Abstract: A robotic surgical system employs a surgical instrument (20), a robot (40) for navigating the surgical instrument (20) relative to an anatomical region (10) within a coordinate system (42) of the robot (40), and a robot controller (43) for defining a remote center of motion for a spherical rotation of the surgical instrument (20) within the coordinate system (42) of the robot (40) based on a physical location within the coordinate system (42) of the robot (40) of a port (12) into the anatomical region (10). The definition of the remote center of rotation is used by the robot controller (43) to command the robot (40) to align the remote center of motion of the surgical instrument (20) with the port (12) into the anatomical region (10) for spherically rotating the surgical instrument (20) relative to the port (12) into the anatomical region (10).

Abstract: Methods and systems for monitoring workplace safety and evaluating risks is provided, the method comprising receiving signals from at least one wearable device, identifying portions of the signals corresponding to physical activities, excerpting the portions of the signals corresponding to the physical activities, and calculating risk metrics based on measurements extracted from the excerpted portions of the signals, the risk metric indicative of high risk lifting activities.

Abstract: An image registration system employs an endoscope and an endoscope controller. In operation, the endoscope generates an intra-operative endoscopic image of a vessel tree (e.g., an arterial tree or a venous tree) within an anatomical region, and the endoscope controller image registers the intra-operative endoscopic image of the vessel tree to a pre-operative three-dimensional image of the vessel tree within the anatomical region. The image registration includes an image matching of a graphical representation of each furcation of the vessel tree within the intra-operative endoscopic image of the vessel tree to a graphical representation of each furcation of the vessel tree within the pre-operative three-dimensional image of the vessel tree.

Abstract: Systems and methods for surgical robotic guidance include a robotic system (124) having a robot (122) configured to pass to a target through a port (134). The robotic system includes a visual component (102) employed in guiding the robot along a path to a location. The location is defined in accordance with a position and orientation of the robot. An ultrasonic probe (125) is guided by the robot to the location to permit engagement of the probe to collect ultrasonic images at the location.

Abstract: A robot system includes a robot linkage (202) having one or more arms connected by two joints (220, 222). The joints each including a joint axis of rotation (206 or 208) and a light source (128) aligned with the respective joint axis. The light sources are configured to direct light along the respective joint axis such that light from the light sources intersects at a position along an instrument (204) being held in an operational position by the robot linkage to define a remote center of motion (RCM) for the robot linkage.

Abstract: A method for visualizing branches of a lumen includes inserting (402) a fiber optic shape sensing device into a lumen and determining (404) changes in the lumen based upon strain induced in the fiber optic shape sensing device by flow in the lumen. Locations of branches are indicated (410) on a rendering of the lumen. An instrument is guided (414) to the locations of branches indicated on the rendering.

Abstract: A robot system includes a robot linkage (202) having one or more arms connected by two joints (220, 222). The joints each including a joint axis of rotation (206 or 208) and a light source (128) aligned with the respective joint axis. The light sources are configured to direct light along the respective joint axis such that light from the light sources intersects at a position along an instrument (204) being held in an operational position by the robot linkage to define a remote center of motion (RCM) for the robot linkage.

Abstract: A robotic surgical system employs a surgical instrument (20), a robot (40) for navigating the surgical instrument (20) relative to an anatomical region (10) within a coordinate system (42) of the robot (40), and a robot controller (43) for defining a remote center of motion for a spherical rotation of the surgical instrument (20) within the coordinate system (42) of the robot (40) based on a physical location within the coordinate system (42) of the robot (40) of a port (12) into the anatomical region (10). The definition of the remote center of rotation is used by the robot controller (43) to command the robot (40) to align the remote center of motion of the surgical instrument (20) with the port (12) into the anatomical region (10) for spherically rotating the surgical instrument (20) relative to the port (12) into the anatomical region (10).

Abstract: A robotic surgical system employs a surgical instrument (20), a robot (40) for navigating the surgical instrument (20) relative to an anatomical region (10) within a coordinate system (42) of the robot (40), and a robot controller (43) for defining a remote center of motion for a spherical rotation of the surgical instrument (20) within the coordinate system (42) of the robot (40) based on a physical location within the coordinate system (42) of the robot (40) of a port (12) into the anatomical region (10). The definition of the remote center of rotation is used by the robot controller (43) to command the robot (40) to align the remote center of motion of the surgical instrument (20) with the port (12) into the anatomical region (10) for spherically rotating the surgical instrument (20) relative to the port (12) into the anatomical region (10).

Abstract: A method for monitoring workplace safety and evaluating risks during lifting activities is provided, the method comprising receiving signals from wearable first and second devices, identifying portions of the signals corresponding to lifting activities, excerpting the portions of the signals corresponding to lifting activities, and calculating risk metrics based on measurements extracted from the excerpted portions of the signals, the risk metric indicative of high risk lifting activities.

