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.
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 - Instruments, dispositifs ou procédés chirurgicaux pour refermer les plaies ou les maintenir ferméesAccessoires utilisés en liaison avec ces opérations pour la suture des plaiesSupports ou emballages pour aiguilles ou matériaux de suture
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 17/06 - AiguillesSupports ou empaquetages pour aiguilles ou matériaux de suture
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.
A61B 18/00 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci
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 - TIC spécialement adaptées à la gestion ou à l’administration de ressources ou d’établissements de santéTIC spécialement adaptées à la gestion ou au fonctionnement d’équipement ou de dispositifs médicaux pour la gestion ou l’administration de ressources ou d’établissements de soins de santé, p. ex. pour la gestion du personnel hospitalier ou de salles d’opération
G16H 40/63 - TIC spécialement adaptées à la gestion ou à l’administration de ressources ou d’établissements de santéTIC spécialement adaptées à la gestion ou au fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement local
G16H 50/70 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour extraire des données médicales, p. ex. pour analyser les cas antérieurs d’autres patients
5.
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 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 90/90 - Moyens d’identification pour les patients ou les instruments, p. ex. étiquettes
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 90/50 - Supports pour instruments chirurgicaux, p. ex. bras articulés
6.
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 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 90/50 - Supports pour instruments chirurgicaux, p. ex. bras articulés
B25J 9/06 - Manipulateurs à commande programmée caractérisés par des bras à articulations multiples
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
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 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
8.
SYSTEMS AND METHODS FOR CONTROL OF A SURGICAL SYSTEM
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 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
9.
SYSTEMS AND METHODS FOR CONTROL OF A SURGICAL SYSTEM
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.
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 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
12.
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 - Générateurs de signaux d’images utilisant des caméras à images stéréoscopiques utilisant deux capteurs d’images 2D dont la position relative est égale ou en correspondance à l’intervalle oculaire
G06T 7/70 - Détermination de la position ou de l'orientation des objets ou des caméras
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 5/06 - Dispositifs autres que ceux à radiation, pour détecter ou localiser les corps étrangers
A61B 5/00 - Mesure servant à établir un diagnostic Identification des individus
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
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 - Câbles, conducteurs ou cordons flexibles, p. ex. câbles traînants
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
H01B 1/02 - Conducteurs ou corps conducteurs caractérisés par les matériaux conducteurs utilisésEmploi de matériaux spécifiés comme conducteurs composés principalement de métaux ou d'alliages
H01B 7/00 - Conducteurs ou câbles isolés caractérisés par la forme
H01B 7/40 - Conducteurs ou câbles isolés caractérisés par la forme avec des dispositions pour faciliter le montage ou la fixation
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, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
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 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 90/13 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures pour la chirurgie stéréotaxique, p. ex. système stéréotaxique à cadre avec des guides pour aiguilles ou instruments, p. ex. des glissières courbes ou des articulations à rotule guidés par la lumière, p. ex. pointeurs lasers
20.
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 - TIC spécialement adaptées à la gestion ou à l’administration de ressources ou d’établissements de santéTIC spécialement adaptées à la gestion ou au fonctionnement d’équipement ou de dispositifs médicaux pour la gestion d’équipement ou de dispositifs médicaux, p. ex. pour planifier la maintenance ou les mises à jour
G16H 50/70 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour extraire des données médicales, p. ex. pour analyser les cas antérieurs d’autres patients
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
21.
