A computer-assisted medical system includes robotic manipulators, a user input system operable to generate signals to control the manipulators, and a controller configured to execute instructions to perform operations. A portion of the user input system is movable relative to the plurality of manipulators. The operations include, in a pairing mode, associating a first manipulator of the plurality of manipulators with the portion of the user input system based on movement of the portion of the user input system relative to the first manipulator, and, in a following mode, controlling motion of the first manipulator in accordance with an indication generated by the user input system in response to operation of the portion of the user input system by a user.
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
The embodiments described herein can be used in a variety of grasping, cutting, and manipulating operations. In some embodiments, an apparatus includes a shaft, a tool member, and a flexure. The shaft has a distal end portion and a proximal end portion, and defines a longitudinal axis. The distal end portion includes a ground portion. The tool member has an engagement portion and an actuation portion. The engagement portion is disposed distally from the actuation portion, and can exert an engagement force on a target structure. The actuation portion receives an actuation force. The flexure has a first end portion coupled to the ground portion of the shaft, and a second end portion coupled to the tool member. The flexure is configured to deform elastically when the actuation force is exerted on the actuation portion of the tool member such that the tool member rotates relative to the shaft.
A surgical method is provided, comprising: providing an information structure in a computer readable storage device that associates an indication of surgeon skill level in at least one surgical activity performed using the surgical instrument with a surgical instrument actuator safety state of the surgical instrument for use during performance of the at least one surgical activity using the surgical instrument by a surgeon having the indicated skill level; tracking surgical instrument actuator state of a surgical instrument during performance of a surgical procedure by a surgeon; and transitioning the surgical instrument actuator state of the surgical instrument to the surgical instrument safety state during performance of the at least one surgical activity by the surgeon using the surgical instrument.
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 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 90/98 - Moyens d’identification pour les patients ou les instruments, p. ex. étiquettes utilisant des moyens électromagnétiques, p. ex. transpondeurs
4.
EXTENDABLE OVERTUBE FOR A FLEXIBLE ELONGATE DEVICE
An apparatus for movably coupling a robotic system to an airway management device includes an overtube and a connection mechanism. The overtube includes a flexible tubular portion. The connection mechanism includes a first portion configured to be receive the overtube, a second portion configured to be connected with a proximal end of the airway management device, a lumen defined within the first portion and second portion, and a locking mechanism configured to connect to the flexible tubular portion of the overtube. When the overtube is connected with the connection mechanism, the flexible tubular portion of the overtube is within the lumen of the connection mechanism and extends distal to a distal end of the airway management device. The flexible tubular portion of the overtube structurally supports a flexible elongate device when the flexible elongate device is received within flexible tubular portion.
An abdominal surgical simulation model includes a bottom tray and an animal tissue carried within the bottom tray. A convex support layer covers the bottom tray. A compliant layer is carried by the convex support layer to simulate abdominal skin in an insufflated state.
An actuation assembly for a medical instrument connects four bands to three motorized degrees of freedom. The actuation assembly includes a first actuator, a second actuator and a third actuator. The first actuator is coupled to a first band and a second band, the first actuator being operable to pull in one of the first and second bands and feed out the other of the first and second bands. The third actuator is coupled to a third band and a fourth band, the third actuator being operable to pull in one of the third and fourth bands and feed out the other of the third and fourth bands. Each of the first, second, third, and fourth bands pass through a second actuator, and the second actuator is operable to increase the travel path of both the first and second bands or both the third and fourth bands.
A computer-assisted teleoperation system and method for operating the same are provided that enforce a temporal non-overlap of a teleoperation of a follower device and a physical adjustment of a headrest of the computer-assisted teleoperation system.
A variety of applications can include apparatus and/or methods that provide an axial force transducer. Two coils wound coaxially with respect to each other can be used with a magnet to determine a distance traveled based on application of an axial force to an instrument component. The two coils and magnet can be configured in a number of ways with respect to the instrument component. In various embodiments, the difference between an inductance associated with one of the two coils along with its relation to the magnet and an inductance associated with the other one of the two coils along with its relation to the magnet can be used to determine the axial force on the component of the instrument associated with the distance travelled. Additional apparatus, systems, and methods are disclosed.
G01L 5/164 - Appareils ou procédés pour la mesure des forces, du travail, de la puissance mécanique ou du couple, spécialement adaptés à des fins spécifiques pour la mesure de plusieurs composantes de la force en utilisant des variations de l’inductance
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
G01L 1/12 - Mesure des forces ou des contraintes, en général en mesurant les variations des propriétés magnétiques d'un matériau, résultant de l'application d'un effort
G01L 5/00 - Appareils ou procédés pour la mesure des forces, du travail, de la puissance mécanique ou du couple, spécialement adaptés à des fins spécifiques
G01L 5/169 - Appareils ou procédés pour la mesure des forces, du travail, de la puissance mécanique ou du couple, spécialement adaptés à des fins spécifiques pour la mesure de plusieurs composantes de la force en utilisant des moyens magnétiques
10.
OPERATING SELF-ANTAGONISTIC DRIVES OF MEDICAL INSTRUMENTS
A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A passive preload system may maintain minimum tensions in the tendons.
An optical fiber with one or more microgratings is disclosed. Methods and apparatus are described for making an optical fiber with one or more microgratings. Methods and apparatus are described for an optical fiber with one or more microgratings. Optical sensing methods and an optical sensing system effectively decouple strain range from the laser tuning range, permit the use of a smaller tuning range without sacrificing strain range, and compensate for ambiguity in phase measurements normally associated with smaller tuning ranges.
G01D 5/353 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensibleMoyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminéTransducteurs non spécialement adaptés à une variable particulière utilisant des moyens optiques, c.-à-d. utilisant de la lumière infrarouge, visible ou ultraviolette avec atténuation ou obturation complète ou partielle des rayons lumineux les rayons lumineux étant détectés par des cellules photo-électriques en modifiant les caractéristiques de transmission d'une fibre optique
A computer-assisted medical system includes manipulators, a user input system, a user output system comprising a display device, and a controller configured to execute instructions to perform operations. The operations include, in a pairing mode and in response to a first set of signals generated by the user input system, causing a virtual selector shown on the display device to move relative to an imagery shown on the display device. The operations further include, in the pairing mode, associating a first manipulator with a portion of the user input system based on movement of the virtual selector relative to a represented location of the first instrument, and, in a following mode, controlling motion of the first 10 instrument in accordance to a second set of signals generated by the user input system in response to operation of the portion of the user input system by a user.
A61B 17/00 - Instruments, dispositifs ou procédés 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
G16H 40/60 - 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
13.
SYSTEMS AND METHODS FOR ABLATION VISUALIZATION AND TREATMENT CONFIRMATION
Examples described herein include visualization techniques for ablation. In some examples, the ablation includes a combination of electrolysis and electroporation. Tissue within a zone of a target region is treated using endoluminal or other ablation. Imaging devices may be used to image the zone to identify treated regions within the zone by observing the treated tissue that changes color. In some examples, the imaging may be performed before, during, and after treatment. Confirmation of treatment can be obtained by observing coloration of treated tissue in images. Regions of tissue that were not treated, or were insufficiently treated, may be identified using their different coloration in contrast to treated regions. Based on a location of the treated regions, additional endoluminal ablation may be performed at selected additional regions within the zone that were missed, using either manual techniques, or partially or wholly automated techniques.
A system comprises a display system, a user input device, and one or more processors. The one or more processors are configured to perform operations including receive an anatomical model, receive a user input via the user input device associated with a target relative to the anatomical model, determine an uncertainty zone associated with the target, and display the target relative to the anatomical model via the display system. The uncertainty zone is displayed as at least partially surrounding the target.
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 34/00 - 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
A computer-assisted medical system includes robotic manipulators, a user input system operable to generate signals to control the manipulators, and a controller configured to execute instructions to perform operations. A portion of the user input system is movable relative to the plurality of manipulators. The operations include, in a pairing mode, associating a first manipulator of the plurality of manipulators with the portion of the user input system based on movement of the portion of the user input system relative to the first manipulator, and, in a following mode, controlling motion of the first manipulator in accordance with an indication generated by the user input system in response to operation of the portion of the user input system by a user.
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
A computer-assisted medical system includes robotic manipulators, a user input system operable to generate signals to control the manipulators, and a controller configured to execute instructions to perform operations. A portion of the user input system is movable relative to the plurality of manipulators. The operations include, in a pairing mode, associating a first manipulator of the plurality of manipulators with the portion of the user input system based on movement of the portion of the user input system relative to the first manipulator, and, in a following mode, controlling motion of the first manipulator in accordance with an indication generated by the user input system in response to operation of the portion of the user input system by a user.
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
Data streams of information of medical procedures are received. The information includes case metadata of the medical procedures, a timeline of phases and tasks within each phase determined for each medical procedure, and three-dimensional point cloud data for each medical procedure during at least portions of phases and tasks within each phase. At least a portion of the information is provided for display using a hierarchical user interface structure. The hierarchical user interface structure includes a first level of a user interface to display, based at least on the three-dimensional point cloud data, a three-dimensional point cloud representation of a task of a phase selected from a timeline of a second level of user interface. The hierarchical structure includes the second level of the user interface to display the timeline and a portion of the case metadata associated with the timeline.
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
G06F 3/0482 - Interaction avec des listes d’éléments sélectionnables, p. ex. des menus
18.
TENSION REGULATOR FOR ACTUATION ELEMENTS, AND RELATED REMOTELY ACTUATED INSTRUMENTS, SYSTEMS, AND METHODS
A method of compensating for slack developing in an actuation element of a surgical instrument includes in response to slack developing in the actuation element, diverting the actuation element to follow a diverted path via a force exerted by an elastically deformable structure coupled to the actuation element. The diverted path differs from a path followed by the actuation element in a tensioned state, and the elastically deformable structure is moveable in translation together with the actuation element.
