A system according to at least one embodiment of the present disclosure includes: a processor; and a memory coupled with the processor and storing data thereon that, when processed by the processor, enable the processor to: determine, based on image information generated by an imaging device, a pose of a medical component in a surgical environment relative to a surgical robot, where determining the pose includes: determining a coarse registration between the medical component and the surgical robot; and refining the coarse registration by performing template matching between a first mask that is generated by a data model and a second mask that is based on a depiction of the medical component in the image information; and navigate, based on the pose of the medical component, the surgical robot.
A system includes a robot mounted to a movable base, the robot including one or more robotic arms. The system monitors, by one or more measurement devices, one or more parameters associated with an object. The system adjusts a pose of the robot based on the one or more parameters satisfying one or more criteria. The system outputs an alert based on the one or more parameters satisfying one or more second criteria. The system performs a registration process associated with the object and the robot, based on the one or more parameters satisfying the one or more second criteria. The one or more measurement devices include a mechanical measurement device that maintains a non-rigid connection between the robot and the object. The one or more measurement devices include an optical measurement device, an acoustic transducer, or a multi-sensor device.
A medical system includes a robot with a robotic arm, a flange control unit coupled to the robotic arm's distal end and including a laser, a navigation system with a camera to capture surface images, and an electronic processor. The processor performs a calibration routine by controlling the arm to move to a first position, activating the laser to illuminate a first surface point, processing an image of a tracked pointer at the first point to determine a first tool center point, moving the arm to a second position, illuminating a second point, processing an image to determine a second tool center point, and determining a calibrated tool center point based on the first and second points. The processor may control the arm based on the calibrated tool center point.
Systems and methods for robotic retraction of tissues in a surgical field. Two retractor mechanisms are used on either side of an incision. Each retractor is adapted to be held by a robotic arm, which applies force on the retractor mechanism to pull dissected tissue away from the incision, thus revealing the operative field. Optionally, each retractor has a set of interdigitating fingers. A force sensor is employed to measure the force on the retractor, an optional tracking sensor may be used to measure the extent of tissue retraction in two or three dimensions, and both sources of information provided to the robotic controller. By monitoring feedback from either the force sensor or the tracking sensor, the system is able to maintain equal retraction on both sides of the incision. The retractor elements incorporate mechanisms that move down the tissue as the retractors are pulled laterally.
A robotic surgical system includes a tracking system configured to facilitate tracking of a robotic arm within a coordinate system. The tracking system comprises a force-torque sensor configured to be in force transmitting contact with the robotic arm and an end effector that supports a surgical tool for removing a portion of an anatomical element of a patient. At least one processor is configured to monitor kerf of the removed portion of the anatomical element based on output of the force-torque sensor, determine that the monitored kerf reaches a threshold, and output one or more signals in response to determining that the monitored kerf has reached the threshold.
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
6.
LINEAR POSITION SENSOR ASSEMBLIES FOR SURGICAL INSTRUMENTS SUCH AS ROBOTIC BONE DRILLS
A surgical instrument includes a base, a platform fixed to the base, three magnets supported by the platform and longitudinally spaced along a translation axis, a translation housing movable relative to the base along the translation axis, a tool extending distally from the translation housing wherein movement of the translation housing moves the tool along the translation axis, and at least one sensor fixed within and movable with the translation housing along the translation axis with the translation housing. The at least one sensor is configured to sense a magnetic field produced by the first, second, and third magnets. The sensed magnetic field varies based upon a position of the translation housing along the translation axis such that a position of the tool relative to the base is determinable based upon an output of the at least one sensor.
A method and system is disclosed for acquiring image data of a subject. The image data can be collected with an imaging system using various selection techniques. The selection techniques may be used to assist in generating selected images for viewing. WO
Systems and methods for forming a patient tracker for detecting movement are provided. The patient tracker comprises a reference frame positioned on a patient; and at least one marker positioned on the patient and spaced from the reference frame, wherein the reference frame and the at least one marker are registered using an X-ray imaging device, and wherein a location of the patient tracker is defined based on the registration of the reference frame and the at least one marker. The registration of the reference frame and the at least one marker may be based on one or more images obtained from the X-ray imaging device. The reference frame may include at least four markers.
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
9.
SYSTEMS, METHODS, AND DEVICES FOR ROBOTIC MANIPULATION OF THE SPINE
A system for robotic spinal manipulation includes a first robotic arm comprising an end effector; a second robotic arm configured to hold a spinal rod; at least one processor; and a memory storing instructions for execution by the at least one processor. The instructions, when executed, cause the at least one processor to control the first robotic arm to link the end effector with at least one vertebral screw implanted in a vertebra of a spine of a patient; control the second robotic arm to hold the spinal rod in a predetermined pose; and cause the first robotic arm to move the at least one implanted vertebral screw into engagement with the spinal rod.
A system according to at least one embodiment of the present disclosure includes: a processor; and a memory device coupled to the processor and including data stored thereon that, when executed by the processor, enable the processor to: receive at least one magnetic resonance image of a patient anatomy; apply a mask to the at least one magnetic resonance image; and output, based on application of the mask to the at least one magnetic resonance image, an updated version of the at least one magnetic resonance image that contains intensity information associated with a non-magnetic resonance image.
G06T 7/174 - SegmentationEdge detection involving the use of two or more images
A61B 5/055 - Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fieldsMeasuring using microwaves or radio waves involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
An end effector for use with a robotic arm is configured to attach to a tool changer on the robotic arm within an environment. The end effector includes one or more image sensors and an electrical connector configured to output image data from the one or more image sensors to the tool changer.
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
12.
SYSTEMS, DEVICES, AND METHODS FOR TRIGGERING INTRAOPERATIVE NEUROMONITORING IN ROBOTIC-ASSISTED MEDICAL PROCEDURES
A system comprises a neuromonitoring system configured to generate nerve data regarding a state of a nerve of a patient during a surgical procedure on the patient. The system includes a robotic system configured to receive or generate, for the surgical procedure, location data that identifies a location of the nerve of the patient. The robotic system may cause the neuromonitoring system to be in either an active state or an inactive state based on the location data, where the active state is a state in which the neuromonitoring system provides the nerve data to the robotic system, while the inactive state is a state in which the neuromonitoring system does not provide the nerve data to the robotic system. The robotic system may further generate at least one control signal that implements one or more safeguards for the surgical procedure.
A61B 5/388 - Nerve conduction study, e.g. detecting action potential of peripheral nerves
G05B 19/4155 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
A surgical system including a tool changer configured to attach to and transfer power and/or data to and/or from an end effector. The tool changer includes a first clamp to secure the tool changer to a robotic tracking unit (RTU) and a second clamp to secure the tool changer to the end effector and to prevent the first clamp from opening when the second clamp is closed.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 17/00 - Surgical instruments, devices or methods
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
14.