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, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
G16H 40/63 - TIC spécialement adaptées à la gestion ou à l’administration de ressources ou d’établissements de santéTIC spécialement adaptées à la gestion ou au fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement local
G16H 50/20 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour le diagnostic assisté par ordinateur, p. ex. basé sur des systèmes experts médicaux
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 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
G06F 3/01 - Dispositions d'entrée ou dispositions d'entrée et de sortie combinées pour l'interaction entre l'utilisateur et le calculateur
G06F 3/0346 - Dispositifs de pointage déplacés ou positionnés par l'utilisateurLeurs accessoires avec détection de l’orientation ou du mouvement libre du dispositif dans un espace en trois dimensions [3D], p. ex. souris 3D, dispositifs de pointage à six degrés de liberté [6-DOF] utilisant des capteurs gyroscopiques, accéléromètres ou d’inclinaison
G06F 3/0354 - Dispositifs de pointage déplacés ou positionnés par l'utilisateurLeurs accessoires avec détection des mouvements relatifs en deux dimensions [2D] entre le dispositif de pointage ou une partie agissante dudit dispositif, et un plan ou une surface, p. ex. souris 2D, boules traçantes, crayons ou palets
G06F 3/0362 - Dispositifs de pointage déplacés ou positionnés par l'utilisateurLeurs accessoires avec détection des translations ou des rotations unidimensionnelles [1D] d’une partie agissante du dispositif de pointage, p. ex. molettes de défilement, curseurs, boutons, rouleaux ou bandes
G06F 3/0482 - Interaction avec des listes d’éléments sélectionnables, p. ex. des menus
G06F 3/0487 - Techniques d’interaction fondées sur les interfaces utilisateur graphiques [GUI] utilisant des caractéristiques spécifiques fournies par le périphérique d’entrée, p. ex. des fonctions commandées par la rotation d’une souris à deux capteurs, ou par la nature du périphérique d’entrée, p. ex. des gestes en fonction de la pression exercée enregistrée par une tablette numérique
24.
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 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
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.
A61B 18/00 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci
26.
SYSTEMS AND METHODS FOR LOCALIZED ABLATION WITH A CIRCULATING FLUID CATHETER
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.
A61B 18/04 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci par chauffage
A61B 18/00 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci
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).
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
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.
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
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 - Instruments, dispositifs ou procédés chirurgicaux pour refermer les plaies ou les maintenir ferméesAccessoires utilisés en liaison avec ces opérations pour la suture des plaiesSupports ou emballages pour aiguilles ou matériaux de suture
A61B 17/06 - AiguillesSupports ou empaquetages pour aiguilles ou matériaux de suture
A61B 17/062 - Dispositifs pour manipuler les aiguilles
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
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 pour prélever des échantillons cellulaires ou pour la biopsie
A61B 1/267 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p. ex. endoscopesDispositions pour l'éclairage dans ces instruments pour les voies respiratoires, p. ex. laryngoscopes, bronchoscopes
A61B 5/00 - Mesure servant à établir un diagnostic Identification des individus
A61B 5/02 - Détection, mesure ou enregistrement en vue de l'évaluation du système cardio-vasculaire, p. ex. mesure du pouls, du rythme cardiaque, de la pression sanguine ou du débit sanguin
A61B 10/04 - Instruments endoscopiques, p. ex. instruments de type cathéther
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 17/12 - Instruments, dispositifs ou procédés chirurgicaux pour ligaturer ou comprimer par un autre moyen les parties tubulaires du corps, p. ex. les vaisseaux sanguins ou le cordon ombilical
A61B 18/00 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
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 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour le diagnostic assisté par ordinateur, p. ex. basé sur des systèmes experts médicaux
G16H 20/40 - TIC spécialement adaptées aux thérapies ou aux plans d’amélioration de la santé, p. ex. pour manier les prescriptions, orienter la thérapie ou surveiller l’observance par les patients concernant des thérapies mécaniques, la radiothérapie ou des thérapies invasives, p. ex. la chirurgie, la thérapie laser, la dialyse ou l’acuponcture
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 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour le diagnostic assisté par ordinateur, p. ex. basé sur des systèmes experts médicaux
G16H 20/40 - TIC spécialement adaptées aux thérapies ou aux plans d’amélioration de la santé, p. ex. pour manier les prescriptions, orienter la thérapie ou surveiller l’observance par les patients concernant des thérapies mécaniques, la radiothérapie ou des thérapies invasives, p. ex. la chirurgie, la thérapie laser, la dialyse ou l’acuponcture
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 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci par application de radiations électromagnétiques, p. ex. de micro-ondes
A61B 18/00 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci
G01R 21/02 - Dispositions pour procéder aux mesures de la puissance ou du facteur de puissance par des méthodes thermiques
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, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
G06V 10/25 - Détermination d’une région d’intérêt [ROI] ou d’un volume d’intérêt [VOI]
G06V 10/26 - Segmentation de formes dans le champ d’imageDécoupage ou fusion d’éléments d’image visant à établir la région de motif, p. ex. techniques de regroupementDétection d’occlusion
38.
