising
G02B 30/35 - Stereoscopes providing a stereoscopic pair of separated images corresponding to parallactically displaced views of the same object, e.g. 3D slide viewers using reflective optical elements in the optical path between the images and the observer
G06T 7/70 - Determining position or orientation of objects or cameras
H04N 13/383 - Image reproducers using viewer tracking for tracking with gaze detection, i.e. detecting the lines of sight of the viewer's eyes
H04N 23/56 - Cameras or camera modules comprising electronic image sensorsControl thereof provided with illuminating means
H04N 23/90 - Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
88.
SYSTEMS AND METHODS FOR MEDICAL PROCEDURES USING OPTICAL COHERENCE TOMOGRAPHY SENSING
A system for performing a minimally invasive procedure comprises a flexible catheter with a lumen extending therethrough. The system also comprises an elongate instrument sized for passage through the lumen and an optical coherence tomographic sensor coupled to the elongate instrument. The system also comprises a control system that includes one or more processors. The control system is configured to receive sensor data from the optical coherence tomographic sensor, profile a tissue based on the received sensor data, generate an output signal based on the profiled tissue, and based on receipt of the output signal, generate a command to indicate or affect movement of the elongate 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
A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters
Systems and methods provide a cooling air flow path to a surgical manipulator having a draped disposed thereover. The systems and methods can include constricting the air flow path within the drape to direct the air flow path through a fan and operating the fan to move air away from a procedural site within the drape. The system and methods can also include directing the air flow path along an exterior of a housing of the surgical manipulator within the drape and directing the air flow path into an interior of the housing of the surgical manipulator through a housing air flow inlet defined therein.
A method is provided for intra-surgical use of a surgical patient health record in a teleoperated surgical system that includes a surgical instrument and a surgical instrument actuator, comprising: receiving user input commands to control movement of a robotic surgical instrument; tracking robotic surgical instrument actuator state in response to the user input commands; and transitioning robotic surgical instrument actuator state to a safety mode in response to the robotic surgical instrument transitioning to a prescribed actuator state.
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
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 40/67 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
91.
CLUSTERED REPRESENTATIONAL LEARNING FOR SURGICAL THEATER DATA
While one or more sensors may be placed within a surgical theater to acquire data from which properties of the theater may be inferred, often too little of such data is adequately labeled so as to facilitate training of a machine learning system for various desired downstream applications. Despite this limitation, various of the disclosed embodiments contemplate training processes applicable to unlabeled data suitable for familiarizing the machine learning system with various semantic characteristics of the surgical theater data. In some embodiments, this process may avail itself of both visual image and depth frame data, so as to infer semantic content in the theater data. Following such initial training, the system may be then amenable to more application-specific training, with much less labeled data than may have been otherwise required.
G06V 10/82 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
G16H 40/20 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the management or administration of healthcare resources or facilities, e.g. managing hospital staff or surgery rooms
G06V 10/80 - Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
92.
SYSTEMS AND METHODS FOR FLEXIBLE MEDICAL DEVICE ARTICULATION
A counter motion mechanism comprises a flexible elongate device that includes a first articulation section including a serial flexible links bendable along a translational direction and a second articulation section including serial flexible links bendable along the translational direction. A transition section extends between the first and second articulation sections. A control member extends between the first and second articulation sections and wraps approximately 180 degrees about a central axis at the transition section. The control member bends the first articulation section in a first direction as the second articulation section bends in a second direction opposite the first direction while a first link of the first articulation section and a second link of the second articulation section are maintained in parallel. A translational distance between the first and second links includes distances for the first and second articulation sections and the transition section.
A connector assembly may comprise a connector housing and a connector manifold disposed within the connector housing. The connector manifold may include a manifold body, a first channel extending through the manifold body to a first chamber, a second channel extending through the manifold body to a second chamber, and a third channel extending through the manifold body to a third chamber, wherein the first chamber, the second chamber, and the third chamber are coaxial.
An illustrative dynamic measurement system may be configured to determine, based on positions of instruments within a scene, positions of points on anatomy in the scene, determine distance values representative of physical distances between sequential points, and determine a cumulative measurement value representative of a distance along the anatomy between the points. The cumulative measurement value may dynamically update as points are determined within the scene.
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
95.