SYSTEMS, METHODS, AND DEVICES FOR VERIFYING MECHANICAL COUPLING BETWEEN ANATOMICAL ELEMENTS
A device comprises at least one processor and a memory comprising instructions that when executed by the at least one processor cause the at least one processor to: generate a first signal that causes a vibration device to vibrate, the vibration device being in force-transmitting contact with a first anatomical element; receive, from a sensor, a second signal based on sensed vibration in a second anatomical element proximate the first anatomical element; and determine, based on the second signal, an amount of mechanical coupling between the second anatomical element and the first anatomical element.
A61B 17/00 - Surgical instruments, devices or methods
A61B 17/11 - Surgical instruments, devices or methods for closing wounds or holding wounds closedAccessories for use therewith for performing anastomosisButtons for anastomosis
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61H 1/00 - Apparatus for passive exercisingVibrating apparatusChiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
A61H 23/00 - Percussion or vibration massage, e.g. using supersonic vibrationSuction-vibration massageMassage with moving diaphragms
A system for robotic spinal manipulation includes a robotic tool including one or more screw connectors. Each screw connector is configured to connect to a pedicle screw and to move with one or more degrees of freedom. The robotic tool also includes a controller configured to control a position of each of the one or more screw connectors and a connector configured to mate with a robotic arm.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
16.
SYSTEMS AND METHODS FOR CONTROLLING A VIRTUAL CURSOR USING A ROBOTIC TRACKING UNIT
Provided systems for controlling a virtual cursor include: a robotic arm; a robotic tracking unit attached to the robotic arm, the robotic tracking unit supporting and orienting an end effector; sensor(s) positioned on the robotic tracking unit and sensing a force applied to the robotic tracking unit; a display displaying a virtual cursor movable within a Graphical User Interface; processor(s); and memory(ies) storing instructions for execution by the processor(s) that, when executed, cause the processor(s) to: receive sensor data from the sensor(s), which corresponds to the force applied to the robotic tracking unit and a duration of time that the force is applied to the robotic tracking unit, determine a virtual cursor direction corresponding to the force applied to the robotic tracking unit, and cause the virtual cursor to move in the determined virtual cursor direction for the duration of time.
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
G06F 3/0338 - Pointing devices displaced or positioned by the userAccessories therefor with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
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 3/038 - Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
A61B 17/00 - Surgical instruments, devices or methods
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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 3/0354 - 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
17.
STERILE SURGICAL BARRIER WITH ELECTROMAGNETIC SHIELDING
An example system may include a flexible sheet sized and configured so as to enclose at least a portion of the surgical robot, the flexible sheet including. A system may include a non-conductive layer. A system may include a conductive layer coupled to the non-conductive layer and including an aperture positioned such that the aperture aligns with a visual indicator of the surgical robot. A system may include a distal end including an opening, the opening positioned to allow a tool changer of the surgical robot to extend through the opening.
Systems and methods for predicting surgical outcomes are provided. A surgical plan comprising information about a planned surgery and at least one preoperative image depicting a planned surgical result and at least one postoperative image depicting an actual surgical result resulting from execution of the planned surgery may be received. The postoperative image may be registered to the preoperative image. One or more features may be automatically identified in each of the postoperative image and the preoperative image. A difference may be automatically measured in at least one parameter of each of the one or more features to yield training data. A function for predicting the difference may be generated using artificial intelligence and based on the training data. The function may be applied to an unexecuted surgical plan.
A guidance unit is disclosed. The guidance unit may be used to assist in guiding an instrument during a procedure. The guidance unit may be formed or positioned with a robotic system.
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
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
A surgical platform and trolley assembly and an interface of a robotic system are provided. The surgical platform and trolley assembly includes a trolley portion and a surgical platform portion. The trolley portion supports the surgical platform portion, and affords positioning and repositioning of the surgical platform portion relative to the interface of the robotic system. An end portion of the surgical platform portion is attachable relative to the robotic system via engagement to the interface.
An imaging system and method of acquiring image data is disclosed. The imaging system is operable to acquire and/or generate image data at positions relative to a subject. The imaging system includes a drive system configured to move the imaging system.
A61B 6/00 - Apparatus or devices for radiation diagnosisApparatus or devices for radiation diagnosis combined with radiation therapy equipment
A61B 6/50 - Apparatus or devices for radiation diagnosisApparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body partsApparatus or devices for radiation diagnosisApparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific clinical applications
A robotic navigation system includes a robot base; a robotic arm comprising a proximal portion secured to the robot base, a distal portion movable relative to the proximal portion, and a tracking marker secured to the robotic arm proximate the distal portion; at least one processor; a navigation system including a tracking marker sensor configured to identify positions of the tracking marker in a first coordinate space; and a memory. The memory stores instructions that cause the at least one processor to: cause the robotic arm to move to a plurality of different poses; receive information relating to a position of the tracking marker in a second coordinate space when the robotic arm is in each of the plurality of different poses; and compare the positions of the tracking marker in the first coordinate space to the positions of the tracking marker in the second coordinate space.
A shrink sterile drape according to at least one embodiment of the present disclosure includes a first portion; a second portion configured to shrink relative to the first portion in the presence of heat; and an optical window disposed in the second portion and configured to permit passage of light therethrough.
A system according to at least one embodiment of the present disclosure includes: a processor; and a memory storing data thereon that, when executed by the processor, enable the processor to monitor an area for light projected by one or light-emitting devices and determine one or more of a position and an orientation for each of the one or more light-emitting devices.
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 17/00 - Surgical instruments, devices or methods
A robotic surgical system includes a robotic actuator and a set of surgical tools. Each of the surgical tools is configured to be separately and removably coupled to the robotic actuator. The robotic surgical system also includes a toolbox configured to store the surgical tools. The toolbox includes a shaft configured to rotate about a shaft axis, and a tool holder body configured to be releasably coupled to the shaft.
Disclosed is a system for assisting in guiding and performing a procedure on a subject. The subject may be any appropriate subject such as inanimate object and/or an animate object. An imaging system may be used to image the subject. A system may include various manipulable or movable members, such as robotic systems. This system may provide feedback regarding the selected procedure that may be real time and/or for future planning.
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 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
27.
SYSTEM AND METHOD FOR ASSISTING IN PLANNING AND PERFORMING A PROCEDURE
Disclosed is a system for assisting in guiding and performing a procedure on a subject. The subject may be any appropriate subject such as inanimate object and/or an animate object. An imaging system may be used to image the subject. A system may include various manipulate or movable members, such as robotic systems. This system may provide feedback regarding the selected procedure that may be real time and/or for future planning.
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
28.