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, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
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, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 5/00 - Mesure servant à établir un diagnostic Identification des individus
A61B 17/072 - Agrafeuses chirurgicales pour appliquer une rangée d'agrafes en une seule opération, p. ex. agrafes appliquées simultanément
A61B 17/29 - Pinces pour la chirurgie faiblement invasive
A61B 17/295 - Pinces pour la chirurgie faiblement invasive combinées à des instruments coupants
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/30 - Dispositifs pour éclairer une zone chirurgicale, les dispositifs ayant une corrélation avec d’autres dispositifs chirurgicaux ou avec une intervention chirurgicale
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 de formes dans le champ d’imageDécoupage ou fusion d’éléments d’image visant à établir la région de motif, p. ex. techniques de regroupementDétection d’occlusion
A61B 5/107 - Mesure de dimensions corporelles, p. ex. la taille du corps entier ou de parties de celui-ci
A61B 5/00 - Mesure servant à établir un diagnostic Identification des individus
G06T 7/62 - Analyse des attributs géométriques de la superficie, du périmètre, du diamètre ou du volume
G06V 10/82 - Dispositions pour la reconnaissance ou la compréhension d’images ou de vidéos utilisant la reconnaissance de formes ou l’apprentissage automatique utilisant les réseaux neuronaux
G06V 10/94 - Architectures logicielles ou matérielles spécialement adaptées à la compréhension d’images ou de vidéos
41.
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 - Instruments, dispositifs ou procédés chirurgicaux pour refermer les plaies ou les maintenir ferméesAccessoires utilisés en liaison avec ces opérations pour la suture des plaiesSupports ou emballages pour aiguilles ou matériaux de suture
A61B 17/06 - AiguillesSupports ou empaquetages pour aiguilles ou matériaux de suture
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
42.
SYSTEMS AND METHODS FOR ENDOSCOPIC TISSUE SUTURING
A61B 17/04 - Instruments, dispositifs ou procédés chirurgicaux pour refermer les plaies ou les maintenir ferméesAccessoires utilisés en liaison avec ces opérations pour la suture des plaiesSupports ou emballages pour aiguilles ou matériaux de suture
A61B 17/06 - AiguillesSupports ou empaquetages pour aiguilles ou matériaux de suture
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
43.
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 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 5/06 - Dispositifs autres que ceux à radiation, pour détecter ou localiser les corps étrangers
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
45.
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 pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p. ex. endoscopesDispositions pour l'éclairage dans ces instruments
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
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 - AiguillesSupports ou empaquetages pour aiguilles ou matériaux de suture
A61B 17/04 - Instruments, dispositifs ou procédés chirurgicaux pour refermer les plaies ou les maintenir ferméesAccessoires utilisés en liaison avec ces opérations pour la suture des plaiesSupports ou emballages pour aiguilles ou matériaux de suture
B29C 65/34 - Assemblage d'éléments préformésAppareils à cet effet par chauffage, avec ou sans pressage avec des éléments chauffés qui restent dans le joint, p. ex. un "élément de soudage perdu"
49.