A method is provided to produce a multi-modality image of a surgical scene comprising: capture light reflected from the surgical scene; producing first image information corresponding to a first modality image; producing second image information corresponding to a second modality image; selecting a portion of the second image modality based at least in part upon anatomical structure information included within the selected portion; and producing simultaneously within a display at least a portion of the first modality image of the surgical scene and the selected portion of the second modality 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 34/10 - 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 robotic system comprises a display that is viewable by an operator. The robotic system also includes an input device movable by the operator and a control system. The control system is configured to determine whether an alignment target is located in an error region, the alignment target associated with a tool supported by the first manipulator, and the error region associated with an imaging device supported by the second manipulator, and in response to a determination that the alignment target is located in the error region, disable an operator-guided registration mode for performing an operator-guided registration.
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
21.
COMPUTER ASSISTED SURGERY OF ANATOMICAL OBJECTS USING VIRTUAL OBJECTS
The present disclosure describes a computer system and method for adding a virtual reference object to a video of an anatomical structure. The computer system includes a memory and a processor communicatively coupled to the memory. The processor receives the video of the anatomical structure. The video shows a first view. The processor also receives a selection of a point and a vector in the first view, adds a first virtual geometry to the first view based on the point and the vector, detects a movement that causes the first view to change to a second view, and presents the first virtual geometry in the second view such that a pose of the first virtual geometry is maintained from the first view to the second view.
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
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
22.
GRAPHICAL PRE-RENDERING OF VIRTUAL CONTENT FOR SURGICAL SYSTEMS
The present disclosure describes a computer system and method for providing an image of an anatomical structure. The computer system receives a video of the anatomical structure. The video includes a first frame, a second frame, and a third frame. The computer system also detects (i) a first plurality of features of the anatomical structure shown in the first frame and (ii) a second plurality of features of the anatomical structure shown in the second frame and generates (i) a first image of the anatomical structure shown in the first frame and (ii) a second image of the anatomical structure shown in the second frame. The computer system further detects a third plurality of features of the anatomical structure shown in the third frame and displays the first image of the anatomical structure while displaying the third frame.
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
23.
SYSTEMS AND METHODS FOR REGISTERING IMAGING DATA FROM DIFFERENT IMAGING MODALITIES BASED ON SUBSURFACE IMAGE SCANNING
An illustrative image registration system identifies a subsurface structure at a surgical site based on subsurface imaging data from a subsurface image scan at the surgical site and uses the subsurface structure identified at the surgical site for a registration of endoscopic imaging data from an endoscopic imaging modality with additional imaging data from an additional imaging modality. The system provides a composite image of the surgical site, for display by a display device, based on the registration of the endoscopic imaging data from the endoscopic imaging modality with the additional imaging data from the additional imaging modality, wherein the composite image of the surgical site includes a first depiction of anatomy represented by the endoscopic imaging data integrated with a second depiction of anatomy represented by the additional imaging data. Corresponding systems and methods are also disclosed.
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 6/02 - Agencements pour établir un diagnostic dans des plans différents successifsDiagnostic stéréoscopique utilisant des radiations
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 robotic system includes a base movable relative to a floor surface and a controllable arm extending from the base. The arm is configured to support and move a tool. The arm has a powered joint operable to position and/or orient the tool. The robotic system further includes a positioning indicator. A processor operates the positioning indicator to direct a manual repositioning of the base relative to the floor surface while the processor is operating the powered joint to maintain the position and/or orientation of the tool during the manual repositioning.
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
A method is provided to produce a multi-modality image of a surgical scene comprising: capture light reflected from the surgical scene; producing first image information corresponding to a first modality image; producing second image information corresponding to a second modality image; selecting a portion of the second image modality based at least in part upon anatomical structure information included within the selected portion; and producing simultaneously within a display at least a portion of the first modality image of the surgical scene and the selected portion of the second modality 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 34/10 - 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
09 - Appareils et instruments scientifiques et électriques
10 - Appareils et instruments médicaux
37 - Services de construction; extraction minière; installation et réparation
41 - Éducation, divertissements, activités sportives et culturelles
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Electronic teaching apparatus, namely, teleoperated surgical training apparatus with dual control consoles for simultaneous operation by instructor and student; Electronic teaching apparatus, namely, surgical robot simulators and surgical procedure simulators; Downloadable computer software applications for operating surgical robots and robot-assisted surgery devices; Downloadable computer software applications for operating surgical robots and robot-assisted surgery devices, and operating components of surgical robots and robot-assisted surgery devices; Downloadable computer software applications for providing information to surgeons and clinical staff during surgical procedures; Downloadable computer software applications for operating computers that simulate teleoperated surgery robots; Downloadable computer software for operating surgical robot simulators; Downloadable computer software for simulating surgical robot and robot-assisted surgical procedures; Downloadable computer software applications, namely, virtual and augmented reality software for teaching operation of surgical robots and for performing robot-assisted surgical procedures; Downloadable software applications for accessing, viewing, tracking and analyzing data from surgical robots and robot-assisted surgery programs; Downloadable software applications for providing individual surgical case details, individual surgeon objective performance data and performance trends, individual surgeon case volume information, instrument use, and hospital surgical robot and robot-assisted program information for hospital managers, hospital employees, and medical care team personnel; Downloadable software applications for providing user assessment regarding robotic-assisted surgical instruments; Teaching robots for use by medical personnel; Teaching robots, namely, robotic mechanisms that simulate surgical robot operation and robot-assisted surgical procedures; Telepresence robots for use by medical personnel; Telepresence robots for use by medical personnel, namely, robots that allow an operator to feel present at a work site by displaying a real-time image of a teleoperated robotic end effector at the work site; Telepresence robots, namely, teleoperated robots that allow clinical medical personnel to feel present with patients during a medical procedure; Telepresence robots for use in medical clinics by medical personnel; Virtual and augmented reality surgical training simulation downloadable software in the medical field; Downloadable scientific and medical data via the internet for use by medical personnel; Electronic training apparatus, namely, simulators for surgical robots and robot-assisted surgery; Electronic clinician training simulators, namely, simulators for surgical robots and robot-assisted surgery Surgical apparatus and instruments; Surgical apparatus and instruments for use with computer-assisted and robot-assisted surgeries, namely, electrocautery instruments, cautery hooks, monopolar cautery scissors, cautery spatulas, medical electrosurgical energy generators and cables used therewith, haptic input devices, staplers and staples, clip appliers and clips, dissectors, forceps, graspers, needle drivers, retractors, scissors, ultrasonic energy instruments, vessel sealers, anastomosis devices; Surgical robots; Surgical robots and components thereof, namely, surgical robot surgeon control consoles, surgical robot arm manipulator units, surgical robot endoscopic surgical equipment for use together with surgical robot control consoles and surgical robot arm manipulator units, and robotic arms for surgical purposes, all for use in endoscopic surgery, laparoscopic surgery, thoracoscopic surgery, transoral surgery, transanal surgery, transvaginal surgery, general alimentary canal and abdominal surgery, breast surgery, cardiac surgery, cardiovascular surgery, colectomy surgery, gastrointestinal surgery, gynecologic surgery, kidney surgery, lung surgery, prostate surgery, rectal surgery, and urologic surgery; Anastomosis devices; Medical apparatus and instruments for use in surgery; Surgical robots, namely, remote operated surgical robots Machinery installation, maintenance, and repair, namely, installation, maintenance, and repair services for computer-assisted and robotic-assisted teleoperated medical systems and components thereof; Machinery installation, maintenance, and repair, namely, diagnostic and repair services for surgical robots and robot-assisted surgery devices provided via a global communications network Educational services, namely, coaching, training, and transfer of knowledge in the field of surgical robots and robot-assisted surgery; Educational examination services in the field of surgical robots and robot-assisted surgery; Educational examination services in the nature of providing educational examinations and tests, and analyzing educational test scores and data, in the field of surgical robots and robot-assisted surgery; Educational services, namely, training in the field of surgical robots and robot-assisted surgery; Educational services in the nature of providing training to clinical and academic personnel in the field of surgical robots and robot-assisted surgery; Providing on-line non-downloadable articles in the field of surgical robots and robot-assisted surgery; Providing online non-downloadable images and videos in the field of surgical robots and robot-assisted surgery; education services, namely, training clinical and academic personnel in the field of surgical robots and robot-assisted surgery; Providing continuing medical education courses; Educational services, namely, computer-based simulation training services in the field of medical technology; Educational services, namely, organization of conferences and symposiums in the field of medical science Platform as a service (PAAS) featuring computer software platforms for operating and controlling computer-assisted and robotic-assisted medical equipment and components thereof; Platform as a service (PAAS) featuring computer software platforms for monitoring, tracking, managing, and conducting surgical procedures; Platform as a service (PAAS) featuring computer software platforms for improving surgical outcomes and reducing patient harm by the enhancement of preoperative planning, surgical performance, therapeutic support, and training; Software as a service (SAAS) services featuring software for operating and controlling surgical robots and robot-assisted surgery; Software services in the nature of providing online non-downloadable software for improving surgical outcomes and reducing patient harm by the enhancement of preoperative planning, surgical performance, therapeutic support, and training; Software services in the nature of providing online non-downloadable software integrating algorithms that learn to develop, run, analyze, classify, and take action in response to data related to monitoring, tracking, managing, and conducting surgical procedures; Software services in the nature of providing online non-downloadable software for medical use before, during, and after surgical robot and robot-assisted surgery procedures; Software services in the nature of providing online non-downloadable software for accessing, viewing, tracking and analyzing data from surgical robots and robot-assisted surgery programs; Software services in the nature of providing online non-downloadable software for providing individual surgical case details, individual surgeon objective performance data and performance trends, individual surgeon case volume information, instrument use, and hospital surgical robot and robot-assisted program information for hospital managers, hospital employees, and medical care team personnel; Software services in the nature of providing online non-downloadable software for providing user assessment regarding robotic-assisted surgical instruments; Software services in the nature of creating and maintaining websites for users to obtain information about, participate in discussions about, and receive input from peers about, surgical robots and robot-assisted surgical procedures; Software as a service (SAAS) services featuring software for the electronic storage and retrieval of patient medical information and images; Software as a service (SAAS) services featuring software for providing online access to libraries of videos in the field of surgical robots and robot-assisted surgical procedures; Providing surgical analytics to hospital managers, hospital employees, and medical care team personnel; Providing information and data on surgical statistics and performance to hospital managers, hospital employees, and medical care team personnel; Gathering and aggregation of medical and clinical data for medical purposes; Gathering of medical and clinical data and analysis of statistical results in order to improve surgical performance; Data management for others in the field of medicine, namely, monitoring, gathering and statistical analyses of surgical information and preparing statistical reports for others; data analysis in the field of surgery; Statistical analysis in the field of surgery; Compiling data for evaluation and planning purposes in the field of surgery
