Abstract: A method of calibrating a robotic imaging apparatus includes providing the robotic imaging apparatus, calibrating a stereoscopic camera portion of the apparatus to robot space, and registering the robot space to a patient space. An embodiment of the apparatus includes a base section defining the robot space, a robotic arm including a first end connected to the base section, a second end including a coupling interface, and a plurality of joints and links connecting the first end to the second end, each joint including a motor configured to rotate the joint around an axis and a joint sensor configured to transmit a position of the respective joint, a stereoscopic camera connected at the coupling interface, and a sensor positioned at the coupling interface and configured to detect force imparted on the stereoscopic camera by an operator and to transmit output data indicative of the detected force.

Abstract: A system, method, and apparatus for displaying a fused reconstructed image with a multidimensional image are disclosed. An example imaging system receives a selection corresponding to a portion of a displayed multidimensional visualization of a surgical site. At the selected portion of the multidimensional visualization, the imaging system displays a portion of a three-dimensional image which corresponds to the selected multidimensional visualization such that the displayed portion of the at least one of the three-dimensional image or model is fused with the displayed multidimensional visualization.

Abstract: A system, method, and apparatus for displaying a fused reconstructed image with a multidimensional image are disclosed. An example imaging system receives a selection corresponding to a portion of a displayed multidimensional visualization of a surgical site. At the selected portion of the multidimensional visualization, the imaging system displays a portion of a three-dimensional image which corresponds to the selected multidimensional visualization such that the displayed portion of the at least one of the three-dimensional image or model is fused with the displayed multidimensional visualization.

Abstract: A system and method for visually enhancing an original image of an eye includes a visualization module. A controller is configured to convert an output of the visualization module to a first pixel cloud in a first color space and map the first pixel cloud to a second pixel cloud in a second color space. The method includes identifying at least one selected zone in the second color space. The controller is configured to move the selected zone from an original location to a modified location in the second color space. The second pixel cloud is updated to obtain a modified second pixel cloud, which is transformed into a third pixel cloud in the first color space. An enhanced image is formed based in part on the modified second pixel cloud and provides selective visual enhancement in the selected zone without affecting contrast in a remainder of the original image.

Abstract: A system and method quantify light exposure of a patient retina during an ophthalmic procedure. A light source illuminates the patient retina with directed light during the procedure to produce an illuminated retina surface. A camera collects image data of the illuminated retina surface. An electronic control unit (ECU) in communication with the camera and an indicator device receives the image data, calculates a cumulative energy spectral density of the directed light falling incident upon the retina, and executes a control action indicative of possible light toxicity in response to the cumulative energy spectral density exceeding a light toxicity threshold, including activating the indicator device. The illuminated retina surface may be divided into virtual zones, with the ECU mapping the cumulative energy spectral density to the illuminated retina surface. Each of the optional zones has a corresponding cumulative energy spectral density.

Abstract: A retina viewing system and method of using the same includes an ophthalmic microscope, a disposable lens attachment, and an electronic control unit (ECU). The microscope has an optical head and a set of internal focusing lenses, the latter providing the microscope with a variable working distance or focal length. The disposable lens attachment includes a resilient body with a proximal end connected to the optical head and a distal end connected to a high-power/high-diopter distal lens. The ECU executes instructions for viewing a retina or other intraocular anatomy of a patient eye. Execution of the instructions causes the ECU to automatically adjust the variable working distance or focal length of the microscope when viewing an image of the retina through the distal lens.

Abstract: Performance of enhanced visually directed procedures under low ambient lighting conditions. A computer readable medium storing a set of computer instructions for performing an enhanced visually directed procedure under low ambient visible light on a patient's eye. The computer instructions include: acquiring at least one real-time high resolution video signal representing at least one view of the eye in at least one wavelength of light outside of the wavelengths of visible light. The computer instructions include converting the at least one view is converted corresponding to the at least one real-time high resolution video signal at the at least one wavelength of light outside of the wavelengths of visible light into at least one wavelength of visible light. The at least one high resolution photosensor is acquired after light conditions are low enough such that a pupil of the eye does not constrict substantially from its maximum pupillary diameter.