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 - Draps de chirurgie spécialement adaptés aux instruments
A61B 1/00 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p. ex. endoscopesDispositions pour l'éclairage dans ces instruments
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 18/00 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 46/23 - Draps de chirurgie spécialement adaptés aux patients avec des moyens pour maintenir ou porter des instruments chirurgicaux
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 90/98 - Moyens d’identification pour les patients ou les instruments, p. ex. étiquettes utilisant des moyens électromagnétiques, p. ex. transpondeurs
F16H 1/20 - Transmissions à engrenages pour transmettre un mouvement rotatif sans engrenages à mouvement orbital comportant plus de deux organes engrenés
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 - Générateurs de signaux d’images utilisant des caméras à images stéréoscopiques utilisant deux capteurs d’images 2D dont la position relative est égale ou en correspondance à l’intervalle oculaire
A61B 1/00 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p. ex. endoscopesDispositions pour l'éclairage dans ces instruments
A61B 1/05 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p. ex. endoscopesDispositions pour l'éclairage dans ces instruments combinés avec des dispositifs photographiques ou de télévision caractérisés par le fait que le capteur d'images, p. ex. l'appareil photographique, est placé dans la partie de l'extrémité distale
A61B 1/313 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p. ex. endoscopesDispositions pour l'éclairage dans ces instruments pour l'introduction dans des incisions chirurgicales, p. ex. 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 de formes dans le champ d’imageDécoupage ou fusion d’éléments d’image visant à établir la région de motif, p. ex. techniques de regroupementDétection d’occlusion
G06V 10/28 - Quantification de l’image, p. ex. seuillage par histogramme visant à discriminer entre les formes d’arrière-plan et d’avant-plan
G06V 10/44 - Extraction de caractéristiques locales par analyse des parties du motif, p. ex. par détection d’arêtes, de contours, de boucles, d’angles, de barres ou d’intersectionsAnalyse de connectivité, p. ex. de composantes connectées
G16H 30/40 - TIC spécialement adaptées au maniement ou au traitement d’images médicales pour le traitement d’images médicales, p. ex. l’édition
52.
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 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
G06F 3/01 - Dispositions d'entrée ou dispositions d'entrée et de sortie combinées pour l'interaction entre l'utilisateur et le calculateur
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 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 1/00 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p. ex. endoscopesDispositions pour l'éclairage dans ces instruments
A61B 1/267 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p. ex. endoscopesDispositions pour l'éclairage dans ces instruments pour les voies respiratoires, p. ex. laryngoscopes, bronchoscopes
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
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 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
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 - Instruments, dispositifs ou procédés chirurgicaux pour refermer les plaies ou les maintenir ferméesAccessoires utilisés en liaison avec ces opérations pour la suture des plaiesSupports ou emballages pour aiguilles ou matériaux de suture
A61B 17/06 - AiguillesSupports ou empaquetages pour aiguilles ou matériaux de suture
A61B 17/062 - Dispositifs pour manipuler les aiguilles
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
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 - Instruments, dispositifs ou procédés chirurgicaux pour refermer les plaies ou les maintenir ferméesAccessoires utilisés en liaison avec ces opérations pour la suture des plaiesSupports ou emballages pour aiguilles ou matériaux de suture
A61B 17/06 - AiguillesSupports ou empaquetages pour aiguilles ou matériaux de suture
57.
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 pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p. ex. endoscopesDispositions pour l'éclairage dans ces instruments
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 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
B25J 15/04 - Têtes de préhension avec possibilité pour l'enlèvement ou l'échange à distance de la tête ou de parties de celle-ci
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 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci par chauffage en faisant passer des courants à travers les tissus à chauffer, p. ex. des courants à haute fréquence
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 18/00 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci
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 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
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.
A61B 34/32 - Robots chirurgicaux opérant de façon autonome
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
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 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
65.
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, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
66.
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.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/32 - Robots chirurgicaux opérant de façon autonome
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 - Draps de chirurgie spécialement adaptés aux instruments
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
68.
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 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
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 - TIC spécialement adaptées aux thérapies ou aux plans d’amélioration de la santé, p. ex. pour manier les prescriptions, orienter la thérapie ou surveiller l’observance par les patients concernant des thérapies mécaniques, la radiothérapie ou des thérapies invasives, p. ex. la chirurgie, la thérapie laser, la dialyse ou l’acuponcture
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
G06Q 10/06 - Ressources, gestion de tâches, des ressources humaines ou de projetsPlanification d’entreprise ou d’organisationModélisation d’entreprise ou d’organisation
G06Q 10/0639 - Analyse des performances des employésAnalyse des performances des opérations d’une entreprise ou d’une organisation
70.