SYSTEM AND METHOD FOR ASSISTING IN PLANNING AND PERFORMING A PROCEDURE
Disclosed is a system for assisting in guiding and performing a procedure on a subject. The subject may be any appropriate subject such as inanimate object and/or an animate object. An imaging system may be used to image the subject. A system may include various manipulate or movable members, such as robotic systems. This system may provide feedback regarding the selected procedure that may be real time and/or for future planning.
Disclosed is a system for assisting in guiding and performing a procedure on a subject. The subject may be any appropriate subject such as inanimate object and/or an animate object. An imaging system may be used to image the subject. A system may include various manipulate or movable members, such as robotic systems. This system may provide feedback regarding the selected procedure that may be real time and/or for future planning.
Systems and methods for registration using one or more fiducials and X-ray technology are provided. A first imaging device is operable to obtain first image data including at least one fiducial and a portion of an anatomical element of a patient that are visible in the first image data. The location of the at least one fiducial with respect to the anatomical element of the patient based on the first image data is determined. Errors in the obtained first image data and the determined location of the at least one fiducial with respect to the anatomical element of the patient are eliminated by using the first imaging device and the determined location of the at least one fiducial with respect to the anatomical element of the patient is registered. The first imaging device obtains the first image data at a wavelength of 10 nanometers or less.
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 90/20 - Surgical microscopes characterised by non-optical aspects
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
31.
SYSTEMS AND METHODS FOR TRACKING ANATOMICAL MOTION
Methods and systems for detecting, monitoring, and accounting for anatomical motion is provided. An initial contact between a first robotic arm and an anatomical element of a patient may be detected based on information received from at least one internal sensor of the first robotic arm. A position of the anatomical element may be determined based on the information. The determined position may be compared to an expected position of the anatomical element. A tool trajectory of a second robotic arm may be updated when the determined position is offset from the expected position.
A system and techniques for creating a spine stress map are provided. The system may be configured to generate a multi-class segmentation for an anatomical element of a patient based on a plurality of magnetic resonance images of the anatomical element from a plurality of patients. Additionally, one or more stress maps may be generated based on simulating stresses on the anatomical element. In some embodiments, the simulated stresses may be simulated using a finite element analysis based at least in part on the multi-class segmentation. Additionally, the system may be configured to display one or more stress maps via a user interface, where the one or more stress maps are determined based on one or more deep learning models configured to predict multi-labeled masks and/or stress maps for the anatomical element.
A system according to at least one embodiment of the present disclosure includes: a user input device for a robotic arm, the user input device including four or more segmented inputs; a processor; and a memory coupled with the processor and storing data thereon that, when processed by the processor, enable the processor to: receive, from at least two of the four or more segmented inputs of the user input device, a user input to activate the robotic arm; and in response to receiving the user input, cause the robotic arm to enter a hand-guided motion state that enables at least one of the processor and a user to manipulate the robotic arm.
A system according to at least one embodiment of the present disclosure includes: a processor; and a memory coupled with the processor and storing data thereon that, when processed by the processor, enable the processor to: receive an input associated with a surgical instrument interacting with a patient at a first step in a surgical task; provide the input into a control algorithm; receive, as a result of the control algorithm processing the input, an output including one or more operating parameters of the surgical instrument associated with a second step in the surgical task that follows the first step in the surgical task; and automatically adjust the one or more operating parameters of the surgical instrument for performance of the second step of the surgical task.
Surgical guidance systems, platforms, robots, and methods for spatial measurement are provided. The method includes receiving information associated with a surgical task. The method also includes determining operating parameters to perform the surgical task. The method further includes transferring a control signal to control a surgical robot to perform the surgical task. The method includes receiving image data of a surgical environment during the surgical task. The method also includes tracking a location of each surgical component within the surgical environment during the surgical task. The method further includes monitoring performance of the surgical task to ensure operation is according to the determined operating parameters.
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
36.
SURGICAL ROBOTIC SYSTEMS AND METHODS FOR USING THE SAME
A system according to at least one embodiment of the present disclosure includes: a processor; and a memory storing data thereon that, when executed by the processor, enable the processor to: initiate a robot to perform a first step of a surgical task; receive information associated with the robot performing the surgical task, the information including sensor information from a plurality of sensors; determine, based on the first step of the surgical task, a subset of the sensor information that is relevant to a second step of the surgical task; analyze the subset of the sensor information; generate, based on the analysis, a control signal; and automatically provide the control signal to the robot to perform the second step of the surgical task.
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
A61B 17/00 - Surgical instruments, devices or methods
37.
SURGICAL ROBOTIC SYSTEM TO SAFELY REMOVE AND REPOSITION SURGICAL ELEMENTS WHEN AN ERROR IS DETECTED
Surgical systems, surgical robots, and methods for pausing performance of a surgical task by a surgical robot when an error is detected are provided. The method includes initiating a robot to perform a surgical task. The method also includes receiving information associated with the robot performing the surgical task. The method further includes detecting, based on the received information, an unexpected condition. The method also further includes causing the robot to pause performance of the surgical task or continue performance of the surgical task until it is safe to stop.
A system for accounting for drift of a position sensor. The system includes a position sensor, a robotic instrument including a first tracker, and an electronic processor. The electronic processor is configured to determine a matrix defining a position of the position sensor in a coordinate system, control movement of the robotic instrument to a predefined position, and capture, with the position sensor, a first position of the first tracker. The electronic processor is configured to, in response to determining that a predetermined amount of time has passed since the first position was captured, control movement of the robotic instrument to the predefined position, capture a second position of the first tracker with the position sensor, determine, based on a difference between the first position of the first tracker and the second position of the first tracker, a drift matrix, and update the matrix based on the drift matrix.
A system according to at least one embodiment of the present disclosure includes: a processor; and a memory coupled with the processor and storing data thereon that, when processed by the processor, enable the processor to: determine a movement of a surgical guide; determine, based on the movement of the surgical guide, that an interference is created between a surgical tool and the surgical guide after the movement of the surgical guide; and provide a recommended adjustment to at least one of a trajectory of the surgical tool and a pose of the surgical guide to address the interference between the surgical tool and the surgical guide.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
40.
GENERATING AND MODELING PROTOCOLS FOR MATERIAL REMOVAL PROCEDURES
In some implementations, a device may obtain input information that indicates one or more outcome parameters for a procedure, and wherein the procedure is associated with one or more anatomical elements. The device may determine, based on the one or more outcome parameters and anatomical information of a patient, a protocol to be performed to the one or more anatomical elements, wherein the protocol includes one or more surgical actions to be performed to the one or more anatomical elements. The device may generate, based on the protocol and the anatomical information, a three-dimensional model of the one or more anatomical elements, wherein the three-dimensional model shows the one or more surgical actions made to the one or more anatomical elements. The device may provide the three-dimensional model.