09 - Appareils et instruments scientifiques et électriques
10 - Appareils et instruments médicaux
37 - Services de construction; extraction minière; installation et réparation
41 - Éducation, divertissements, activités sportives et culturelles
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Cables, electric; Electric cables used to connect electrosurgical instruments to electrosurgical energy generators; Electronic teaching apparatus, namely, teleoperated surgical training apparatus with dual control consoles for simultaneous operation by instructor and student; Electronic teaching apparatus, namely, surgical robot simulators and surgical procedure simulators; Downloadable image files containing medical diagnostic images and images related to robot-assisted surgical procedures; Downloadable video files containing medical diagnostic videos and videos related to robot-assisted surgical procedures; Downloadable computer software applications for operating surgical robots and robot-assisted surgery devices; Downloadable computer software applications for operating surgical robots and robot-assisted surgery devices, and operating components of surgical robots and robot-assisted surgery devices; Downloadable computer software applications for providing information to surgeons and clinical staff during surgical procedures; Downloadable computer software applications for operating computers that simulate teleoperated surgery robots; Downloadable computer software for operating surgical robot simulators; Downloadable computer software for simulating surgical robot and robot-assisted surgical procedures; Downloadable computer software applications, namely, virtual and augmented reality software for teaching operation of surgical robots and for performing robot-assisted surgical procedures; Teaching robots for use by medical personnel; Teaching robots, namely, robotic mechanisms that simulate surgical robot operation and robot-assisted surgical procedures; Telepresence robots for use by medical personnel; Telepresence robots for use by medical personnel, namely, robots that allow an operator to feel present at a work site by displaying a real-time image of a teleoperated robotic end effector at the work site; Telepresence robots, namely, teleoperated robots that allow clinical medical personnel to feel present with patients during a medical procedure; Telepresence robots for use in medical clinics by medical personnel; Virtual and augmented reality surgical training simulation downloadable software in the medical field; Communications hubs, namely, communications hubs for communicating surgical robot information and patient medical information in the field of surgical robots and robot-assisted surgery; Downloadable scientific and medical data via the internet for use by medical personnel; Downloadable software applications for mobile devices for monitoring and managing patient medical information; Downloadable software applications for use with mobile devices for monitoring and managing patient medical information; Downloadable software applications for accessing, viewing, tracking and analyzing data from surgical robots and robot-assisted surgery programs; Downloadable software applications for providing individual surgical case details, individual surgeon objective performance data and performance trends, individual surgeon case volume information, and hospital surgical robot and robot-assisted program information for hospital managers, hospital employees, and medical care team personnel; Electronic training apparatus, namely, simulators for surgical robots and robot-assisted surgery; Electronic clinician training simulators, namely, simulators for surgical robots and robot-assisted surgery Surgical apparatus and instruments; Surgical apparatus and instruments for use with computer-assisted and robot-assisted surgeries, namely, electrocautery instruments, cautery hooks, monopolar cautery scissors, cautery spatulas, medical electrosurgical energy generators and cables used therewith, staplers and staples, clip appliers and clips, dissectors, forceps, graspers, needle drivers, retractors, scissors, suction instruments, irrigator instruments, ultrasonic energy instruments, vessel sealers, instruments with force sensing, anastomosis devices, drapes for surgical robots, Hasson cones, instrument release kits, instrument ports, instrument introducers, instrument guides, cannulas, cannula seals, obturators, trocars, cautery scissors tip covers, and instrument sterilization trays; Insufflators for medical purposes; Insufflators, namely, medical insufflators and surgical smoke evacuation units, medical insufflator and surgical smoke evacuation tubing, and medical insufflator and surgical smoke evacuation filters; Lamps for medical purposes; Lamps for medical purposes, namely, endoscopic illumination lamps and equipment for providing endoscopic surgical site illumination in the visible spectrum; Lamps for medical purposes, namely, endoscopic illumination lamps and equipment for providing endoscopic surgical site infrared fluorescence excitation energy during surgery; Operating tables; Operating tables, namely, surgical tables for use together with surgical robots; Operating tables, namely, surgical tables integrated with surgical robots; Surgical drapes; Surgical drapes in the nature of sterile surgical drapes for use together with surgical robots and robot-assisted surgery devices; Endoscopy cameras for medical purposes; Endoscopy cameras for medical purposes, namely, robotically-manipulated and hand-manipulated endoscopic cameras; medical endoscopes; Endoscopic equipment for medical purposes, namely, medical image display devices for displaying real-time endoscopic surgery images; Surgical robots; Surgical robots and components thereof, namely, surgical robot surgeon control consoles, surgical robot arm manipulator units, surgical robot endoscopic surgical equipment for use together with surgical robot control consoles and surgical robot arm manipulator units, and robotic arms for surgical purposes, all for use in endoscopic surgery, laparoscopic surgery, thoracoscopic surgery, transoral surgery, transanal surgery, transvaginal surgery, general alimentary canal and abdominal surgery, breast surgery, cardiac surgery, cardiovascular surgery, colectomy surgery, gastrointestinal surgery, gynecologic surgery, kidney surgery, lung surgery, prostate surgery, rectal surgery, and urologic surgery; Anastomosis devices; Chemiluminescent light sources for use in medical endoscopy; Medical apparatus and instruments for use in surgery; Surgical robots, namely, remote operated surgical robots; Microscopes for surgical operations Machinery installation, maintenance, and repair, namely, installation, maintenance, and repair services for computer-assisted and robotic-assisted teleoperated medical systems and components thereof; Machinery installation, maintenance, and repair, namely, cleaning of surgical robots, robot-assisted surgery devices, and computer hardware components thereof; Machinery installation, maintenance, and repair, namely, diagnostic and repair services for surgical robots and robot-assisted surgery devices provided via a global communications network Arranging and conducting in-person and online conferences, symposiums, seminars, forums, workshops, and coaching for clinical and academic personnel in the field of surgical robots and robot-assisted surgery; Educational services, namely, coaching, training, and transfer of knowledge in the field of surgical robots and robot-assisted surgery; Educational examination services in the field of surgical robots and robot-assisted surgery; Educational examination services in the nature of providing educational examinations and tests, and analyzing educational test scores and data, in the field of surgical robots and robot-assisted surgery; Educational services, namely, training in the field of surgical robots and robot-assisted surgery; Educational services in the nature of providing training to clinical and academic personnel in the field of surgical robots and robot-assisted surgery; Providing on-line non-downloadable articles in the field of surgical robots and robot-assisted surgery; Providing online non-downloadable images and videos in the field of surgical robots and robot-assisted surgery; Rental of training simulators in the field of surgical robots and robot-assisted surgery; education services, namely, training clinical and academic personnel in the field of surgical robots and robot-assisted surgery; Providing continuing medical education courses; Educational services, namely, computer-based simulation training services in the field of medical technology; Educational services, namely, organization of conferences and symposiums in the field of medical science Platform as a service (PAAS) featuring computer software platforms for operating and controlling computer-assisted and robotic-assisted medical equipment and components thereof; Platform as a service (PAAS) featuring computer software platforms for monitoring, tracking, managing, and conducting surgical procedures; Platform as a service (PAAS) featuring computer software platforms for improving surgical outcomes and reducing patient harm by the enhancement of preoperative planning, surgical performance, therapeutic support, and training; Software as a service (SAAS) services featuring software for operating and controlling surgical robots and robot-assisted surgery; Software services in the nature of providing online non-downloadable software for improving surgical outcomes and reducing patient harm by the enhancement of preoperative planning, surgical performance, therapeutic support, and training; Software services in the nature of providing online non-downloadable software integrating algorithms that learn to develop, run, analyze, classify, and take action in response to data related to monitoring, tracking, managing, and conducting surgical procedures; Software services in the nature of providing online non-downloadable software for medical use before, during, and after surgical robot and robot-assisted surgery procedures; Software services in the nature of creating and maintaining websites for users to obtain information about, participate in discussions about, and receive feedback from peers about, surgical robots and robot-assisted surgical procedures; Software as a service (SAAS) services featuring software for the electronic storage and retrieval of patient medical information and images; Software as a service (SAAS) services featuring software for providing online access to libraries of videos in the field of surgical robots and robot-assisted surgical procedures; software as a service; software as a service services featuring software for accessing, viewing, tracking and analyzing data from surgical robots and robot-assisted surgery programs; Software as a service, namely providing temporary use of online non-downloadable software for providing individual surgical case details, individual surgeon objective performance data and performance trends, individual surgeon case volume information, and hospital surgical robot and robot-assisted program information for hospital managers, hospital employees, and medical care team personnel; Computer services, namely, providing Internet search engines in the field of health care that allow patients to locate hospitals, clinics, and medical personnel that provide surgical robot and robot-assisted surgical procedures; Technological consultation via a global communications network in the technology field of the operation, repair, and maintenance of surgical robots, and hardware and software components thereof; Technological consultancy, namely, providing consulting services in the technological development of surgical robot hardware and software; Technological consultancy, namely, providing consulting services in the nature of evaluating and advising on workflow of technology in existing hospital medical operating rooms and advising on design of surgical suites to accommodate surgical robots; Providing surgical analytics to hospital managers, hospital employees, and medical care team personnel; Providing information and data on surgical statistics and performance to hospital managers, hospital employees, and medical care team personnel; Gathering and aggregation of medical and clinical data for medical purposes; Gathering of medical and clinical data and analysis of statistical results in order to improve surgical performance; Data management for others in the field of medicine, namely, monitoring, gathering and statistical analyses of surgical information and preparing statistical reports for others; data analysis in the field of surgery; Statistical analysis in the field of surgery; Compiling data for evaluation and planning purposes in the field of surgery
42 - Services scientifiques, technologiques et industriels, recherche et conception
44 - Services médicaux, services vétérinaires, soins d'hygiène et de beauté; services d'agriculture, d'horticulture et de sylviculture.