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 - TIC spécialement adaptées à la gestion ou à l’administration de ressources ou d’établissements de santéTIC spécialement adaptées à la gestion ou au fonctionnement d’équipement ou de dispositifs médicaux pour la gestion ou l’administration de ressources ou d’établissements de soins de santé, p. ex. pour la gestion du personnel hospitalier ou de salles d’opération
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 pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p. ex. endoscopesDispositions pour l'éclairage dans ces instruments
A61B 1/05 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p. ex. endoscopesDispositions pour l'éclairage dans ces instruments combinés avec des dispositifs photographiques ou de télévision caractérisés par le fait que le capteur d'images, p. ex. l'appareil photographique, est placé dans la partie de l'extrémité distale
A61B 1/267 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p. ex. endoscopesDispositions pour l'éclairage dans ces instruments pour les voies respiratoires, p. ex. laryngoscopes, bronchoscopes
A61B 5/06 - Dispositifs autres que ceux à radiation, pour détecter ou localiser les corps étrangers
A61B 10/04 - Instruments endoscopiques, p. ex. instruments de type cathéther
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
G06T 7/33 - Détermination des paramètres de transformation pour l'alignement des images, c.-à-d. recalage des images utilisant des procédés basés sur les caractéristiques
G06T 19/00 - Transformation de modèles ou d'images tridimensionnels [3D] pour infographie
G06T 19/20 - Édition d'images tridimensionnelles [3D], p. ex. modification de formes ou de couleurs, alignement d'objets ou positionnements de parties
74.
IMAGE VIEWING SYSTEMS AND METHODS USING A BLACK GLASS MIRROR
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 - Systèmes ou appareils optiques non prévus dans aucun des groupes ,
G02B 27/28 - Systèmes ou appareils optiques non prévus dans aucun des groupes , pour polariser
G02B 30/35 - Stéréoscopes fournissant une paire stéréoscopique d'images séparées correspondant à des vues déplacées parallèlement du même objet, p. ex. visionneuses de diapositives 3D utilisant des éléments optiques réfléchissants dans le chemin optique entre les images et les observateurs
G06T 7/70 - Détermination de la position ou de l'orientation des objets ou des caméras
H04N 13/383 - Suivi des spectateurs pour le suivi du regard, c.-à-d. avec détection de l’axe de vision des yeux du spectateur
H04N 23/56 - Caméras ou modules de caméras comprenant des capteurs d'images électroniquesLeur commande munis de moyens d'éclairage
H04N 23/90 - Agencement de caméras ou de modules de caméras, p. ex. de plusieurs caméras dans des studios de télévision ou des stades de sport
75.
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, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61M 25/01 - Introduction, guidage, avance, mise en place ou maintien en position des cathéters
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 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 18/00 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
G16H 20/40 - TIC spécialement adaptées aux thérapies ou aux plans d’amélioration de la santé, p. ex. pour manier les prescriptions, orienter la thérapie ou surveiller l’observance par les patients concernant des thérapies mécaniques, la radiothérapie ou des thérapies invasives, p. ex. la chirurgie, la thérapie laser, la dialyse ou l’acuponcture
G16H 40/67 - TIC spécialement adaptées à la gestion ou à l’administration de ressources ou d’établissements de santéTIC spécialement adaptées à la gestion ou au fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement à distance
78.
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 - Dispositions pour la reconnaissance ou la compréhension d’images ou de vidéos utilisant la reconnaissance de formes ou l’apprentissage automatique utilisant les réseaux neuronaux
G16H 40/20 - TIC spécialement adaptées à la gestion ou à l’administration de ressources ou d’établissements de santéTIC spécialement adaptées à la gestion ou au fonctionnement d’équipement ou de dispositifs médicaux pour la gestion ou l’administration de ressources ou d’établissements de soins de santé, p. ex. pour la gestion du personnel hospitalier ou de salles d’opération
G06V 10/80 - Fusion, c.-à-d. combinaison des données de diverses sources au niveau du capteur, du prétraitement, de l’extraction des caractéristiques ou de la classification
79.
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.
A61B 18/04 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci par chauffage
A61B 18/00 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci
F16L 39/00 - Raccords ou accessoires de raccordement pour tuyaux à double paroi ou à canaux multiples ou pour assemblages de tuyaux
81.
DETERMINATION OF A CURVILINEAR DISTANCE WITHIN A SUBJECT
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, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
82.