In some implementations, a device may obtain one or more outcome parameters for a robotically-assisted procedure that is associated with a robot. The device may generate, based on surgical data associated with the robotically-assisted procedure, the one or more outcome parameters, and anatomical information of a patient, a protocol for the robotically-assisted procedure that includes one or more surgical actions to be performed to the one or more anatomical elements and one or more surgical fixation parameters of one or more implants. The device may provide the protocol for display via a user interface. The device may obtain, via the user interface, an approval indication of the protocol. The device may transmit one or more communications to cause the robot to perform one or more robotic actions in accordance with the protocol, based on obtaining the approval indication.
G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or 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
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
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
42.
IMPLEMENT MONITORING FOR A ROBOTICALLY-ASSISTED PROCEDURE
In some implementations, a device may obtain operational information of an implement of a robot for a robotically-assisted procedure, wherein the operational information is associated with one or more operations of the implement for the robotically-assisted procedure. The device may detect, based on the operational information and a surgical plan for the robotically- assisted procedure, an event that indicates that the implement is not suitable for the robotically- assisted procedure. The device may perform, based on the event, one or more actions associated with the implement.
In some implementations, a device may obtain a surgical plan that is associated with a robotically-assisted procedure that is associated with a robot, wherein the surgical plan indicates one or more planned operations of one or more robotic arms of the robot, and wherein the surgical plan is associated with one or more anatomical elements. The device may determine, using medical imaging data of a patient of the robotically-assisted procedure, anatomical information of the patient associated with the one or more anatomical elements. The device may generate, using configuration information associated with the robot and the anatomical information, a modeling of a surgical field associated with the robotically-assisted procedure. The device may determine, using the modeling, feedback information for the surgical plan based on a simulation of the one or more planned operations. The device may perform, based on the feedback information, one or more actions.
Surgical guidance systems, platforms, and methods for detecting movement are provided. The method may include attaching a reference frame including at least two tracking markers to a stationary surgical device. The method also includes receiving at least one image, the at least one image depicting a surgical area, wherein the at least one image comprises the at least two tracking markers arranged in a first position on the stationary surgical device relative to the reference frame. The method further includes determining and registering a location of each of the at least two tracking markers in relation to the reference frame; monitoring the at least two tracking markers during the surgical procedure; and in response to detecting movement above a threshold of any of the at least two tracking markers during the surgical procedure, performing an action and updating the location of each of the at least two tracking markers.
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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
45.
SYSTEMS USING SURGICAL TOOLS FOR REMOVING SOFT TISSUE
Systems and methods using surgical tools for removing soft tissue are provided. The surgical tool may include a drive assembly for rotating at least one cutting sprocket or cutting tool. The drive assembly may include a roller chain having one or more extended pins that are received in corresponding valleys between adjacent teeth of the at least one cutting sprocket. Rotation of the roller chain thus rotates the at least one cutting sprocket.
Systems and methods for changing an end effector are provided. A connecting plate may have a first side, a second side opposite the first side, and a kinematic interface. The kinematic interface may include at least one projection extending from both the first side and the second side. A robot flange may have a first kinematic receiver including at least one recess for receiving a corresponding projection of the at least one projection of the first side. An end effector may have a second kinematic receiver and a locking assembly. The second kinematic receiver may include at least one recess for receiving a corresponding projection of the at least one projection of the second side. The locking assembly may be configured to releasably secure the end effector to the robot flange.
A61B 46/10 - Surgical drapes specially adapted for instruments
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
H01R 13/62 - Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
H01R 33/00 - Coupling devices specially adapted for supporting apparatus and having one part acting as a holder providing support and electrical connection via a counterpart which is structurally associated with the apparatus, e.g. lamp holdersSeparate parts thereof
A method according to one embodiment of the present disclosure comprises receiving a first image of a patient's anatomy, the first image generated at a first time and depicting a plurality of rigid elements; receiving a second image of the patient's anatomy, the second image generated at a second time after the first time and depicting the plurality of rigid elements; determining a transformation from the first image to the second image for each one of the plurality of rigid elements to yield a set of transformations; calculating a homography for each transformation in the set of transformations to yield a set of homographies; and identifying, using the set of homographies, a common portion of each transformation attributable to a change in camera pose, and an individual portion of each transformation attributable to a change in rigid element pose.
Systems and methods for training an implant plan evaluation model is provided. A first implant plan option having a first set of parameters and a second implant plan option having a second set of parameters may be received. The first set of parameters and the second set of parameters may be inputted into a model configured to score the first implant plan option based on the first set of parameters and the second implant plan option based on the second set of parameters. The score of the first implant plan option and the score of the second implant plan option may be compared. when the score of the second implant plan option is higher than the score of the first implant plan option the model may be adjusted to score the first implant plan option higher than the second implant plan option.
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 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
49.
AUTOMATIC ROBOTIC PROCEDURE FOR SKIN CUTTING, TISSUE PATHWAY, AND DILATION CREATION
A robotic surgical system according to at least one embodiment of the present disclosure includes a robot arm including a proximal end and a distal end and a surgical tool that attaches to the distal end of the robot arm via a robot mount flange on the surgical tool. The surgical tool includes a blade support tip that extends from a first end and a rod that extends from a second end opposite the first end. The rod may include a blunt tip end and an actuation end, where the blunt tip end extends from the second end. Accordingly, the surgical tool may be rotatable about a tool rotation axis between a cutting position disposing the blade support tip in proximity to a target site and a tissue pathway creation position disposing the blunt tip end in proximity to the target site.
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
A method and system are disclosed for acquiring image data of a subject. The image data can be collected with an imaging system in a selected manner and/or motion. More than one projection may be combined to generate and create a selected view or visualization of the subject.
A method and system are disclosed for acquiring image data of a subject. The image data can be collected with an imaging system in a selected manner and/or motion. More than one projection may be combined to generate and create a selected view or visualization of the subject.
Systems and methods for transforming supine three-dimensional geometry to standing position measurements. An example system may include an electronic processor. The electronic processor is configured to retrieve a scan of a spinal region in a supine position and process the scan using a machine learning model trained to produce standing spinal measurements from supine spinal scans. The electronic processor is configured to receive, from the machine learning model, a plurality of weight-bearing measurements for the spinal region and generates, based on the plurality of weight¬ bearing measurements for the spinal region, a weight-bearing two-dimensional scan of the spinal region. The electronic processor is configured to provide as training data to a second machine learning model the scan of the spinal region in a supine position and the two-dimensional scan of the spinal region.
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
G16H 30/40 - ICT specially adapted for the handling or processing of medical images for processing medical images, e.g. editing
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
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
53.