Produits et services
Gathering and aggregation of medical and clinical data for medical purposes; gathering of medical and clinical data and analysis of statistical results in order to improve surgical performance; data management for others in the field of medicine, namely, monitoring, gathering and statistical analyses of surgical information and preparing statistical reports for others; data analysis in the field of surgery; statistical analysis in the field of surgery.; software as a service; software as a service (SAAS) services featuring software for accessing, viewing, tracking and analyzing data from surgical robots and robot-assisted surgery programs; Software as a service, namely providing temporary use of online non-downloadable software for providing individual surgical case details, individual surgeon objective performance data and performance trends, individual surgeon case volume information, and hospital surgical robot and robot-assisted program information for hospital managers, hospital employees, and medical care team personnel Health care services, namely providing individual surgical case details, individual surgeon objective performance data and performance trends, individual surgeon case volume information, and surgical robot and robot-assisted program information and objective surgeon performance information for hospital managers, hospital employees, and medical care team personnel
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Compilation and provision of statistical information; providing statistical information; Statistical analysis and reporting services for business purposes; compilation and reporting of statistical data regarding surgical procedures for business purposes; providing the services of data compiling, analyzing and tracking in the field of medical information for business purposes Gathering and aggregation of medical and clinical data for medical purposes; gathering of medical and clinical data and analysis of statistical results in order to improve surgical performance; data management for others in the field of medicine, namely, monitoring, gathering and statistical analyses of surgical information and preparing statistical reports for others; data analysis in the field of surgery; statistical analysis in the field of surgery; software as a service; software as a service (SAAS) services featuring software for accessing, viewing, tracking and analyzing data from surgical robots and robot-assisted surgery programs; Software as a service, namely providing temporary use of online non-downloadable software for providing individual surgical case details, individual surgeon objective performance data and performance trends, individual surgeon case volume information, and hospital surgical robot and robot-assisted program information for hospital managers, hospital employees, and medical care team personnel
09 - Appareils et instruments scientifiques et électriques
41 - Éducation, divertissements, activités sportives et culturelles
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Providing access to databases in the field of surgical robots and robotic-assisted surgery, namely, online access to video libraries; Providing access to databases for assisting clinical medical personnel, namely, online access to video libraries; Providing access to databases for hospital managers, hospital employees, and medical care team personnel, namely video libraries Downloadable video files in the medical field; downloadable medical image files and medical video image files Arranging and conducting of conferences and symposia in the field of medical science; arranging and conducting in-person and online conferences, symposiums, seminars, forums, workshops, and coaching for clinical and academic personnel in the field of medical technology; arranging and conducting in-person and online conferences, symposiums, seminars, forums, workshops, and coaching for clinical and academic personnel in the field of surgical robots and robot-assisted surgery; educational services, namely, providing video libraries and surgical robot and robot-assisted program information; advisory services relating to medical training in the field of surgical robots and robot-assisted surgery; advisory services relating to medical training in the nature of providing medical education and training services to hospitals, hospital employees, and clinical medical personnel in the field of surgical robots and robot-assisted surgery; advisory services relating to medical training in the nature of providing video libraries regarding surgical robots and robot-assisted surgery program information Software as a service (SAAS) services in the nature of providing online access to libraries of videos in the field of surgical robots and robot-assisted surgical procedures
09 - Appareils et instruments scientifiques et électriques
41 - Éducation, divertissements, activités sportives et culturelles
42 - Services scientifiques, technologiques et industriels, recherche et conception
Produits et services
Providing access to databases in the field of surgical robots and robotic-assisted surgery, namely, online access to video libraries; Providing access to databases for assisting clinical medical personnel, namely, online access to video libraries; Providing access to databases for hospital managers, hospital employees, and medical care team personnel, namely video libraries files downloadable video files in the medical field; downloadable medical image files and medical video image files Arranging and conducting of conferences and symposia in the field of medical science; arranging and conducting in-person and online conferences, symposiums, seminars, forums, workshops, and coaching for clinical and academic personnel in the field of medical technology; arranging and conducting in-person and online conferences, symposiums, seminars, forums, workshops, and coaching for clinical and academic personnel in the field of surgical robots and robot-assisted surgery; educational services, namely, providing video libraries and surgical robot and robot-assisted program information; advisory services relating to medical training in the field of surgical robots and robot-assisted surgery; advisory services relating to medical training in the nature of providing medical education and training services to hospitals, hospital employees, and clinical medical personnel in the field of surgical robots and robot-assisted surgery; advisory services relating to medical training in the nature of providing video libraries regarding surgical robots and robot-assisted surgery program information Software as a service (SAAS) services in the nature of providing online access to libraries of videos in the field of surgical robots and robot-assisted surgical procedures
32.
TECHNIQUES FOR REPOSITIONING A COMPUTER-ASSISTED SYSTEM WITH MOTION PARTITIONING
Techniques for repositioning a computer-assisted system include the following. The computer-assisted system comprises a repositionable structure system, the repositionable structure system comprising a plurality of links coupled by a plurality of joints, and a control unit communicably coupled to the repositionable structure system. The control unit is configured to: determine a target pose of a system portion of the computer-assisted system, determine a current pose of the system portion, determine a motion for the repositionable structure system based on a difference between the target pose and the current pose, the motion including a first component in a first direction, determine a partitioning of the first component into a plurality of partitions, and cause a first movement of a first joint set to achieve a first partition and a second movement of a second joint set to achieve a second partition.
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 7/70 - Détermination de la position ou de l'orientation des objets ou des caméras
33.
PROTECTIVE COVER INSTALLATION AND REMOVAL TOOL, SYSTEMS, AND METHODS
A method of removing a protective cover from an instrument includes inserting a distal end of the instrument on which the protective cover is positioned within an opening of a tool; engaging an edge of the protective cover with a movable member of the tool; and while the edge is engaged, using relative movement between the instrument and the tool to remove the protective cover from the instrument.
A61B 46/17 - Draps de chirurgie spécialement adaptés aux instruments les draps pénétrant dans le corps du patient fermés à l’extrémité distale
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
A61M 5/32 - AiguillesParties constitutives des aiguilles relatives au raccordement de celles-ci à la seringue ou au manchonAccessoires pour introduire l'aiguille dans le corps ou l'y maintenirDispositifs pour la protection des aiguilles
B25B 27/02 - Outils à main ou outillage d'établi, spécialement conçus pour assembler ou séparer des pièces ou des objets, que cela entraîne ou non une certaine déformation, non prévus ailleurs pour assembler des objets par ajustage à la presse, ou pour les détacher
34.
SYSTEMS AND METHODS FOR CONTROLLING A ROBOTIC MANIPULATOR OR ASSOCIATED TOOL
A system includes a robotic manipulator including a plurality of joints and a processing unit including one or more processors. The processing unit is configured to provide one or more weights associated with a plurality of joint state estimates of the plurality of joints based on one or more weighting scheme parameters associated with the robotic manipulator. The weights are provided to reduce vibrations at a first control point. The processing unit is further configured to apply the one or more weights to the joint state estimates for the plurality of joints to generate a plurality of weighted joint state estimates; and control the plurality of joints based on the plurality of weighted joint state estimates.
An illustrative apparatus may perform a process comprising: identifying, within a first image frame captured by an image capture system using a first auto-exposure parameter, a first region including first pixels that satisfy a first auto-exposure related condition; changing, based on one or more characteristics of the first region, both the first auto-exposure parameter to a second auto-exposure parameter and the first auto-exposure related condition to a second auto-exposure related condition; and identifying, within a second image frame captured by the image capture system using the second auto-exposure parameter, a second region including second pixels that satisfy the second auto-exposure related condition.
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 10/22 - Prétraitement de l’image par la sélection d’une région spécifique contenant ou référençant une formeLocalisation ou traitement de régions spécifiques visant à guider la détection ou la reconnaissance
H04N 23/72 - Combinaison de plusieurs commandes de compensation
36.
SYSTEM AND METHOD FOR MAINTAINING A TOOL POSITION AND ORIENTATION
Techniques for maintaining instrument position and orientation include a teleoperated device comprising an articulated structure comprising a plurality of joints, a plurality of links, one or more sensors, and a plurality of actuators; and a control unit comprising one or more hardware processors. The control unit is coupled to the articulated structure. The control unit is configured to: determine, based on information from the one or more sensors, a first change to an instrument due to a disturbance causing movement of at least a first joint of the plurality of joints, the first change comprising: a change in a position of the instrument and/or a change in an orientation of the instrument; and drive, using at least a first actuator of the plurality of actuators, at least a second joint of the plurality of joints to reduce the first change. The instrument is supported by the articulated structure.
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
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 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
The embodiments disclosed herein relate to receiving first input data of a first modality and second input data of a second modality, determining, using a first encoder, first encoder output with the first input data applied as an input into the first encoder, determining, using a second encoder, second encoder output using the second input data applied as an input into the second encoder, determining a first loss between the first encoder output and the second encoder output, determining, using a multi-modal decoder, a decoder output using the first encoder output and the second encoder output applied as inputs into the multi-modal decoder, the decoder output being of the first modality, determining a second loss for the decoder output, and updating a machine learning model using the first loss and the second loss.
A medical device includes a distal body and an elongate inner body extending proximally from the distal body and including an outer surface. An elongate outer tube extends proximally from the distal body and includes an inner surface. A fluid port is included in the distal body or the outer tube. An axial flow director is on the outer surface of the inner body, or on the inner surface of the outer tube. The outer tube surrounds the inner body to define a gap between the outer surface of the inner body and the inner surface of the outer tube and the axial flow director is positioned to direct fluid from the fluid port proximally within the gap.
A61B 1/12 - 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 avec système de refroidissement ou de rinçage
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 1/015 - Commande de l'alimentation en fluide ou de l'évacuation de fluide
39.