Abstract: A robotic imaging apparatus is disclosed. A robotic imaging apparatus includes a robotic arm, a stereoscopic camera, and a sensor positioned between the robotic arm and the stereoscopic camera. The sensor transmits output data that is indicative of translational and/or rotational force imparted on the stereoscopic camera by an operator. The robotic imaging apparatus also includes a processor that is configured to determine a movement sequence for the robotic arm based on a current position of the robotic arm and the output data from the sensor and to cause at least one of the joints of the robotic arm to rotate based on the determined movement sequence via one or more motor control signals provided to the at least one joint. The rotation of the at least one joint provides power-assisted movement of the robotic arm based on the detected translational and/or rotational forces imparted by the operator.

Abstract: Apparatus and methods are described which guide a surgeon in performing a reconstructive or cosmetic procedure. The apparatus and methods utilize three-dimensional presentations of the target surgical site incorporating one or more virtual surgical guides which help attain proper alignment and orientation of the post-surgical outcome.

Abstract: Performance of enhanced visually directed procedures under low ambient lighting conditions. An imaging system includes a first high resolution photosensor configured to acquire at least one first real-time high resolution video signal representing at least one view of the eye in at least one wavelength of light outside of the wavelengths of visible light. A second high resolution photosensor is configured to acquire at least one second real-time high resolution video signal representing the at least one view of the eye inside of the wavelengths of visible light. A control unit is configured to acquire the at least one first real-time high resolution video signal and the at least one second real-time high resolution video signal after the light conditions are low enough such that a pupil of the eye does not constrict substantially from its maximum pupillary diameter, via the first and the second high resolution photosensor, respectively.

Abstract: Apparatus and methods are described which guide a surgeon in performing a reconstructive or cosmetic procedure. The apparatus and methods utilize three dimensional presentations of the target surgical site incorporating one or more virtual surgical guides which help attain proper alignment and orientation of the post surgical outcome.

Abstract: A stereoscopic camera with fluorescence visualization is disclosed. An example stereoscopic camera includes a visible light source, a near-infrared light source, and a near-ultraviolet light source. The stereoscopic camera also includes a light filter assembly having left and right filter magazines positioned respectively along left and right optical paths and configured to selectively enable certain wavelengths of light to pass through. Each of the left and right filter magazines includes an infrared cut filter, a near-ultraviolent cut filter, and a near-infrared bandpass filter. A controller of the camera is configured to provide for a visible light mode, an indocyanine green (“ICG”) fluorescence mode, and a 5-aminolevulinic acid (“ALA”) fluorescence mode by synchronizing the activation of the light sources with the selection of the filters. A processor of the camera combines image data from the different modes to enable fluorescence emission light to be superimposed on visible light stereoscopic images.

Abstract: A stereoscopic imaging apparatus and platform are disclosed. An example stereoscopic imaging apparatus includes a main objective assembly and left and right lens sets defining respective parallel left and right optical paths from light that is received from the main objective assembly of a target surgical site. Each of the left and right lens sets includes a front lens, first and second zoom lenses configured to be movable along the optical path, and a lens barrel configured to receive the light from the second zoom lens. The example stereoscopic imaging apparatus also includes left and right image sensors configured to convert the light after passing through the lens barrel into image data that is indicative of the received light. The example stereoscopic visualization camera further includes a processor configured to convert the image data into stereoscopic video signals or video data for display on a display monitor.

Abstract: A robotic imaging apparatus is disclosed. A robotic imaging apparatus includes a robotic arm, a stereoscopic camera, and a sensor positioned between the robotic arm and the stereoscopic camera. The sensor transmits output data that is indicative of translational and/or rotational force imparted on the stereoscopic camera by an operator. The robotic imaging apparatus also includes a processor that is configured to determine a movement sequence for the robotic arm based on a current position of the robotic arm and the output data from the sensor and to cause at least one of the joints of the robotic arm to rotate based on the determined movement sequence via one or more motor control signals provided to the at least one joint. The rotation of the at least one joint provides power-assisted movement of the robotic arm based on the detected translational and/or rotational forces imparted by the operator.