SYSTEMS AND METHODS FOR DETERMINING MATERIAL PROPERTY VALUES FOR A THREE-DIMENSIONAL VIRTUAL MODEL OF AN ANATOMICAL OBJECT
An illustrative virtual model simulation system may be configured to identify surface points on an anatomical object as depicted in one or more video images, determine a set of displacement values representative of a displacement of one or more of the surface points of the anatomical object caused by a physical force being applied by a physical tool to the anatomical object, and define, based on the set of displacement values and data representative of the physical force, one or more material property values for a three-dimensional (3D) virtual model of the anatomical object.
G06T 19/20 - Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
G06T 7/593 - Depth or shape recovery from multiple images from stereo images
G16H 50/50 - ICT specially adapted for medical diagnosis, medical simulation or medical data miningICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for simulation or modelling of medical disorders
96.
INSTRUMENT END EFFECTOR WITH JAW MECHANISM AND MOVEABLE COMPONENT AND RELATED DEVICES, SYSTEMS, AND METHODS
A medical instrument may comprise a shaft (391) and an end effector (350) coupled to a distal end portion of the shaft. The end effector may comprise a jaw mechanism (350), a movable element (380) ranslatable relative to the jaw mechanism, a first actuation element (399) operably coupled to the end effector and translatable relative to the shaft, and a second actuation element (398) operably coupled to the end effector and translatable relative to the shaft. Translation of the first actuation element in a first direction relative to the shaft drives closing of the jaw mechanism. Translation of the second actuation element in a second direction relative to the shaft, opposite from the first direction, drives opening of the jaw mechanism. Translation of the second actuation element relative to the shaft in the first and second directions drives translation of the movable element relative to the jaw mechanism.
A surgical instrument includes a shaft, an end effector, and a wrist coupling the end effector to the shaft. The wrist has a central channel extending along a length of the wrist. An insert guide member is positioned in the central channel. The insert guide member has an exterior lateral wall extending between a first end and a second end of the insert guide member and an interior lateral wall extending between the first end and the second end. A passage extends from the first end of the insert guide member to the second end of the insert guide member. The passage can include a first portion extending through the insert guide member between an interior lateral wall of the insert guide member and the exterior lateral wall of the insert guide member, and a second portion intersecting the exterior lateral wall of the insert guide member.
A computer-assisted medical system includes a manipulator arm, an actuator system, a sensor system, and a controller. The controller determines, using the sensor system, a kinematic configuration of a previous tool attached to the manipulator arm, determines a mounting of a replacement tool to the manipulator arm after removal of the previous tool from the manipulator arm, determines, based on the kinematic configuration of the previous tool, a trajectory for the replacement tool, and controls the actuator system to move the replacement tool in accordance with the trajectory as the replacement tool is inserted. To control the actuator system to move the replacement according to the trajectory, the controller, in response to the trajectory including a non-straight portion, controls the actuator system to alter an angle or position of a joint of the manipulator arm such that an end effector of the replacement tool moves according to the non-straight portion.
B25J 15/04 - Gripping heads with provision for the remote detachment or exchange of the head or parts thereof
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 medical device includes a first link, a second link, and a band. A proximal end portion of the first link is coupled to a shaft. A proximal end portion of the second link is rotatably coupled to a distal end portion of first link about a first axis. The distal end portion of the second link includes a connector coupled to a tool member that is rotatable relative to the second link about a second axis that is non-parallel to the first axis. The first link defines a first guide channel and the second link defines a second guide channel. A distal end of the band is disposed within the first guide channel and the second guide channel, and is coupled to the tool member. The second link is rotatable relative to the first link about the first axis when the distal end of the band is moved.
F16H 7/02 - Gearings for conveying rotary motion by endless flexible members with beltsGearings for conveying rotary motion by endless flexible members with V-belts
100.
SYSTEM AND METHOD FOR DETECTING AND REMOVING NON-SURGICAL DATA
Systems and methods to detect and remove non-surgical information include receiving a data stream associated with an activity at least partially performed with assistance of a robotic medical system, receiving an event stream from the robotic medical system indicating whether one or more tools are connected to the robotic medical system, determining, based at least on the data stream and whether the one or more tools are connected, that non-surgical information is present in the data stream, and modifying the data stream in response to determining that the non-surgical information is present in the data stream.
G16H 40/67 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