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 - Édition d'images tridimensionnelles [3D], p. ex. modification de formes ou de couleurs, alignement d'objets ou positionnements de parties
G06T 7/593 - Récupération de la profondeur ou de la forme à partir de plusieurs images à partir d’images stéréo
G16H 50/50 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour la simulation ou la modélisation des troubles médicaux
83.
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.
A61B 17/29 - Pinces pour la chirurgie faiblement invasive
A61B 18/00 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
84.
INSERT GUIDE MEMBERS FOR SURGICAL INSTRUMENTS, AND RELATED DEVICES, SYSTEMS, AND METHODS
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.
A61B 18/00 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci
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 - Têtes de préhension avec possibilité pour l'enlèvement ou l'échange à distance de la tête ou de parties de celle-ci
G05B 19/4155 - Commande numérique [CN], c.-à-d. machines fonctionnant automatiquement, en particulier machines-outils, p. ex. dans un milieu de fabrication industriel, afin d'effectuer un positionnement, un mouvement ou des actions coordonnées au moyen de données d'un programme sous forme numérique caractérisée par le déroulement du programme, c.-à-d. le déroulement d'un programme de pièce ou le déroulement d'une fonction machine, p. ex. choix d'un 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.
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
F16H 7/02 - Transmissions pour transmettre un mouvement rotatif par des organes flexibles sans fin par courroiesTransmissions pour transmettre un mouvement rotatif par des organes flexibles sans fin par courroies trapézoïdales
87.
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 - TIC spécialement adaptées à la gestion ou à l’administration de ressources ou d’établissements de santéTIC spécialement adaptées à la gestion ou au fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement à distance
Systems and methods for universal phase recognition for intraoperative and postoperative applications are provided. The system receives a video stream that captures a procedure over a time interval with a robotic medical system. The system generates, from the video stream, sets of consecutive frames. A first set of consecutive frames can include a first temporal resolution, and a second set of consecutive frames can include a second temporal resolution. The system determines, via the sets of consecutive frames input into a first model trained with machine learning, phases of the procedure on a moment-to-moment basis over the time interval. The system inputs the phases of the procedure into a second model to generate phase segment over the time interval. The second model can be trained with machine learning based on historical workflows. The system provides an action based on a metric of the phase segment.
G16H 20/40 - TIC spécialement adaptées aux thérapies ou aux plans d’amélioration de la santé, p. ex. pour manier les prescriptions, orienter la thérapie ou surveiller l’observance par les patients concernant des thérapies mécaniques, la radiothérapie ou des thérapies invasives, p. ex. la chirurgie, la thérapie laser, la dialyse ou l’acuponcture
G16H 30/40 - TIC spécialement adaptées au maniement ou au traitement d’images médicales pour le traitement d’images médicales, p. ex. l’édition
G16H 40/20 - TIC spécialement adaptées à la gestion ou à l’administration de ressources ou d’établissements de santéTIC spécialement adaptées à la gestion ou au fonctionnement d’équipement ou de dispositifs médicaux pour la gestion ou l’administration de ressources ou d’établissements de soins de santé, p. ex. pour la gestion du personnel hospitalier ou de salles d’opération
G16H 50/20 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour le diagnostic assisté par ordinateur, p. ex. basé sur des systèmes experts médicaux
G16H 50/70 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour extraire des données médicales, p. ex. pour analyser les cas antérieurs d’autres patients
89.
SYSTEMS AND METHODS FOR PREDICTING KEYPOINT MOVEMENT FOR MULTIPLE SURGICAL INSTRUMENTS USING SPATIAL-TEMPORAL GRAPH ATTENTION MODELING
A method for predicting movement of a first plurality of keypoints of a first instrument comprises receiving, at a neural network model, a first location of the first plurality of keypoints and a first location of a second plurality of keypoints of a second instrument. The method further comprises determining a trajectory for the first and second pluralities of keypoints by: generating, using an attention model of the neural network model, a first and second tool-level graph indicating a spatial-temporal relationship between the first and second pluralities of keypoints, respectively; and generating a scene-level graph based on the tool-level graphs. The scene-level graph indicates a spatial-temporal relationship between the first and second pluralities of keypoints. The method further comprises generating an output image based on the determined trajectory. The output image includes an output location of the first and second pluralities of keypoints.