Abstract: A system, method, and apparatus for performing intraocular lens implantation using real-time surgical reference indicium are disclosed. An example method includes recording a patient specific pre-operative still image of an eye prior to cyclorotation of the eye when a patient lies down for surgery and generating at least one real-time multidimensional visualization of at least a portion of the eye for display. The method further includes using the patient specific pre-operative still image to at least produce at least one virtual surgical reference indicium including an ocular natural vertical axis of the eye and align the at least one virtual surgical reference indicium to the eye in conjunction with the real-time multidimensional visualization of at least a portion of the eye. The patient specific pre-operative still image is captured under a dilation condition selected from the group consisting of natural dilation, chemical dilation, and no dilation.

Abstract: A stereoscopic camera with fluorescence visualization is disclosed. An example stereoscopic camera includes a visible light source, a near-ultraviolet light source, and a near-ultraviolet light source. The stereoscopic camera also includes a light filter assembly having left and right filter magazines positioned respectively along left and right optical paths and configured to selectively enable certain wavelengths of light to pass through. Each of the left and right filter magazines includes an infrared cut filter, a near-ultraviolent cut filter, and a near-infrared bandpass filter. A controller of the camera is configured to provide for a visible light mode, an indocyanine green (“ICG”) fluorescence mode, and a 5-aminolevulinic acid (“ALA”) fluorescence mode by synchronizing the activation of the light sources with the selection of the filters. A processor of the camera combines image data from the different modes to enable fluorescence emission light to be superimposed on visible light stereoscopic images.

Abstract: A stereoscopic visualization camera and platform are disclosed. An example stereoscopic visualization camera includes a main objective assembly and left and right lens sets defining respective parallel left and right optical paths from light that is received from the main objective assembly of a target surgical site. Each of the left and right lens sets includes a front lens, first and second zoom lenses configured to be movable along the optical path, and a lens barrel configured to receive the light from the second zoom lens. The example stereoscopic visualization camera also includes left and right image sensors configured to convert the light after passing through the lens barrel into image data that is indicative of the received light. The example stereoscopic visualization camera further includes a processor configured to convert the image data into stereoscopic video signals or video data for display on a display monitor.

Abstract: A system for guiding an ophthalmic procedure is disclosed. The system includes a housing assembly with a head unit configured to be at least partially directed towards a target site in an eye. An optical coherence tomography (OCT) module and stereoscopic visualization camera are at least partially located in the head unit and configured to obtain a first set and a second set of volumetric data, respectively. A controller is configured to register the first set and second set of volumetric data to create a third set of registered volumetric data. The third set and second set of registered volumetric data are rendered, via a volumetric render module, to a first and second region. The first region and the second region are overlaid to obtain a shared composite view of the target site. The controller is configured to extract structural features and/or enable visualization of the target site.

Abstract: System and method for imaging a target site with a housing assembly having a head unit configured to be at least partially directed towards the target site. An optical coherence tomography (OCT) module and stereoscopic visualization camera are at least partially located in the head unit and configured to obtain a first set and a second of volumetric data of the target site, respectively. A controller is configured to register the first set of volumetric data with the second set of volumetric data to create a third set of registered volumetric data. The third set of registered volumetric data and second set of volumetric data are rendered, via a volumetric render module, to a first and second region. The first region and the second region are overlaid to obtain a composite shared view of the target.

Abstract: A robotic imaging apparatus is disclosed. A robotic imaging apparatus includes a robotic arm, a stereoscopic camera, and a sensor positioned between the robotic arm and the stereoscopic camera. The sensor transmits output data that is indicative of translational and rotational force imparted on the stereoscopic camera by an operator. The robotic imaging apparatus also includes a processor that is configured to determine a movement sequence for the robotic arm based on a current position of the robotic arm and the output data from the sensor and to cause at least one of the joints of the robotic arm to rotate based on the determined movement sequence via one or more motor control signals provided to the at least one joint. The rotation of the at least one joint provides power-assisted movement of the robotic arm based on the detected translational and rotational forces imparted by the operator.