Abstract: Provided herein are methods of generating optimized models of vascular grafts for subjects in certain embodiments. Methods of treating subjects in need of vascular grafts are also provided. Related systems and computer program products are additionally provided.

Abstract: Methods and apparatuses are provided for performing surgery and other interventional procedures on human and non-human animals with a semi-autonomous and/or fully autonomous robotic system. The methods and apparatuses include a system for controlling magnetic fields to dynamically detect the location of magnetizable tools and to manipulate said tools in order to obtain a favorable therapeutic or diagnostic outcome.

Abstract: The present disclosure relates to devices used to access the pericardial space of the heart. In particular, the present disclosure describes an apparatus to enable an operator to access the pericardial space of the heart, and deliver cardiac therapies to the pericardial space, under direct visualization through a single, small incision.

Abstract: A method is provided for making an appendage of a soft surgical tool, including: receiving a set of mechanical constraints for a surgical procedure; calculating a set of articulation states based on the set of mechanical constraints; generating a plurality of print commands for printing an appendage configured to form the set of articulation states based on the calculation; and printing an appendage based on the plurality of print commands. Multiple printed appendages can be formed into an orienting assembly.

Abstract: The present disclosure provides a system and method for controlling an articulating member including a tool. The method includes determining a first confidence indicator based on a manual control mode for the articulating member, determining a second confidence indicator based on an autonomous control mode for the articulating member, generating an allocation function based on the first confidence indicator and the second confidence indicator, and generating a control command for the articulating member based on the allocation function.

Abstract: The present disclosure provides a system and method for controlling an articulating member including a tool. The system may include a dual camera system that captures near-infrared (NIR) images and point cloud images of a tissue or other substance that includes NIR markers. The system may generate a three-dimensional (3D) path based on identified positions of the NIR markers, may filter the generated path, and may generate a 3D trajectory for controlling the articulated arm of a robot having a tool to create an incision along the filtered path. In a shared control mode, an operator may generate manually control commands for the robot to guide the tool along such a path, while automated control commands are generated in parallel. One or more allocation functions may be calculated based on calculated manual and automated error models, and shared control signals may be generated based on the allocation functions.

Abstract: The present disclosure is a device and method associated with the delivery of medical devices in the pericardial space using a minimally invasive approach with direct visualization. More specifically, the device can be used to deliver permanent pacing, defibrillation and cardiac resynchronization leads, as well as leadless pacemakers for cardiac rhythm management to the epicardial surface of the heart. A subxiphoid procedure is proposed as a minimally invasive alternative to thoracotomy, while the delivery tool incorporates a camera for direct visualization of the procedure. The tool also incorporates a steerable catheter to provide selective control of the placement and orientation of the medical device in the pericardial space.

Abstract: A method for generating a electro spun fiber medical implant including determining dimensions of a portion of anatomy of a patient corresponding to the electro spun fiber medical implant via medical imaging, generating a model of the portion of the anatomy based on the dimensions, the model including one or more solid areas and one or more void areas encompassed within the one or more solid areas, inverting the model to generate a mandrel model, the mandrel model generated based on the one or more void areas, generating the mandrel based on the mandrel model, the mandrel including at least one electrically conductive material therein, and applying an electro-spinning process to the mandrel to generate the electro spun fiber medical implant which circumscribes the mandrel, wherein the mandrel is removable from within the electro spun fiber medical implant after a disassembly process.

Abstract: In some embodiments, systems and methods for remote trauma assessment are provided, a system comprising, a robot arm; an ultrasound probe and a depth sensor coupled to the robot arm; and a processor programmed to: cause the depth sensor to acquire depth data indicative of a three dimensional shape of at least a portion of a patient; generate a 3D model of the patient; automatically identify scan positions using the 3D model; cause the robot arm to move the ultrasound probe to a first identified scan position; receive movement information indicative of input provided via a remotely operated haptic device; cause the robot arm to move the ultrasound probe from the first scan position to a second position based on the movement information; cause the ultrasound probe to acquire ultrasound data at the second position; and transmit an ultrasound image based on the ultrasound data to the remote computing device.

Abstract: Described herein are an apparatus and methods for automating subtasks in surgery and interventional medical procedures. The apparatus consists of a robotic positioning platform, an operating system with automation programs, and end-effector tools to carry out a task under supervised autonomy. The operating system executes an automation program, based on one or a fusion of two or more imaging modalities, guides real-time tracking of mobile and deformable targets in unstructured environment while the end-effector tools execute surgical interventional subtasks that require precision, accuracy, maneuverability and repetition. The apparatus and methods make these medical procedures more efficient and effective allowing a wider access and more standardized outcomes and improved safety.

Abstract: The present disclosure relates to devices used to access the pericardial space of the heart. In particular, the present disclosure describes an apparatus to enable an operator to access the pericardial space of the heart, and deliver cardiac therapies to the pericardial space, under direct visualization through a single, small incision.