G06T 7/246 - Analyse du mouvement utilisant des procédés basés sur les caractéristiques, p. ex. le suivi des coins ou des segments
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
G06T 7/73 - Détermination de la position ou de l'orientation des objets ou des caméras utilisant des procédés basés sur les caractéristiques
90.
TENSION CONTROL IN ACTUATION OF JOINTED INSTRUMENTS
A medical instrument system includes actuators, a medical instrument, and a control system operably connected to the actuators. The medical instrument includes a reconfigurable portion and transmission systems, each of which couples the reconfigurable portion to an actuator of the actuators such that the actuators are operable to drive the transmission systems to move the end portion. The control system is configured to execute operations including determining a difference between a current configuration of the end portion and a desired configuration of the reconfigurable portion, and operating the actuators to apply tensions to the transmission systems based on the difference and based on a nominal tension.
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A teleoperation system includes an input device configured to by manually manipulated by an operator, a first manipulator configured to support an imaging device, a second manipulator configured to support an attachment selected from the group consisting of: an instrument and a tissue probe, a display device; and a control system. The imaging device has a field of view. The control system is configured to receive a first image of a workspace captured by the imaging device; determine a movement command based on movement of the input device; and in response to a first determination that the movement command is for teleoperating the attachment while the attachment is inserted into the workspace in a first direction that is non-corresponding to a second direction of the field of view, cause the display device to display a second image indicative of a tip of the attachment overlayed with the first image.
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 1/313 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p. ex. endoscopesDispositions pour l'éclairage dans ces instruments pour l'introduction dans des incisions chirurgicales, p. ex. laparoscopes
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 17/42 - Instruments ou procédés de gynécologie ou d'obstétrique
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
An apparatus including a pixel array comprising two or more photo-sensor elements; a first optical filter disposed on a first photo-sensor element of the pixel array, the first optical filter configured such that a spectral response of the first optical filter includes: a first passband in a first wavelength range, and a second passband in a second wavelength range, the first passband and the second passband being separated by a first stop band; and a second optical filter disposed on a second photo-sensor element of the pixel array, the second optical filter configured such that a spectral response of the second optical filter includes: a third passband in the first wavelength range, and a fourth passband in the second wavelength range, the third passband and the fourth passband being separated by a second stop band; wherein the second passband and the fourth passband are discrete passbands in an infrared range.
H04N 25/131 - Agencement de matrices de filtres colorés [CFA]Mosaïques de filtres caractérisées par les caractéristiques spectrales des éléments filtrants comprenant des éléments laissant passer les longueurs d'onde infrarouges
A61B 1/00 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p. ex. endoscopesDispositions pour l'éclairage dans ces instruments
A61B 5/00 - Mesure servant à établir un diagnostic Identification des individus
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 90/30 - Dispositifs pour éclairer une zone chirurgicale, les dispositifs ayant une corrélation avec d’autres dispositifs chirurgicaux ou avec une intervention chirurgicale
A system may comprise a connection member configured to be connected to an anatomic orifice device. The anatomic orifice device may be configured for insertion into a patient. The system may also comprise a mounting bracket coupled to a robot-assisted medical system and a docking guide configured to arrange the connection member in a predetermined configuration. The robot-assisted medical system is configured to transfer the mounting bracket into engagement with the connection member while the connection member is in the predetermined configuration.
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A system may comprise a fiducial panel including a plurality of arrays of three dimensional, radiopaque fiducial markers. Each array of the plurality of arrays may include a plurality of a first type of the fiducial markers and a plurality of a second type of the fiducial markers. The plurality of first type fiducial markers and the plurality of second type fiducial markers may form a fiducial tag pattern. The fiducial tag pattern for at least one of the plurality of arrays may be visible in a plurality of images generated by a rotating imaging system.