Abstract: A method for monitoring workplace safety and evaluating risks during lifting activities is provided, the method comprising receiving signals from wearable first and second devices, identifying portions of the signals corresponding to lifting activities, excerpting the portions of the signals corresponding to lifting activities, and calculating risk metrics based on measurements extracted from the excerpted portions of the signals, the risk metric indicative of high risk lifting activities.

Abstract: A system for providing a remote center of motion for robotic control includes a marker device (104) configured to include one or more shapes (105) to indicate position and orientation of the marker device in an image collected by an imaging system (110). The marker device is configured to receive or partially receive an instrument (102) therein, the instrument being robotically guided. A registration module (117) is configured to register a coordinate system of the image with that of the robotically guided instrument using the marker device to define a position in a robot coordinate system (132) where a virtual remote center of motion (140) exists. Control software (136) is configured to control a motion of the robotically guided instrument wherein the virtual remote center of motion constrains the motion of a robot (130).

Abstract: A system for evaluating patency includes a light sensor (128) positionable relative to a blood vessel to receive light from the blood vessel and convert the light into an image signal. A photo-plethysmography (PPG) interpretation module (115) is configured to receive the image signal and output pixel values in an image representing PPG information. An image generation module (148) is coupled to the PPG interpretation module to receive the pixel values and generate a PPG map to be output to a display for analysis.

Abstract: Methods and systems for monitoring workplace safety and evaluating risks is provided, the method comprising receiving signals from at least one wearable device, identifying portions of the signals corresponding to physical activities, excerpting the portions of the signals corresponding to the physical activities, and calculating risk metrics based on measurements extracted from the excerpted portions of the signals, the risk metric indicative of high risk lifting activities.

Abstract: A robotic surgical system employs a surgical instrument (20), a robot (40) for navigating the surgical instrument (20) relative to an anatomical region (10) within a coordinate system (42) of the robot (40), and a robot controller (43) for defining a remote center of motion for a spherical rotation of the surgical instrument (20) within the coordinate system (42) of the robot (40) based on a physical location within the coordinate system (42) of the robot (40) of a port (12) into the anatomical region (10). The definition of the remote center of rotation is used by the robot controller (43) to command the robot (40) to align the remote center of motion of the surgical instrument (20) with the port (12) into the anatomical region (10) for spherically rotating the surgical instrument (20) relative to the port (12) into the anatomical region (10).

Abstract: A system for visualizing an anatomical target includes an imaging device (105) having a field of view for imaging a portion of a region to be imaged. A three-dimensional model (136) is generated from pre- or intra operative images and includes images of an internal volume in the region to be imaged not visible in the images from the imaging device. An image processing module (148) is configured to receive images from the imaging device such that field of view images of the imaging device are stitched together to generate a composite image of the region to be imaged. The composite image is registered to real-time images and the three-dimensional model. An internal view module (126) is configured to generate for display an internal view of the internal volume at one or more positions along the composite image.

Abstract: A robotic surgical system employs a surgical instrument (20), a robot (40) for navigating the surgical instrument (20) relative to an anatomical region (10) within a coordinate system (42) of the robot (40), and a robot controller (43) for defining a remote center of motion for a spherical rotation of the surgical instrument (20) within the coordinate system (42) of the robot (40) based on a physical location within the coordinate system (42) of the robot (40) of a port (12) into the anatomical region (10). The definition of the remote center of rotation is used by the robot controller (43) to command the robot (40) to align the remote center of motion of the surgical instrument (20) with the port (12) into the anatomical region (10) for spherically rotating the surgical instrument (20) relative to the port (12) into the anatomical region (10).

Abstract: A system for visualizing an anatomical target includes an imaging device (105) configured to collect real-time images of an anatomical target. A three-dimensional model (136) is generated from pre- or intra-operative images and includes images of structures below a surface of the anatomical target not visible in the images from the scope. An image processing module (148) is configured to generate an overlay (107) registered to the real-time images and to indicate the structures below the surface and a depth of the structures below the surface. A display device (118) is configured to concurrently display the real-time images and the overlay.

Abstract: A robot system includes a robot linkage (202) having one or more arms connected by two joints (220, 222). The joints each including a joint axis of rotation (206 or 208) and a light source (128) aligned with the respective joint axis. The light sources are configured to direct light along the respective joint axis such that light from the light sources intersects at a position along an instrument (204) being held in an operational position by the robot linkage to define a remote center of motion (RCM) for the robot linkage.

Abstract: A robotic control system employs a robot unit (10) and a control unit (20). The robot unit (10) includes an endoscope (12) for generating an endoscope image (14), and a robot (11) for moving the endoscope (12) within an anatomical region. The control unit (20) includes an endoscope controller (22) for a determination of an endoscope pose within the anatomical region for an intraoperative visualization of the anatomical feature within the endoscope image (14), wherein the endoscope path is derived from a delineation of a volume coordinate position of the anatomical feature within a pre-operative image (43) of the anatomical region. The control unit (20) further includes a robot controller (21) for commanding the robot (11) to move the endoscope (12) to the endoscope pose within the anatomical region to visualize the anatomical feature within the endoscope image (14).