CAMERA CONTROL SYSTEMS AND METHODS FOR A COMPUTER-ASSISTED SURGICAL SYSTEM
A camera control system accesses, during a surgical session performed with a computer-assisted surgical system, surgical session data generated by the computer-assisted surgical system during the surgical session. The surgical session includes performance of one or more operations by the computer-assisted surgical system. Based on the surgical session data, the camera control system determines that an event associated with the surgical session is likely to occur and determines a location associated with the event. In response to determining the location associated with the event, the camera control system directs an automatic adjustment of a view of a camera to capture a view of the location associated with the event before the event occurs.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/00 - 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
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 40/67 - 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
Techniques for motion mode management include a teleoperated system having a repositionable structure comprising a first plurality of joints, a plurality of links, and a plurality of actuators coupled to drive motion of the repositionable structure; an input control comprising a kinematic chain having a second plurality of joints, and one or more first sensors; and a control unit comprising one or more hardware processors. The control unit is configured to detect, based on information from the one or more first sensors, movement of the input control for teleoperating the repositionable structure; and in response to a determination that at least a portion of the movement of the input control includes a component of movement used to indicate that a mode of operation of the teleoperated system should be changed, temporarily disable changes in the mode of operation of the teleoperated system based on movement of the input control.
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
Integrated table motion includes a teleoperated device comprising an articulated structure and a control unit. The articulated structure comprises a first plurality of joints, a plurality of links coupled by the first plurality of joints, and a plurality of actuators coupled to drive motion of the articulated structure. The control unit comprises one or more hardware processors. The control unit is operatively coupled to the articulated structure. The control unit is configured to receive a table movement request from a command unit of a table, the table being separate from the teleoperated device; determine whether the table movement request should be allowed; and in response to a determination that the table movement request should be allowed, allow the table to perform the table movement request.
A non-transitory machine-readable media may store instructions that, when run by one or more processors, cause the one or more processors to generate stereo endoscopic image data of a medical field and define a medical field volume from the stereo endoscopic image data. The processors may also project a 3D representation of the medical field volume to an extended-reality display device in a remote volume. The 3D representation may include a stereoscopic image and a 3D scene generated from the stereo endoscopic image data. The processors may also generate visual guidance in the remote volume to augment the stereo endoscopic image, map the visual guidance from the remote volume to the medical field volume to generate an augmented image of the medical field volume, and project the augmented image of the medical field volume to a display device viewed by an operator of instruments in the medical field.
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
43.
TELESCOPING MEDICAL DEVICE ASSEMBLY AND STERILE DRAPE
A drape shroud assembly comprises a body and a plurality of tabs. The body comprises a first end, a second end, an outer surface extending between the first end and the second end, and an inner surface extending between the first end and the second end. The inner surface of the body bounds an inner volume sized to permit at least part of a surgical instrument manipulator insertion assembly to be contained within the inner volume. The body is configured for attachment to the insertion assembly. The plurality of tabs extends from the second end of the body. A drape attachment region at an outer surface of the body is configured to attach a sterile drape to the body. The body of the drape shroud protects the drape from catching on the manipulator insertion assembly during movement thereof.
A teleoperated system comprises a display, a master input device, and a control system. The control system is configured to determine an orientation of an end effector reference frame relative to a field of view reference frame, determine an orientation of a master input device reference frame relative to a display reference frame, establish an alignment relationship between the master input device reference frame and the display reference frame, and command, based on the alignment relationship, a change in a pose of the end effector in response to a change in a pose of the master input device. The alignment relationship is independent of a position relationship between the master input device reference frame and the display reference frame. In one aspect, the teleoperated system is a telemedical system such as a telesurgical system.
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
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 17/02 - Instruments, dispositifs ou procédés chirurgicaux pour maintenir les blessures ouvertes, p. ex. rétracteursÉcarteurs
A61B 17/128 - 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 pour appliquer ou enlever les clamps ou les pinces
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
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
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
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 40/67 - 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
A joint structure that is configured to provide articulation between two links coupled by the joint structure comprises a pair of complementary joint features. One of the pair of complementary joint features comprises an elongated slot defined by a pair of protrusions extending in a direction of elongation of the slot and defining side walls of the slot. Another of the pair of complementary joint features comprises a male gear feature terminating in a rounded head. The rounded head is received in and moveable relative to the slot, and through a range of motion of articulation of the joint structure, the rounded head remains at a position within the slot bounded by the pair of protrusions.
An articulatable mechanism includes a first link comprising a first pair of joint features. Each joint feature of the first pair of joint features comprises a pair of male joint features and a first bearing surface between the pair of male joint features. The articulatable mechanism also includes a second link comprising a second pair of joint features. Each joint feature of the second pair of joint features comprising a pair of female joint features and a second bearing surface between the pair of female joint features. The male joint features of the first pair of joint features and the female joint features of the second pair of joint features matingly engage with each other so as to form a joint structure and the first and second bearing surfaces are in rolling contact with each other during relative rotation of the first and second links about the joint structure.
A medical instrument comprises an instrument control surface configured to mate with an instrument sterile adapter to receive input drive forces through the sterile adapter to control actuation of the surgical instrument, the instrument control surface comprising a first opening defined in the instrument control surface. A latch structure of the instrument comprises a locking surface configured to engage a latch arm in response to the latch arm being received in the opening, wherein in an engaged state of the latch arm with the locking surface the medical instrument is attached to the instrument sterile adapter and the latch structure prevents movement of the latch arm in a first direction. A latch release is moveable in the engaged state of the latch arm with the locking surface to exert a force causing movement of the latch arm in a second direction to disengage the latch arm from the locking surface.
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
A system comprises a flexible instrument, an input device, an insertion drive system comprising a drive motor, and a control system configured to selectively switch between a computer assisted mode and a manual mode. In the computer assisted mode, the control system causes the drive motor to move the flexible instrument along an insertion axis in response to one or more signals received from the input device. In the manual mode, the control system causes the drive motor to become off or inactive to allow the flexible instrument to be manually moved along the insertion axis.
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
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 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A medical device includes a plurality of rotary to linear force articulation members each have a first end respectively coupled to elongate rotatable drive elements and a second end operatively coupled to a distal end of the medical device. Each rotary to linear force articulation member is distally spaced from a force transmission member via an elongate shaft and indirectly connected to the force transmission member via the plurality of elongate rotatable drive elements. In response to the force transmission member, the plurality of rotary to linear force articulation members drive actuation of a distal end of the medical device by coordinating length adjustments determined by a relative rotation between their first end and the second ends. The length adjustments may have a substantially linear relationship to one or more rotatable inputs of the force transmission member as a result over overtwisting.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
An instrument actuation system comprises a first and second platforms, a first elongate threaded member extending between the platforms, a second elongate threaded member extending between the platforms, and a third elongate threaded member extending between the platforms. The system also comprises a first actuation mechanism including a first connector removably coupled with a first instrument device. The first actuation mechanism moves along the first elongate threaded member The system also comprises a second actuation mechanism including a second connector removably coupled with a second instrument device. The second actuation mechanism moves along the second elongate threaded member. The system also comprises a third actuation mechanism including a third connector removably coupled with a third instrument device. The third actuation mechanism moves along the third elongate threaded member. The first, second, and third actuation mechanisms move independently of each other along the respective elongate threaded member.
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 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
51.
SYSTEMS AND METHODS OF MACHINE LEARNING BASED SPATIAL LAYOUT OPTIMIZATION VIA 3D RECONSTRUCTIONS
Machine learning-based spatial layout optimization via 3-dimensional (3D) reconstructions is provided. A system receives sensor data associated with a medical session and captured by a set of sensors situated in a medical environment. The system generates a three dimensional (3D) reconstruction of the medical environment based on the sensor data. The system identifies a phase of the medical session based on the 3D reconstruction and via one or more models. The system determines a metric indicative of quality of a spatial layout of the medical environment during the phase via the one or more models. The system determines an action based on the metric. The one or more processors can perform the action.
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 40/20 - 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
52.
FLEXIBLE ELONGATE DEVICES HAVING ARTICULABLE BODY PORTION SUPPORT STRUCTURES
Flexible elongate devices include an elongate body having an articulable body portion and an axial support structure within the articulable body portion. The axial support structure can include links longitudinally stacked on one another, where each of the links includes a body defining a plurality of pull wire openings, an outwardly protruding hinge, and a socket. The socket is circumferentially offset relative to the hinge and configured to receive the hinge of one of the links therein. The flexible elongate device can include a distal member disposed at a distal end of the axial support structure, a proximal member disposed at a proximal end of the axial support structure, and a braid sheath surrounding the axial support structure within the articulable body portion, where ends of the braid sheath are coupled to the distal and proximal members.
A cleaning device for an imaging instrument includes a tubular member sized to receive a shaft of an imaging instrument; a collar configured to be coupled to the shaft of the imaging instrument; a collar latching element movably coupled to the tubular member; and a tubular member anti-rotation feature configured to fix a relative rotational orientation between the tubular member and the collar.
A61B 1/12 - 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 avec système de refroidissement ou de rinçage
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
54.
SYSTEMS AND METHODS FOR HIGH-SPEED DATA TRANSMISSION ACROSS AN ELECTRICAL ISOLATION BARRIER
A free space optics interface assembly includes a housing defining a free space chamber, an optical transmitter at a first end of the free space chamber, an optical receiver at a second end of the free space chamber, a first end plate secured to a first end flange of the housing, a second end plate secured to a second end flange of the housing, a first elastic material in the first end plate and located to compress against the first end flange of the housing when the first end plate is secured to the first end flange of the housing, and a second elastic material in the second end plate and configured to compress against the second end flange of the housing when the second end plate is secured to the second end flange of the housing.
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 1/04 - 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
A61B 1/07 - 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 avec dispositifs d'éclairement utilisant des moyens conduisant la lumière, p. ex. des fibres optiques
A bifurcated navigation control system is configured to identify a navigation condition associated with a navigation of a component of a computer-assisted medical system component along a path from an initial location to a target location; determine, based on the navigation condition, a propulsion limitation configured to be imposed on operator-provided commands related to a propulsion of the component during the navigation of the component along the path; and direct the component to navigate, in a bifurcated navigation control mode, along at least part of the path from the initial location to the target location. In the bifurcated navigation control mode, the bifurcated navigation control system is configured to autonomously control a steering of the component while allowing operator control of the propulsion of the component based on the operator-provided commands as limited by the propulsion limitation.