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
Techniques for controlling a computer-assisted device based on a geometric parameter representative of a geometric relationship of an operator and a display unit include the following. The computer-assisted device comprises a repositionable structure system configured to support a display unit that displays an image viewable by an operator; an actuator system physically coupled to the repositionable structure system; a sensor system configured to capture sensor data associated with a portion of a head of the operator; and a control system. The control system is configured to: determine, based on sensor data, a geometric parameter of the portion of the head relative to a portion of the computer-assisted device, determine a commanded motion based on the geometric parameter and a target parameter, and command the actuator system to move the repositionable structure based on the commanded motion.
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 90/60 - Supports pour chirurgiens, p. ex. chaises ou supports pour mains
G06F 3/01 - Dispositions d'entrée ou dispositions d'entrée et de sortie combinées pour l'interaction entre l'utilisateur et le calculateur
96.
FORCE TRANSMISSION SYSTEMS USING PLANETARY GEAR ASSEMBLY, AND RELATED DEVICES AND METHODS
An instrument includes a shaft, a moveable component coupled to the shaft, and an actuation member drive assembly coupled to the shaft. The actuation member drive assembly may include a rotatable drive member, a ring gear operably coupled to the rotatable drive member and configured to rotate in response to rotation of the rotatable drive member, and a planet gear meshed with the ring gear. The instrument further includes an actuation member extending through the shaft and operably coupled to the moveable component and the planet gear. The actuation member is moveable in translation in response to rotation of the planet gear. Devices and methods relate to actuation member drive assemblies.
F16H 13/06 - Transmissions pour transmettre un mouvement rotatif à rapport de vitesse constant par friction entre des organes rotatifs avec organes à mouvement orbital
A display unit of a user control system of a telesurgical system includes a support structure, a headrest, and a lens. The headrest is movably connected to the support structure. The lens is below the headrest and includes an optical axis. The headrest is movable to a plurality of positions along a position adjustment axis that is parallel to the optical axis. And, the headrest includes a curved user-facing surface that is shaped to receive a user's head in a way that comfortably aligns the user's eye horizontally and vertically with the optical axis of the lens.
A61B 90/60 - Supports pour chirurgiens, p. ex. chaises ou supports pour mains
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
98.
SYSTEM WITH GUIDES AND TOOLS OF DIFFERENT FLEXIBILITY
A robotic medical system with a flexible guide tube such as a lung catheter can record the shape of the guide tube in a target configuration. If the shape includes a bend that is sharper than a sharpest permitted bend for insertion or removal of a tool such as a biopsy needle, a control system can find any locations of sharp bends and automatically retract the guide tube to a location associated with a sharp bend. With the tip backed up to that location, the needle can be inserted into or removed from the catheter. The control system can automatically move the catheter between the target configuration and the retracted configuration of the guide tube.
A61B 34/32 - Robots chirurgicaux opérant de façon autonome
A61B 10/02 - Instruments pour prélever des échantillons cellulaires ou pour la biopsie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 90/30 - Dispositifs pour éclairer une zone chirurgicale, les dispositifs ayant une corrélation avec d’autres dispositifs chirurgicaux ou avec une intervention chirurgicale
A61M 25/01 - Introduction, guidage, avance, mise en place ou maintien en position des cathéters
Techniques for controlling a manipulator assembly include one or more actuators coupled to drive the manipulator assembly to move at least a portion of the manipulator assembly and a controller. The controller is configured to cause the one or more actuators to hold the portion at a first position in a sequence of predetermined positions; detect that the portion has been moved from the first position due to a disturbance; in response to the detection that the portion has been moved from the first position, cause the one or more actuators to move the portion toward a second position in the sequence of predetermined positions until a stop condition is detected, even if the disturbance ends before the portion reaches the second position; and cause the one or more actuators to hold the portion at the second position, when the portion has reached the second position.
A computer-assisted system includes a repositionable structure configured to pivot a component about a remote center of motion (RCM) during operation, where the repositionable structure comprises a plurality of joints. The computer-assisted system further includes a processor system communicatively coupled to the repositionable structure, where the processor system is configured to: command the repositionable structure to perform a strain relief operation by floating one or more joints of the plurality of joints, wherein floating the one or more joints facilitates external manipulation of the repositionable structure that moves the RCM, determine a motion of the RCM occurring during the strain relief operation, and determine a placement quality of the component based on the motion of the RCM.
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