MULTIPLE END EFFECTOR INTERFACES COUPLED WITH DIFFERENT KINEMATICS
A robotic system according to at least one embodiment of the present disclosure includes a robot arm including a proximal end and a distal end, a mount flange rotationally connected to the robot arm at the distal end along a rotation axis, and an end effector interconnected to the mount flange via an attachment interface disposed between the mount flange and the end effector. The attachment interface fixedly arranges the end effector in one of at least two select positions. A first position of the at least two select positions orients a surgical tool axis of the end effector at a first angle relative to the rotation axis, and a second position of the at least two select positions orients the surgical tool axis of the end effector at a second angle relative to the rotation axis. The second angle is different from the first angle.
Systems and methods for accurate determination of the position of an anatomic part of a subject in robotic assisted image-based surgery, using an inertial measurement unit (IMU) to determine the position and orientation of the anatomical part of the subject. The intrinsic drift of the IMU, which would make the IMU position measurements inaccurate, can be reset to zero regularly, at points of time when the subject's body is stationary. This can be achieved when motion from the subject's breathing and from the heartbeat are essentially zero. Such positions occur respectively when the respiratory signal shows the position of the breathing cycle to be at the end of the expiration phase, and the heartbeat signal represents a time in the diastole period of the subject's electrocardiographic cycle. When these two signal moments coincide, the IMU is essentially stationary, and its drift reset to zero.
An example system may include a robot including a robotic arm. A system may include a surgical tool coupled to the robotic arm. A system may include an electronic processor coupled to the robot and configured to receive a scan of an anatomical element; perform a sub-anatomical segmentation on the scan to determine a segmented part; analyze the segmented part to determine a bone removal limit for the segmented part; control the robotic arm according to a user input to remove a volume of bone from the segmented part with the surgical tool; and, when the volume exceeds the bone removal limit, prevent the surgical tool from interacting with the segmented part.
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 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
56.
MULTI-ARM ROBOTIC SYSTEMS AND METHODS FOR CALIBRATING AND VERIFYING CALIBRATION OF THE SAME
A system for calibrating a multi-arm robotic system includes a memory including instructions and at least one processor that executes the instructions to receive a set of pose data that is indicative of a pose of a first robotic arm and a pose of a second robotic arm when each image of a plurality of images of a calibration object is captured, to receive a set of location data that is indicative of a location of the calibration object within each image, and to calibrate the multi-arm robotic system or verify calibration of the multi-arm robotic system based on the set of pose data and the set of location data. The calibration object has a known dimension, and each image is captured from a different perspective relative to the calibration object with a first imager and a second imager.
Systems and methods according to embodiments of the present disclosure include: receiving registration data including information about a location of an anatomical element in a surgical environment; defining, based on the registration data, a three-dimensional (3D) volume in the surgical environment including the anatomical element; and controlling a robotic arm inside the surgical environment based on the defined 3D volume such that at least the robotic arm or one or more components attached to the robotic arm avoids passing through the defined 3D volume during a movement of the robotic arm.
A method for predicting a movement of an anatomical element. The method includes receiving a surgical plan including a predetermined trajectory for a robot and a predetermined position of a second anatomical element, receiving, from a tracking system, data representing a movement of a first anatomical element, and determining a predicted movement of the second anatomical element with a machine learning model using data including the movement of the first anatomical element. The method also includes, based on the predicted movement of the second anatomical element and the predetermined position of the second anatomical element, determining a predicted position of the second anatomical element and, when the predetermined position of the second anatomical element is different from the predicted position of the second anatomical element, updating the predetermined trajectory, the predetermined position of the second anatomical element, or both based on the predicted position of the second anatomical element.
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
59.
SYSTEMS AND METHODS FOR DETERMINING AND APPLYING A DEFLECTION COMPENSATION TO ROBOTIC SYSTEMS
Systems and methods for determining and applying a deflection compensation are provided. Sensor data may be received from a sensor and may correspond to a load exerted on a robotic system or one or more components of the robotic system. Pose information corresponding to a pose of the robotic system or the one or more components may be received. A deflection compensation may be determined based on the pose information and the load and the deflection compensation may be applied to the robotic system or the one or more components of the robotic system.
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
60.
SYSTEMS AND METHODS FOR TESTING ATTACHMENT OF AN END EFFECTOR TO A TOOL CHANGER
An assembly for a robotic arm includes a tool changer configured to attach to and transfer power to an end effector, and a tracking system that facilitates tracking of the robotic arm within an environment. The tracking system includes at least one processor and memory including instructions that when executed by the at least one processor cause the at least one processor to generate and send a first signal to the tool changer in response to receiving an indication that the end effector has been attached to the tool changer, enable the tool changer to transfer power to the end effector in the presence of feedback from the tool changer that is based on the first signal, and block the tool changer from transferring power to the end effector in the absence of the feedback from the tool changer.
A robotic surgical system includes a tracking system including a tracking device configured to facilitate tracking of a robotic arm within a coordinate system, and a force-torque sensor. The system includes a tool changer configured to connect to the tracking system via a rotational force applied to a first connection between the tool changer and the tracking system, and to connect to an end effector via a second connection between the tool changer and the end effector. The force-torque sensor is configured to generate sensor data indicative of the rotational force applied to the first connection when connecting the tool changer to the tracking system via the first connection. The system includes at least one processor configured to issue a first alert when the sensor data indicates that the rotational force reaches a first threshold.
A system comprises a robotic arm in a robotic arm coordinate system, a camera in a fixed pose in a navigation coordinate system, at least one processor, and memory including instructions that when executed by the at least one processor, cause the at least one processor to determine a pose of the robotic arm within the navigation coordinate system, map the robotic arm coordinate system to the navigation coordinate system based on the pose of the robotic arm, and control, based on output of the camera, the robotic arm in the navigation coordinate system.
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
63.
SYSTEMS AND METHODS FOR NAVIGATED SURGICAL RESECTION OF ANATOMICAL ELEMENTS
A system according to at least on embodiment of the present disclosure includes: a robotic arm couplable to a first surgical tool; a processor; and a memory storing data thereon that, when processed by the processor, enable the processor to: receive a three-dimensional (3D) model of an anatomical element; determine, based on the 3D model, a plane that at least partially bisects the anatomical element into a first portion and a second portion; track the robotic arm as the first surgical tool resects the first portion of the anatomical element; determine, based on the tracking of the robotic arm, that the first surgical tool has reached the plane; and generate, when the first surgical tool has reached the plane, an alert.
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
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
64.