A medical device includes one or more capstans distally spaced from a force transmission member and coupled to one or more elongate rotatable drive elements. The medical device further includes one or more tension elements that are each coupled to one of the one or more capstans and to a distal end of the medical device. A length of each of the one or more tension elements is configured to wrap around the capstan to which it is coupled, consequently exerting an axial force on the distal end of the medical device.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
57.
SYSTEMS AND METHODS FOR CONTROLLING A SEQUENTIAL WORKFLOW
A manual user interface system comprises a knob movable in at least one rotational degree of freedom and at least one translational degree of freedom and an actuator system coupled to the knob and responsive to a plurality of movements of the knob to operate a plurality of instrument devices of a robotically-assisted instrument system through a plurality of predetermined stages of a sequential workflow.
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
58.
ELECTRODE TREATMENT DEVICE WITH ACTUATABLE DEPLOYMENT SYSTEM AND RELATED METHODS OF DEPLOYMENT AND TREATMEN
An electrode treatment device (300, 600, 700, 800, 900, 902, 1000, 1100, 1200, 1300, 1400, 1400', 1400a, 1400b, 1400c, 1600, 1600', 1800, 1900, 2000, 2100, 2200, 2300, 2400) for treating gastrointestinal tissue or other tissue includes an actuatable electrode deployment system (310, 610, 710, 810, 910, 912, 1010, 1110, 1210, 1310, 1410, 1410', 1410a, 1410b, 1410c, 1610, 1610', 1810, 1910, 2010, 2110, 2210, 2310, 2410) that is attachable to an endoscope (320) and that moves a flexible electrode (366, 666, 766, 1066, 1166, 1266, 1366, 1466, 2466), such as a flexible printed circuit strip, from a stowed configuration to a deployed configuration in apposition with tissue. The electrode may be at least partially coiled within a housing (1316, 1416, 1616, 2016, 2116) when in the stowed configuration, and an actuation element (1314, 1414, 1414a, 1414b, 1414c, 1614) mounted at a proximal end (1306) of the endoscope or forwardly of a distal end (328) of the endoscope and at least partially within the housing. Deployment of the electrode may be automatically halted or controlled based on electric current drawn by the actuation element indicative of mechanical resistance encountered by the electrode. The electrode treatment system may include a shaft (370, 770, 870, 970, 972, 1370, 1470, 2470) threaded through a working channel (372) of the endoscope and electrically and/or mechanically connected to a controller (14) and/or actuation element at the proximal end.
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 18/00 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci
59.
SYSTEMS AND METHODS FOR GENERATING CUSTOMIZED MEDICAL SIMULATIONS
A medical system may comprise a display system, an operator input device and a control system in communication with the display system and the operator input device. The control system may comprise a processor and a memory comprising machine readable instructions that, when executed by the processor, cause the control system to access an experience factor for a user and reference a set of parameterized prior procedures. The instructions may also cause the control system to identify a parameterized prior procedure associated with the experience factor from the set of parameterized prior procedures and generate a simulation exercise that includes a plurality of parameters from the parameterized prior procedure. Model inputs to the operator input device that are associated with the plurality of parameters may be determined.
G09B 23/28 - Modèles à usage scientifique, médical ou mathématique, p. ex. dispositif en vraie grandeur pour la démonstration pour la médecine
G09B 9/00 - Simulateurs pour l'enseignement ou l'entraînement
G16H 10/60 - TIC spécialement adaptées au maniement ou au traitement des données médicales ou de soins de santé relatives aux patients pour des données spécifiques de patients, p. ex. pour des dossiers électroniques de patients
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 50/00 - 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
A medical device includes a force transmission member, an elongate member housing first tension elements, mechanical advantage devices, and second tension elements. The first tension elements are configured to receive and transmit a tensile force. The mechanical advantage devices are configured to receive and multiply the tensile force. The second tension elements are configured to transmit the tensile force after multiplication to a distal end of the medical device. The first tension elements may include a different material than the second tension elements. The mechanical advantage devices may be pulleys or levers. A tension element may have a first end and a second distal to a mechanical advantage device and a proximal portion that is coupled to the mechanical advantage device.
A surgical instrument includes a reusable instrument portion and a disposable tip assembly. The disposable tip assembly includes an end effector assembly that in turn includes an end effector. The disposable tip assembly also includes a locking tip cover that locks the disposable tip assembly to a lock interface element of a tip interface of the reusable instrument portion. To facilitate mounting the disposable tip assembly on the tip interface of the reusable instrument portion, the disposable tip assembly includes a first quick connect/disconnect element and the tip interface includes a second quick connect/disconnect element. The second quick connect/disconnect element is coupled to a tendon. The tendon is also coupled to an actuator assembly that provides forces that push and pull (push/pull) the tendon.
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 system comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to generate a current endoscopic video image of a surgical environment, capture an image from the current endoscopic video image, display the current endoscopic video image and the captured image in a common display, and perform an action with the captured image in response to a user input.
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
A rotary device can include a drive rotor; a rotatable component coupled to the drive rotor, the rotatable component configured to be driven in rotation about an axis of rotation by the rotor; a first encoder operably coupled to the rotor so as to detect rotational kinematic information about the rotor; and a second encoder operably coupled to the rotatable component so as to detect rotational kinematic information about the rotatable component. The axis of rotation defines an axial dimension and a radial dimension is perpendicular to the axial dimension. The first encoder and the second encoder are arranged such that at least one of the first and second encoders is at least partially nested along the radial dimension relative to the other of the first and second encoders.
A system may comprise a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, may cause the system to receive anatomic image data for an anatomic area and segment the anatomic image data to identify an anatomic passageway in the anatomic area. The computer readable instructions may also cause the system to identify a gap between a first segment and a second segment of the segmented anatomic image data, generate a bridge segment to bridge the gap, and generate an anatomic model of a diseased lung including the first segment, the second segment and the bridge segment.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
G06T 7/62 - Analyse des attributs géométriques de la superficie, du périmètre, du diamètre ou du volume
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
Implementations relate to actuated grips for a controller. In some implementations, a controller includes a central member, a grip member coupled to the central member and moveable in a grip degree of freedom, a shaft coupled to the grip member, and an actuator coupled to the shaft and operative to output an actuator force on the shaft. The actuator force causes a grip force to be applied via the shaft to the grip member in the grip degree of freedom.
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 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
66.
SYSTEMS AND METHODS FOR FACILITATING OPTIMIZATION OF AN IMAGING DEVICE VIEWPOINT DURING AN OPERATING SESSION OF A COMPUTER-ASSISTED OPERATION SYSTEM
A viewpoint optimization system is configured to determine a particular operation performed during an operating session by a computer-assisted operation system, the particular operation performed with respect to a body while an imaging device included within the computer-assisted operation system provides, for display on a display device during the operating session, imagery of the body from a first viewpoint; define, based on the particular operation, a second viewpoint for the imaging device that is more optimal for performing the particular operation than the first viewpoint; and direct the display device to switch, based on the defining of the second viewpoint, from displaying the imagery of the body from the first viewpoint to displaying the imagery of the body from the second viewpoint.
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
H04N 7/18 - Systèmes de télévision en circuit fermé [CCTV], c.-à-d. systèmes dans lesquels le signal vidéo n'est pas diffusé
H04N 23/69 - Commande de moyens permettant de modifier l'angle du champ de vision, p. ex. des objectifs de zoom optique ou un zoom électronique
H04N 23/695 - Commande de la direction de la caméra pour modifier le champ de vision, p. ex. par un panoramique, une inclinaison ou en fonction du suivi des objets
67.
PHYSICAL MEDICAL ELEMENT PLACEMENT SYSTEMS AND METHODS
An exemplary system is configured to obtain anatomical characteristic data representative of a characteristic associated with an anatomical surface to be covered by a patch configured to cover a tissue defect, the anatomical surface within an internal space of a patient; and determine, based on the anatomical characteristic data, a placement guidance parameter set, the placement guidance parameter set comprising one or more parameters configured to guide a placement of the patch on the anatomical surface with one or more surgical instruments controlled by a computer-assisted surgical system.
A61F 2/00 - Filtres implantables dans les vaisseaux sanguinsProthèses, c.-à-d. éléments de substitution ou de remplacement pour des parties du corpsAppareils pour les assujettir au corpsDispositifs maintenant le passage ou évitant l'affaissement de structures corporelles tubulaires, p. ex. stents
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
68.
SYSTEMS AND METHODS FOR REGION-BASED PRESENTATION OF AUGMENTED CONTENT
A system is configured to perform operations comprising: determining that a viewpoint of a user of a display device is directed within an anchor region of a physical world containing the user while a medical procedure comprising a first operational stage and a second operational stage is performed in the physical world; directing, in response to the determination, the display device to present augmented content in an evident manner, wherein the evident manner comprises anchoring the augmented content relative to the viewpoint, such that the augmented content follows the viewpoint as the user moves the viewpoint within the anchor region; and automatically redefining, in response to the medical procedure transitioning, the anchor region from a first region to a second region, the first region being associated with the first operational stage and the second region being associated with the second operational stage.
A medical system includes a manipulator assembly for controlling movements of a medical instrument and a control system for the manipulator assembly. The control system executes a first session of the medical system for a procedure. Executing the first session involves completing one or more medical instrument operations for the medical instrument. The control system, subsequent to completing the one or more medical instrument operations, executes a mid-procedure restart of the medical system, and subsequent to executing the mid-procedure restart the medical system, executes a second session of the medical system for the procedure. Executing the second session involves skipping the one or more medical instrument operations completed in the first session based on comparing one or more first parameters of the medical system associated with the first session with one or more second parameters of the medical system associated with the second session.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A computer-assisted system includes a robotic manipulation system and a control system. The robotic manipulation system includes a manipulator arm including a non-driven joint, including a joint sensor configured to sense joint movement of the non-driven joint, and a brake that applies a braking force to the non-driven joint. The control system is configured to modulate the braking force of the brake based on a current usage situation of the computer-assisted system such that a force or torque at the non-driven joint causes a movement of the non-driven joint, the force or torque being caused by a collision of the manipulator arm distal to the non-driven joint and exceeding a force or torque threshold set based on the current usage situation, and determine whether a collision has occurred based on whether the movement of the non-driven joint is detected by the joint sensor.