Abstract: System and method for tracking and control in medical procedures. The system including a device that deploys fluorescent material on at least one of an organ under surgery and a surgical tool, a visual light source, a fluorescent light source corresponding to an excitation wavelength of the fluorescent material, an image acquisition and control element that controls the visual light source and the fluorescent light source, and captures and digitizes at least one of resulting visual images and fluorescent images, and an image-based, tracking module that applies image processing to the visual and fluorescent images, the image processing detecting fluorescent markers on at least one of the organ and the surgical tool.

Abstract: The present disclosure describes a method and system for performing robot-assisted surgical procedures. The system includes a robotic arm system assembly, an end effector assembly, and a hybrid control mechanism for robotic surgery. The robotic arm is a lightweight, bedside robot with a large range of motion, which can be easily manipulated to position endoscope and surgical instruments. The control console is mounted at the distal end of the robotic arm to enable robotic arm to follow operators arm movement, provide physical support, filter out hand tremor, and constrain motion. A universal adapter is also described as an interface to connect traditional laparoscopic tools to the robotic arm.

Abstract: The present disclosure is related to a method and apparatus for providing recommendation for a medical surgical procedure, including acquiring, using circuitry, a plurality of multispectral images representing a portion of an anatomy of a patient, performing image processing on each of the plurality of multispectral images to form a plurality of value maps, each value map identifying aspects of the portion of the anatomy by assigned values, combining the plurality of value maps into a single recommendation map, determining optimal points for performing the medical surgical procedure based on the single recommendation map, and displaying the optimal points for the medical surgical procedure by overlaying the optimal points on an original image of the portion of the anatomy or applying the optimal points to a robotic medical surgical procedure.

Abstract: A method is provided for making an appendage of a soft surgical tool, including: receiving a set of mechanical constraints for a surgical procedure; calculating a set of articulation states based on the set of mechanical constraints; generating a plurality of print commands for printing an appendage configured to form the set of articulation states based on the calculation; and printing an appendage based on the plurality of print commands. Multiple printed appendages can be formed into an orienting assembly.

Abstract: A system and method for corrected imaging including an optical camera that captures at least one optical image of an area of interest, a depth sensor that captures at least one depth map of the area of interest, and circuitry that correlates depth information of the at least one depth map to the at least one optical image to generate a depth image, corrects the at least one optical image by applying a model to address alteration in the respective at least one optical image, the model using information from the depth image, and outputs the corrected at least one optical image for display in 2D and/or as a 3D surface.

Abstract: A method for generating a electro spun fiber medical implant including determining dimensions of a portion of anatomy of a patient corresponding to the electro spun fiber medical implant via medical imaging, generating a model of the portion of the anatomy based on the dimensions, the model including one or more solid areas and one or more void areas encompassed within the one or more solid areas, inverting the model to generate a mandrel model, the mandrel model generated based on the one or more void areas, generating the mandrel based on the mandrel model, the mandrel including at least one electrically conductive material therein, and applying an electro-spinning process to the mandrel to generate the electro spun fiber medical implant which circumscribes the mandrel, wherein the mandrel is removable from within the electro spun fiber medical implant after a disassembly process.

Abstract: A composition including PPF or a PPF copolymer that can be used to fabricate biodegradable structures. The composition can be used in 3-D patterning (e.g., 3-D printing and sterolighography) methods. For example, 3-D patternable compositions include PPF or a PPF copolymer, a photoinitiator or photoinitiators, and a resolution control inhibitor or inhibitors. The compositions can be used to make biodegradable structures (such as cardivascular scaffolds). The biodegradable structures can be surface functionalized. The biodegradable structures can be used in methods of blood delivery in an individual.

Abstract: An intervention apparatus is described having a probe with an orifice insertion portion, the insertion portion being configured for insertion into an orifice of a patient. The apparatus also having an intervention tool securement and adjustment mechanism removably attached to the probe. The probe providing support to hold the mechanism in a position relative to the patient, and the adjustment mechanism providing adjustment of an entry point and an angle of entry for an intervention tool to the patient. In embodiments, magnetic resonance imaging, trans-orifice intervention and transperineal intervention are described. Methods for imaging and/or intervention are also described.

Abstract: The present disclosure describes a method and system for performing robot-assisted surgical procedures. The system includes a robotic arm system assembly, an end effector assembly, and a hybrid control mechanism for robotic surgery. The robotic arm is a lightweight, bedside robot with a large range of motion, which can be easily manipulated to position endoscope and surgical instruments. The control console is mounted at the distal end of the robotic arm to enable robotic arm to follow operators arm movement, provide physical support, filter out hand tremor, and constrain motion. A universal adapter is also described as an interface to connect traditional laparoscopic tools to the robotic arm.