RIGIDITY-BASED ROBOTIC ARM POSITION SELECTION AND COMPENSATION
An example system may include a robot including a robotic arm. The system may include a surgical tool coupled to a distal end of the robotic arm. The system may include an electronic processor coupled to the robot, and configured to receive a desired position for a tool center point of the surgical tool. The electronic processor is configured to determine a plurality of solutions for the robotic arm based on the desired position. The electronic processor is configured to, for each of the plurality of solutions, determine a rigidity for the robotic arm. The electronic processor is configured to select, from the plurality of solutions, a preferred solution, the preferred solution based on the rigidity. The electronic processor is configured to control the robotic arm based on the preferred solution.
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 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
65.
SYSTEMS AND METHODS FOR ATTACHING A DRAPE TO ONE OR MORE PORTIONS OF A ROBOTIC ARM
A system according to at least one embodiment of the present disclosure includes: a robotic arm; a tracked portion attached to the robotic arm and tracked by a navigation system; a sterile drape that covers the robotic arm and the tracked portion; and an attachment device that attaches the sterile drape to the tracked portion such that a portion of the sterile drape disposed over a surface of the tracked portion is substantially smooth.
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 18/00 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
66.
UNIVERSAL ADAPTOR FOR AN IMAGING DEVICE AND CORRECTOR ASSEMBLY
An adaptor assembly (300, 700, 1100, 1800) comprising a plurality of spacers (722, 724, 726, 728, 1126, 1128, 1130) configured to contact a plurality of contact points of an imaging device (100) and a plurality of holders (120) configured to be adjustable in one or more directions and to support the plurality of spacers (722, 724, 726, 728, 1126, 1128, 1130). The adaptor assembly (300, 700, 1100, 1800) is configured to couple a corrector assembly (104) to an imaging device (100). The plurality of holders (120) may comprise a bracket (702) and at least one side bracket (704); a plurality of arms (304, 306, 308), each arm comprising a first link (314) pivotably connected to a base (312) and a second link (316) pivotably connected to the first link (314); at least one clamp assembly (1102, 1104, 1106); or at least one belt assembly (1802, 1804, 1806).
A robotic surgical system comprising at least two robotic arms having co-ordinate systems known relative to each other, one of the arms carrying an X-ray source, and the other an imaging detector plate. The arms are disposed to enable an image to be generated on the region of interest of a subject. One of the arms can additionally or alternatively carry a surgical tool or tool holder, such that the pose of the tool is known in the same co-ordinate system as that of an image generated by the X-ray source and detector. Consequently, any surgical procedure planned on such an X-ray image can be executed by the tool with high accuracy, since the tool position is known in the image frame of reference. This enables the surgeon to accurately position his tool in a real-time image without the need for an external registration procedure.
A method according to at least one embodiment of the present disclosure includes receiving, from a sensor, position-related data, determining, based on the position-related data, an angle associated with a device is within a predetermined range, instructing a user to move the device, monitoring the position-related data, detecting, based on the position-related data, movement, in response to detecting movement, providing a first notification to the user, during a procedure, monitoring the position-related data, detecting, based on the position-related data, movement during the procedure, and in response to detecting movement during the procedure, one or more of halting a movement of the device, retracting the device, and providing a second notification to the user.
Techniques are disclosed for processing image data to determine spinal characteristics. A system, device, and method support receiving an image, executing a first neural network to perform a first landmark detection using the image and executing a second neural network to perform a second landmark detection using the image. The first neural network may generate a vertebra patch, a sacrum region of interest (ROI), and/or a femoral ROI. The second neural network may generate vertebra center data, vertebra corner data, vertebra labeling data, sacrum endplate data, and/or femoral head data.
Systems, methods, and devices for defining a path for a robotic arm are provided. One or more no-fly zones may be generated. The one or more no-fly zones correspond to a section of a work volume defined as inaccessible to a robotic arm and the work volume is defined as accessible to the robotic arm. A pose of an object may be determined and an obstacles map based on the determined pose and known dimensions of the object may be generated. A path for the robotic arm may be defined that avoids collision with the object identified in the obstacles map and avoiding the one or more no-fly zones.
Systems and methos for determining movement of one or more anatomical elements are provided. First pose information of a first anatomical element may be obtained and used to determine second pose information of a second anatomical element adjacent to the first anatomical element. An updated first pose information may be obtained and compared with the first pose information. Movement of the first anatomical element may be determined when a difference between the first pose information and the updated pose information exceeds a predetermined threshold. Movement of the second anatomical element may be determined based on the movement of the first anatomical element.
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
72.
SYSTEMS AND DEVICES FOR SETTING AND FIXING ONE OR MORE ANATOMICAL ELEMENTS
Systems and methods for setting and fixing one or more anatomical elements are provided. One or more fixation devices configured to be secured to corresponding one or more anatomical elements may be provided. A connector may also be provided that connects each fixation device to an adjacent fixation device of the one or more fixation devices. The connector may be configured to be in a flexible state when positioning the one or more fixation devices and a rigid state to fix the one or more fixation devices, thereby fixing the one or more anatomical elements.
A61B 17/70 - Spinal positioners or stabilisers, e.g. stabilisers comprising fluid filler in an implant
A61B 17/88 - Methods or means for implanting or extracting internal fixation devices
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
73.
SYSTEMS AND METHODS FOR PLANNING AND UPDATING TRAJECTORIES FOR IMAGING DEVICES
Systems and methods for planning and updating one or more trajectories for imaging device(s) are provided. A first trajectory for a first robotic arm orienting a first component of an imaging device and a second trajectory for a second robotic arm orienting a second component of the imaging device may be determined based on patient information. At least one first image may be obtained from the imaging device using the first trajectory and the second trajectory. The first trajectory and the second trajectory may be updated based on the first image and a second image may be obtained from the imaging device using the updated first trajectory and the updated second trajectory.
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
74.
NON-UNIQUE LED PATTERN GEOMETRY AND IDENTIFICATION FOR ROBOTICS NAVIGATION
An example system may include a robot including a robotic arm and a robotic tracking unit (RTU) coupled to a distal end of the robotic arm, the RTU including a plurality of LEDs. The system may include a navigation system including a camera positioned to capture images of the RTU. The system may include an electronic processor coupled to the robot, the RTU, and the navigation system, and configured to perform a calibration routine by selecting a tracking pattern for the RTU from a plurality of non-unique tracking patterns; controlling the plurality of LEDs to illuminate based on the tracking pattern; receiving, from the navigation system, a captured image of the RTU; detect, in the captured image, the tracking pattern; determining, based on the tracking pattern, an orientation of the RTU; and controlling the robotic arm based on the orientation of the RTU.
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 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 17/00 - Surgical instruments, devices or methods
75.