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 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
71.
SYSTEM AND METHOD FOR ENGAGING AN INSTRUMENT OF A COMPUTER-ASSISTED SYSTEM
A computer-assisted system includes an instrument. The instrument includes a receive interface configured to couple with a drive interface, the receive interface including a first receive coupling with a set of first receive features disposed on the first receive coupling, each first receive feature in the set physically configured for mechanically engaging with a same first drive feature disposed on a first drive coupling of the drive interface, and a transmission element coupled with the first receive coupling such that mechanical energy transmitted by the first drive coupling to the first receive coupling is transmitted to the transmission element.
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
72.
ALIGNING AN INSTRUMENT SUPPORTED BY A COMPUTER-ASSISTED SYSTEM
Computer-assisted systems and methods for performing instrument targeting therewith are provided. The computer-assisted system includes a first repositionable structure configured to support a first instrument and a control system comprising one or more processors. The control system may be communicatively coupled to the first repositionable structure. To perform the instrument targeting, the control system (1) determines a target in a workspace for positioning the first instrument supported by the first repositionable structure; (2) defines a first target axis based on the target and an entry site location; (3) determines a configuration of the first plurality of joints that aligns the first instrument with the first target axis such that the first instrument is able to be advanced towards the target along the first target axis; and (4) commands the first plurality of joints based on the determined 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 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
A61G 13/04 - Tables d'opération réglablesLeurs commandes basculables autour d'un axe transversal ou longitudinal
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
73.
SYSTEMS AND METHODS FOR PRESENTING AUGMENTED REALITY IN A DISPLAY OF A TELEOPERATIONAL SYSTEM
A system comprises a processor and a memory having computer readable instructions stored thereon, which, when executed by the processor, cause the system to display a surgical environment image, which includes an image from an imaging system and an interaction image. The interaction image displays a body part of a user and an input control device. The instructions further cause the system to display, in the interaction image, a movement of the body part as the body part interacts with the input control device. The movement causes the body part to actuate the input control device. The instructions further cause the system to receive an input from the input control device in response to the actuation of the input control device. The instructions further cause the system to adjust a setting or a position of a component of a surgical system based on the received input.
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 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 17/02 - Instruments, dispositifs ou procédés chirurgicaux pour maintenir les blessures ouvertes, p. ex. rétracteursÉcarteurs
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 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 90/50 - Supports pour instruments chirurgicaux, p. ex. bras articulés
G06F 3/01 - Dispositions d'entrée ou dispositions d'entrée et de sortie combinées pour l'interaction entre l'utilisateur et le calculateur
G06T 19/00 - Transformation de modèles ou d'images tridimensionnels [3D] pour infographie
74.
SYSTEMS AND METHODS FOR PARAMETERIZING MEDICAL PROCEDURES
A robot-assisted medical system comprises a manipulator arm, an operator console, a medical instrument coupled to the manipulator arm, and a control system in communication with the operator console and the manipulator arm. The control system comprises a processor and a memory comprising machine readable instructions. When executed by the processor, the machine readable instructions may cause the control system to receive a plurality of medical procedure records, identify a set of characteristic actions common among the plurality of medical procedure records, and determine at least one parameter for each characteristic action in the set of characteristic actions.
G16H 10/60 - TIC spécialement adaptées au maniement ou au traitement des données médicales ou de soins de santé relatives aux patients pour des données spécifiques de patients, p. ex. pour des dossiers électroniques de patients
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
75.
AXIALLY-ADJUSTABLE ELECTRODE TREATMENT SYSTEMS AND METHODS
Apparatuses, systems, and methods are disclosed for providing controlled delivery of energy treatment to a tissue site. The systems, apparatuses, and methods may include designs with features for efficiently deploying and adjusting electrodes at a tissue site for treatment and for facilitating retraction of the electrodes back into a housing after completion of treatment for removal. The systems, apparatuses, and methods may further include an expansion member for radially expanding the flexible substrate to aid in positioning the electrodes adjacent the tissue to facilitate treatment.
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
76.
SYSTEMS AND METHODS FOR DETERMINING A VOLUME OF RESECTED TISSUE DURING A SURGICAL PROCEDURE
An illustrative system is configured to access, during a surgical procedure that involves resecting a piece of tissue from a body, a plurality of depth datasets for the resected piece of tissue; determine, during the surgical procedure and based on the plurality of depth datasets, an estimated volume of the resected piece of tissue; and indicate, during the surgical procedure, whether the estimated volume of the resected piece of tissue is within a predetermined threshold of an expected volume of the resected piece of tissue.
The present disclosure describes a computer system and method for adjusting models of anatomical objects during an operation. The computer system includes a memory and a processor communicatively coupled to the memory. The processor receives a first image of a plurality of anatomical objects and segments the first image into a plurality of segments. A first segment of the plurality of segments shows an anatomical object of the plurality of anatomical objects. The processor also receives a user selection of the first segment and receives a model that includes a submodel of the anatomical object shown in the first segment. The processor further moves the model until the submodel of the anatomical object aligns with the anatomical object shown in the first segment.
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
78.
MULTI-WRAPPED ELECTRODE TREATMENT SYSTEMS AND METHODS
Apparatuses, systems, and methods are disclosed for providing controlled delivery of electrolysis products and cellular permeabilization treatment to a tissue site. The systems, apparatuses, and methods may include designs with features for efficiently deploying a flexible substrate with an electrode at a tissue site for treatment and for facilitating retraction of the electrode back into a housing after completion of treatment for removal. The systems, apparatuses, and methods may further include an expansion member for radially expanding the flexible substrate to aid in positioning the electrode adjacent the tissue to facilitate treatment.
A system may comprise a flexible elongate device including one or more signal transmitters and a tool configured to extend from a distal end of the flexible elongate device. The tool may comprise a body portion defining a window and a localization sensor coupled to the body portion. At least a portion of the localization sensor is exposed by the window to receive a signal from the one or more signal transmitters through the window. The system may also comprise a control system configured to determine a location of the tool based on the signal received by the localization sensor from the one or more signal transmitters.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 8/12 - Diagnostic utilisant des ondes ultrasonores, sonores ou infrasonores dans des cavités ou des conduits du corps, p. ex. en utilisant des cathéters
A61B 8/00 - Diagnostic utilisant des ondes ultrasonores, sonores ou infrasonores
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 17/00 - Instruments, dispositifs ou procédés chirurgicaux
Implementations of a suturing device related methods are provided. The suturing device (100) includes a housing (110) that defines an arcuate needle track (120) having a first end (122) and a second end (124) and a gap (112) 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 (200) about the arcuate needle track and across the gap along a first direction. The device can further include a needle tip delivery passageway (180) intersecting the arcuate needle track. The needle tip delivery passageway can be configured to direct a distal portion of a needle tip delivery mechanism into 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 17/06 - 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 34/20 - 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 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
Implementations of suturing needles, suturing devices, and related methods are provided. In accordance with some aspects of the present disclosure, a suturing needle is provided including a needle body having a leading end and a trailing end. The needle body can define at least one opening in the needle body. A distal end of a length of suturing material can be received through the at least one opening. The needle body further defines a deflectable tab in an outer surface of the needle body. The deflectable tab can be configured to be deflected to trap the distal end of the length of suturing material within the at least one opening.
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
82.
GRAPHICAL USER INTERFACE FOR CATHETER POSITIONING AND INSERTION
A method comprises receiving a position of a tip portion of an instrument at a first location within a patient anatomy and determining a three-dimensional distance between the first location and a target location within the patient anatomy. The method further comprises displaying on a display system an image that includes a target location symbol and an instrument tip portion symbol. The method further comprises displaying on the display system a symbol indicating a direction between the position of the tip portion and the target location. As the tip portion of the instrument changes position, the image is displayed so that the instrument tip portion symbol is a frame of reference for the image and the target location symbol moves with respect to the instrument tip portion symbol to represent a new location of the tip portion relative to the target location.
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
A method and apparatus for manipulating tissue. A tissue control point is displayed over an image of the tissue in a user interface. An input is received that moves the tissue control point within the user interface. A first instrument that is physically associated with the tissue is operated based on the received input to thereby manipulate the tissue.
A61B 17/02 - Instruments, dispositifs ou procédés chirurgicaux pour maintenir les blessures ouvertes, p. ex. rétracteursÉcarteurs
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 34/35 - 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 3/04842 - Sélection des objets affichés ou des éléments de texte affichés
G06F 3/0488 - 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 utilisant un écran tactile ou une tablette numérique, p. ex. entrée de commandes par des tracés gestuels
An application management system may provide, during a medical session and while a user device detects a beacon associated with a medical system, a user of the user device with access to a first set of medical session features of an application executed by the user device. The application management system may also provide, while the user device does not detect the beacon, the user with access to a second set of medical session features of the application, the second set of medical session features being different from the first set of medical session features. The first set of medical session features comprises a medical system interaction feature configured to allow interaction, by the user of the user device, with content generated by the medical system during the medical session.
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
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
G16H 10/60 - TIC spécialement adaptées au maniement ou au traitement des données médicales ou de soins de santé relatives aux patients pour des données spécifiques de patients, p. ex. pour des dossiers électroniques de patients
G16H 40/60 - 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
An endoscopic system includes a shaft comprising a proximal end portion and a distal end portion; a sensor system; a floating ground element electrically coupled to the sensor system; a power regulator electrically coupled to a power transmission line and to the floating ground element, the power regulator configured to convert ground-referenced power received from an earth ground referenced power source into floating ground element referenced power and to output the floating ground element referenced power through the power transmission line; and a circuit enclosure at least partially enclosing a transceiver circuit and the power regulator, the circuit enclosure being electrically coupled with the floating ground element.