DYNAMIC CALIBRATION OF X-RAY SOURCE AND DETECTOR USING RETRIEVED IMAGES
Disclosed systems include a source configured to emit a beam, a detector configured to detect the beam, and an electronic processor coupled to the source and the detector. The electronic processor is configured to control the source to emit the beam and to receive an image from the detector, the image including a shape formed by the beam, and analyze the shape to determine a geometric center for the beam. The electronic processor is configured to generate a calibration value based on the geometric center for the beam and a center point for an imaging plane of the detector. The electronic processor is configured to control the source to emit a second beam, receive a second image from the detector, the second image produced by the detector detecting the second beam, and process the second image based on the calibration value to generate a compensated image.
Systems and methods for registration using one or more fiducials are provided. First image data depicting a fiducial and at least a portion of an anatomical element may be received and a registration process based on the fiducial may be performed. Second image data depicting the fiducial and at least the portion of the anatomical element may be received. Movement of the anatomical element that exceeds a threshold distance may be determined based on the fiducial and the registration of the anatomical element may be updated in response to determining the movement exceeds the threshold distance.
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
A method for predicting a movement of an anatomical element. The method includes receiving a surgical plan including a predetermined trajectory for a robot and a predetermined position of a second anatomical element, receiving, from a tracking system, data representing a movement of a first anatomical element, and determining a predicted movement of the second anatomical element with a machine learning model using data including the movement of the first anatomical element. The method also includes, based on the predicted movement of the second anatomical element and the predetermined position of the second anatomical element, determining a predicted position of the second anatomical element and, when the predetermined position of the second anatomical element is different from the predicted position of the second anatomical element, updating the predetermined trajectory, the predetermined position of the second anatomical element, or both based on the predicted position of the second anatomical 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
78.
SYSTEMS AND METHODS FOR REGISTERING ONE OR MORE ANATOMICAL ELEMENTS
Systems and methods for registering one or more anatomical elements are provided. The system may comprise an imaging device and a navigation system configured to track a pose of a marker coupled to an object and configured to identify the marker. A first image may be received from a surgical plan. Pose information describing the pose of the marker and a marker identification of the marker may be obtained from the navigation system. An object identification based on the marker identification may be retrieved from a database. Image data of a second image depicting an anatomical element and the object may be obtained from the imaging device. The image data, the pose information, and the object identification may be input into a registration model. The registration model may be configured to register the anatomical element to the first image based on the pose information and the object identification.
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, methods, and devices for planning a path are provided. A work volume and one or more no-fly zones may be mapped. The work volume may define a volume in which a robot may access and each of the one or more no-fly zones may define at least one volume in which a robot is restricted from accessing. Information may be received about a position of at least one instrument and a void volume may be calculated based on the position of the at least one instrument. The work volume may be updated to include the void volume to yield an updated work volume. A path may be calculated for a robotic arm of a robot from outside a patient anatomy to within the patient anatomy that is within the updated work volume and avoids the one or more no-fly zones.
A robotic registration kit according to at least one embodiment of the present disclosure includes an elongate arm (304) extending from a proximal end (302) to a distal end (306) including a target receiving surface (308) and a robot mount bracket (312) including a robot attachment surface (358), a clamp screw (316), including a bracket contact surface in contact with the robot mount bracket (312) and a threaded outer surface (322), rotationally attached to the robot mount bracket (312) allowing the clamp screw (316) to rotate and preventing axial movement of the clamp screw (316), and a clamp (320) including a plate (324) with a threaded hole (328) running therethrough and a finger (332) extending a distance to a clamp end including a hook portion (336) disposed proximally past the robot attachment surface (358) of the robot mount bracket (312). The clamp (320) is moveable between a clamped state and an unclamped state by a rotational movement of the clamp screw (316) relative to the clamp (320).
A drape assembly (100) for a surgical instrument (108) is provided. The assembly (100) comprises a covering (106) having an outer perimeter and an opening (118) defining an inner perimeter. The covering (106) is configured to cover an instrument (108). The assembly (100) also comprises a housing (102) positioned within the opening (118) and connected to the inner perimeter. The housing (102) is configured to removably couple to the instrument (108). The assembly (100) also comprises an optical element (104) positioned within the housing (102).
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
G03B 11/00 - Filters or other obturators specially adapted for photographic purposes
A method of aligning an imaging device in connection with robotic surgery includes causing a robot to position a reference target over a body of a patient; receiving image data from an imaging device; identifying, with an image processing algorithm, at least a first portion of an anatomical element in the image data; identifying, with a target detection algorithm, at least a first portion of a reference target in the image data; comparing a determined location of the imaging device, the reference target, and the anatomical element to yield a location determination and causing at least one of the robot to re-position the reference target or the imaging device to re-position.
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
A surgical system including an imaging system configured to acquire an image of an area within a line-of-sight of the imaging system. A robotic arm is movable relative to the area. A robotic arm control module is configured to control movement of the robotic arm and to prevent the robotic arm from moving into the line-of-sight.
An imaging device control module is configured to segment portions of an image, such as soft tissue in a MRI image, and generate a segmented image of the image. Further configured to identify a no-go zone for an instrument in the segmented image. A tracking system control module is configured to plot an execution path for the instrument to perform a procedure at the surgical site and determine whether the execution path includes the no-go zone or modify the execution path to exclude the no-go zone upon determining that the execution path includes the no-go zone.
Systems and methods for planning a surgical procedure are provided. Information corresponding to an examination of a patient and an image of patient may be received. The information and the image may be inputted into an analytical model figured to identify a pathology location. A needed surgical modification of the patient anatomy may be automatically identified. At least a portion of an anatomical element in a three-dimensional model of the patient anatomy may be automatically labeled.
G06T 7/70 - Determining position or orientation of objects or cameras
G06T 19/00 - Manipulating 3D models or images for computer graphics
G06V 10/75 - Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video featuresCoarse-fine approaches, e.g. multi-scale approachesImage or video pattern matchingProximity measures in feature spaces using context analysisSelection of dictionaries
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 30/20 - ICT specially adapted for the handling or processing of medical images for handling medical images, e.g. DICOM, HL7 or PACS
G16H 30/40 - ICT specially adapted for the handling or processing of medical images for processing medical images, e.g. editing
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 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
86.
SYSTEMS AND METHODS FOR INSERTING AN IMPLANT USING A SURGICAL DEVICE
Systems and methods for inserting an implant using a surgical device are provided. The systems and methods may include surgical device for orienting and inserting an implant into a patient. The surgical device has at least one sensor configured to generate sensor data corresponding to at least one of axial forces or torque applied to the implant and at least one motor for driving the implant into the patient. A robotic arm is also configured to automatically orient and operate the surgical device.
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 and method are described. An illustrative method includes receiving first image information from a camera at a first point in time, where the first image information provides a first view of a surgical space and surgical navigation trackers positioned within the surgical space. The method may further include determining, based on the first image information, that a position of the camera at the first point in time is suboptimal with respect to the surgical space, determining, based on the first image information, a physical motion for the camera that improves the position of the camera with respect to the surgical space, and generating a camera movement signal configured to move the camera according to the physical motion. The method may further include transmitting the camera movement signal to a motorized control unit configured to physically move the camera.