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 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
Apparatuses, systems, and methods are disclosed for providing controlled delivery of energy treatment to a tissue site. The systems, apparatuses, and methods may include medical instrument designs with features for retaining a flexible substrate with an electrode array in position against an expandable member during delivery to the tissue site, treatment, and retraction from the tissue site. The medical instrument further includes features for retaining the flexible substrate in a compact, stowed configuration during delivery and for retracting the flexible substrate post-deployment to facilitate retraction of the medical instrument after completion of treatment.
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
An exemplary surgical instrument tracking system includes at least one physical computing device that determines, based on endoscopic imagery of a surgical area and using a trained neural network, an observation for an object of interest depicted in the endoscopic imagery, associates, based on a probabilistic framework and kinematics of a robotically-manipulated surgical instrument located at the surgical area, the observation for the object of interest to the robotically-manipulated surgical instrument, and determines a physical position of the robotically-manipulated surgical instrument at the surgical area based on the kinematics of the robotically-manipulated surgical instrument and the observation associated with the robotically-manipulated surgical instrument.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
G06N 3/047 - Réseaux probabilistes ou stochastiques
88.
ANATOMICAL STRUCTURE VISUALIZATION SYSTEMS AND METHODS
In certain examples, an anatomical structure visualization system determines a distance between a point on an anatomical surface visible to an endoscope and a point on an embedded anatomical object that is visually occluded from the viewpoint of the endoscope by the anatomical surface. The anatomical structure visualization system may determine, based on the determined distance, a display parameter for a pixel of an image representative of a view of the anatomical surface from the viewpoint of the endoscope and assign the determined display parameter to the pixel of the image. The anatomical structure visualization system may similarly determine and assign display parameters to other pixels of the image and provide the image for display. The displayed image may provide a visualization of an anatomical structure at a surgical area, including a visualization of how deep the embedded anatomical object is positioned from the anatomical surface.
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
Techniques for registering a teleoperated device to a table include a teleoperated device comprising a control unit and an articulated arm. The control unit is configured to receive information of a first table motion of a table, the first table motion causing a corresponding first arm motion, the first arm motion being of at least a portion of the articulated arm, the table comprising one or more links and one or more joints coupling a base of the table to a top of the table, the first table motion indicating a movement of the top of the table; receive information of the first arm motion; determine a first angular relationship between the table and the first articulated arm based on the first table motion and the first arm motion; and control, using a plurality of actuators, movement of the articulated arm based on the first angular relationship.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
Techniques for controlling an end effector include a computer-assisted device having a drive system configured to actuate a moveable element of an end effector and a control unit coupled to the drive system. The control unit is configured to actuate, using the drive system, the moveable element to a first commanded position; and in response to the moveable element reaching the first commanded position: determine, based on an amount of force or torque applied to actuate the moveable element to the first commanded position, a force or torque limit to be applied when actuating the moveable element to a second commanded position; and further actuate the moveable element to the second commanded position while limiting a force or torque applied by the drive system to the determined force or torque limit.
A61B 17/072 - Agrafeuses chirurgicales pour appliquer une rangée d'agrafes en une seule opération, p. ex. agrafes appliquées simultanément
A61B 17/00 - Instruments, dispositifs ou procédés 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
Techniques for controlling grasping include a manipulator configured to be releasably coupled to an instrument, the instrument having an end effector comprising a first jaw and a second jaw; a drive system configured to apply a force or torque to the instrument to cause the end effector to grasp a material between the first jaw and the second jaw; and a processor. The processor is configured to monitor a force or torque applied by the drive system to cause the end effector to grasp the material and in response to a determination that the applied force or torque is below a lower limit of an acceptable range of force or torque, reverse a direction of the applied force or torque.
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 17/072 - Agrafeuses chirurgicales pour appliquer une rangée d'agrafes en une seule opération, p. ex. agrafes appliquées simultanément
A61B 17/115 - Agrafeuses pour réaliser une anastomose, p. ex. en une seule opération
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 surgical instrument includes a chassis, an outer tube having a proximal end operably coupled to the chassis, and an inner tube extending within the outer tube. The inner tube has a proximal end operably coupled to the chassis to allow slidable movement of the inner tube relative to the outer tube in response to a force imparted to a distal end of the inner tube, and such that frictional force imparted to an outer surface of the outer tube is not imparted to the inner member.
A61B 17/00 - Instruments, dispositifs ou procédés 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
93.
SYSTEMS AND METHODS FOR TAG-BASED INSTRUMENT CONTROL
A system may access medical session data for a medical session and determine, based on the medical session data, that an event occurs within a region of interest associated with the medical session. The medical session includes performance of one or more operations by a computer-assisted medical system. The system may identify a physical location within the region of interest and associated with the event, identify content captured by an imaging device and depicting the physical location when the event occurred, and associate the content with the physical location. After the event occurs, the system may provide a user with access to the content when the physical location is within a field of view of the imaging device.
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
G06F 3/0484 - Techniques d’interaction fondées sur les interfaces utilisateur graphiques [GUI] pour la commande de fonctions ou d’opérations spécifiques, p. ex. sélection ou transformation d’un objet, d’une image ou d’un élément de texte affiché, détermination d’une valeur de paramètre ou sélection d’une plage de valeurs
94.
SYSTEM AND METHOD FOR DISTRIBUTED HEAT FLUX SENSING OF BODY TISSUE
A system for distributed heat flux sensing of body tissue includes a distributed sensor, a thermal energy source, and one or more processors. The distributed sensor provides a plurality of temperature measurements corresponding to a plurality of points in a measurement range. The thermal energy source applies thermal energy to the body tissue along the measurement range. The one or more processors are configured to receive the plurality of temperature measurements from the distributed sensor, determine an amount of thermal energy applied by the thermal energy source at each of the plurality of points, and determine heat flux at each of the plurality of points based on the plurality of temperature measurements and the amount of thermal energy applied by the thermal energy source. The plurality of temperature measurements correspond to the plurality of points.
A61B 5/01 - Mesure de la température de parties du corps
A61B 5/00 - Mesure servant à établir un diagnostic Identification des individus
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 18/08 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci par chauffage à l'aide de sondes chauffées électriquement
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
G01K 1/02 - Moyens d’indication ou d’enregistrement spécialement adaptés aux thermomètres
G01K 11/32 - Mesure de la température basée sur les variations physiques ou chimiques, n'entrant pas dans les groupes , , ou utilisant des changements dans la transmittance, la diffusion ou la luminescence dans les fibres optiques
Systems and methods for providing an intelligent event system during a medical session in a medical environment include determining, based on at least one data stream, a non¬ operative activity during the medical session in the medical environment, the at least one data stream captured using at least one sensor located in the medical environment, predicting, using a machine learning model and based at least on the non-operative activity and metadata associated with the medical session, a time remaining to a milestone associated with the medical session, and performing action responsive to predicting the time remaining to the milestone.
G16H 40/20 - 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
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
Surgical systems can include a repositionable structure, an instrument holder, and a probe holder. A control system can be configured to insert an instrument and move a sensing probe to keep the instrument within a field of view as the instrument moves, where movement of the repositionable structure moves both the instrument holder and probe holder. A control system can be configured to impose a set of constraints on degrees of freedom of motion of the system when controlling movement about a remote center and not imposing the set of constraints during an initial scan with a sensing probe. Surgical systems can include an instrument driver, a needle coupled to the instrument driver, a high frequency vibration mechanism coupled to the needle, and a low frequency vibration mechanism coupled to the needle.
A61B 90/11 - Instruments, 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
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 8/00 - Diagnostic utilisant des ondes ultrasonores, sonores ou infrasonores
A system receives from an imaging device a set of two-dimensional projection images associated with respective projection angles. The projection images contain projections of an anatomical structure with a flexible elongate device disposed therein, an anatomical target, and, possibly, fiducial markings. The system may reconstruct from the set of two-dimensional projection images a three-dimensional image. In some examples, prior to the reconstruction, the system may detect and in-paint pixels (within the projection images) associated with the fiducial markings, the flexible elongate device, and/or other objects. The system may enhance the reconstruction using a style transfer model. Furthermore, the system may receive shape data, in the sensor/instrument coordinate system, associated with the flexible elongate device. The system may compute a transformation between the imaging coordinate system and the instrument coordinate system, identify a target within the reconstructed image, and, using the computed transformation, update target location in the instrument coordinate system.
A method for operating a medical system comprises inserting a cannula through a body wall of a patient to a target depth, adjusting an adjustable connecting mechanism to a target setting to position an instrument holder at a target position relative to a robotic manipulator arm, and coupling the instrument holder to the cannula. The adjustable connecting mechanism comprises a plurality of depth position settings to adjust a position of the instrument holder relative to the robotic manipulator arm based on the target depth. The target setting corresponds to the target depth, and a remote center distance between the robotic manipulator arm and a remote center of motion is maintained as the adjustable connecting mechanism moves the instrument holder to the target position relative to the robotic manipulator arm. The cannula pivots about the remote center of motion.
A61B 34/20 - 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
Techniques for controlling an imaging device include a first repositionable arm comprising a plurality of actuators configured to cause movement of the first repositionable arm and a plurality of joints; and a controller comprising one or more hardware processors. The controller is configured to determine whether an imaging device supported by the first repositionable arm comprises an articulable joint coupling an imaging apparatus to a shaft of the imaging device; in response to a determination that the imaging device comprises the articulable joint: command the plurality of actuators to move the plurality of joints and the articulable joint to position and orient a field of view of the imaging apparatus; and in response to a determination that the imaging device does not comprises the articulable joint: command the plurality of actuators to move the plurality of joints to position and orient the field of view of the imaging apparatus.
A61B 1/00 - Instruments 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 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
G06T 7/70 - Détermination de la position ou de l'orientation des objets ou des caméras
H04N 23/695 - Commande de la direction de la caméra pour modifier le champ de vision, p. ex. par un panoramique, une inclinaison ou en fonction du suivi des objets
100.
SURGICAL TRAINING MODEL INCLUDING A HYDROGEL BASE LAYER CARRYING HARVESTED PORCINE TISSUE AND ASSOCIATED METHODS
A surgical training model includes a base layer having hydrogel. Harvested porcine tissue is carried by the base layer. A mesh may be coupled to the base layer.