A surgical system according to at least one embodiment of the present disclosure includes: a robotic arm including an adapter on a distal end thereof; a navigation system to track a pose of the robotic arm; and an end effector including: an interface connectable to the adapter of the robotic arm to mechanically couple the end effector and the robotic arm; a processor; and a memory storing data thereon that, when processed by the processor, enable the processor to: determine that the interface of the end effector is connected to the adapter of the robotic arm; and transmit information stored in the memory and associated with the end effector to the navigation system, where the information transmitted to the navigation system supports the navigation system in tracking the pose of the robotic arm.
A61B 90/90 - Identification means for patients or instruments, e.g. tags
A61B 90/98 - Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
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
89.
SYSTEMS AND METHODS FOR VERIFYING ONE OR MORE SEGMENTATION MODELS
Systems and methods for verifying one or more segmentation models are provided. Image data depicting an anatomical element may be received and the image data may be inputted into the one or more segmentation models. The one or more segmentation models may be configured to segment the image data and output segmented image data. At least one numerical measurement and at least one model measurement of the anatomical element may be received. The at least one model measurement may be compared with the at least one model measurement and an error based on the difference between the at least one numerical measurement and the at least one model measurement may be determined. The one or more segmentation models may be verified as a result of determining that the error is less than a predetermined error threshold.
Systems and methods for monitoring a surgical procedure are provided. A coordinate system of a first robotic arm and a second robotic arm may be co-registered or correlated to each other. One or more poses of an imaging device may be determined to provide real-time intraoperative imaging of a region of interest during a surgical procedure. Anatomical elements may be identified in the real-time images of the region of interest from which a surgical tool should maintain a predetermined distance. The surgical tool may be prevented from approaching the identified anatomical elements by less than a predetermined distance using the co-registration of the coordinate systems.
A method according to embodiments of the present disclosure includes receiving a computed tomography (CT) image of a patient; segmenting a first set of anatomical elements from the CT image; receiving a plurality of fluoroscopy images of the patient; segmenting a second set of anatomical elements from the plurality of fluoroscopy images; and creating a registration between the CT image and the plurality of fluoroscopy images based on the segmented first set of anatomical elements and the segmented second set of anatomical elements.
A system according to at least one embodiment of the present disclosure includes a processor; and a memory storing instructions thereon that, when executed by the processor, cause the processor to: identify, based on first imaging data associated with an object, a boundary region corresponding to a shape of the object; identify at least one voxel included in second imaging data associated with the object, where the at least one voxel is located outside the boundary region; and generate a multidimensional image volume corresponding to the object using the second imaging data, where generating the multidimensional image volume is with respect to one or more criteria associated with voxels located outside the boundary region.
Methods and systems for monitoring a rod reduction process is provided. The methods and systems include determining, based on at least one parameter, a threshold for forces exerted by a tool on a rod or a pedicle screw and receiving data corresponding to a magnitude of the forces exerted by the tool on the pedicle screw or the rod during reduction of the rod into a head of the pedicle screw. A surgical plan may be updated when the monitored magnitude meets the threshold.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 17/56 - Surgical instruments or methods for treatment of bones or jointsDevices specially adapted therefor
A61B 17/70 - Spinal positioners or stabilisers, e.g. stabilisers comprising fluid filler in an implant
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A surgical cutting tool with anti-skiving properties and systems for using the surgical cutting tool are provided. The cutting tool may have a cannula and a guide pin positioned in the cannula. A motor may be configured to rotate the cutting tool and the guide pin. One or more actuators may be configured to extend the guide pin and the cutting tool and to also extend the guide pin beyond a tip or an end of the cutting tool.
A spinal stabilization system includes a plurality of anchors and at least one bridge. Each anchor includes a clamp configured to engage an anatomical element, the clamp movable between a fully open position and a fully closed position; a locking screw configured to selectively prevent the clamp from being moved into the fully open position; and a bridge interface. The at least one bridge is a rigid member having a first end and a second end opposite the first end, each of the first end and the second end having an anchor interface. The bridge interface is configured to receive the anchor interface.
A61B 17/70 - Spinal positioners or stabilisers, e.g. stabilisers comprising fluid filler in an implant
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
Disclosed is a system for assisting in guiding and performing a procedure on a subject. A tracking device may be used to track a subject in a space. The tracking device may be moved relative to a tracking fixation member. A tracking system may track movement of the tracking device relative to a fixation portion.
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 17/00 - Surgical instruments, devices or methods
An interbody tool may include an upper portion with an upper contact surface and a plurality of upper legs; a lower portion with a lower contact surface and a plurality of lower legs, each of the lower legs moveably connected to one of the upper legs; a plurality of gauges, each gauge configured to measure a position of one of the plurality of upper legs relative to a corresponding one of the plurality of lower legs; at least one actuator configured to selectively push the upper portion away from the lower portion; and at least one sensor for measuring a force exerted by the at least one actuator.
A hand held robotic system that remains stiff so long as it is operating within allowed limits, but which become actively controlled once the operator exceeds those limits. The system thus corrects deviations by more than a predetermined amount of the operator's hand motions, so that the tool remains in the allowed region even when the operator's hand deviates from the planned trajectory. The pose and path of the robotic operating head is ascertained by means of a navigation or tracking system, or by means of a proximity device to measure the closeness of the operating head to a damage sensitive feature. As the tool deviates from its predetermined path or pose, or comes too close to the hazardous area, the robot control acts to move the tool back to its predetermined pose or path, or away from the hazardous region, independently of user's hand movement.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A system and method for generating a corrected image is provided. A plurality of poses for an imaging device may be calculated based on information about an object within a patient's anatomy. An image may be received from the imaging device at each pose of the plurality of poses to yield an image set. Each image may depict at least a portion of an anatomical element of the patient and an object. A set of saturated areas in which the object has caused saturated attenuation, and a set of unsaturated areas in which the object has not caused saturated attenuation may be identified in the images of the image set. A corrected image may be generated by combining data from the set of unsaturated areas, the corrected image depicting the anatomical feature with fewer than all of the saturated areas in the set of saturated areas.
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
100.
SYSTEMS AND METHODS FOR CALIBRATING AN IMAGING DEVICE
Systems and methods for calibrating an imaging device are provided. Output data may be received and a calibration model may be generated using the output data. The calibration model may be configured to extrapolate calibration values. The calibration model may be applied to an imaging device having a limited dynamic range. The calibration model may also be configured to extrapolate calibration values outside of the limited dynamic range.
