Abstract: A robotic surgical navigation system is disclosed. An example system includes a stereoscopic camera and a robotic arm having an end-effector connected to the camera. The system also includes a navigation computer that determines a first transformation between the stereoscopic camera and a target surgical site, a second transformation between the end-effector and a robotic base of the robotic arm, and a third transformation between the robotic base and the target surgical site. The navigation computer calculates a fourth transformation using the first, second, and third transformations. The fourth transformation represents a transformation between the end-effector and the stereoscopic camera. The navigation computer uses the transformations to determine coordinates for a view vector of the stereoscopic camera that are in a coordinate system of the robotic arm, thereby enabling movement of the robotic arm based on commands provided by an operator in relation to the view vector of the camera.

Abstract: Systems and methods are disclosed for controlling a surgical visualization system using a hands-free (e.g., mouth, nose, and breath actuated) controller. An example system includes a microscope camera associated with the surgical system; a controller of the microscope camera; a processor; and a memory storing instructions for the processor. The controller may be separate from the microscope camera, and may comprise one or more joysticks. In some aspects, the controller may further include a pressure detector configured to detect pressure within a tube of a joystick. Also or alternatively, the controller may include a keyed proximity sensor to activate the controller when a surgeon is present. The processor may be configured to: receive a movement input based on a movement of the joystick along a Cartesian direction; and cause a corresponding movement of the microscope camera along the Cartesian direction.

Abstract: Video overlay synchronization for a digital surgical stereoscope is disclosed herein. In an example, a system provides synchronization by detecting how an image changes between frames. The image change corresponds to detecting the regular and predictable movement of human tissue, such as pulsing of a blood vessel. Peaks or maximum extents of tissue movement is tracked overtime to determine an estimation of the regular periodic movement. This periodic movement is used to align a short recording of images corresponding to a fluorescence imaging mode with a live or near-live recording of images in a visible light mode. The frame rate of fluorescence image data is adjusted to ensure close or almost exact alignment of tissue position shown in both the fluorescence image data and visible light image data. The system accordingly provides a fluorescence image overlay on visible light images for tissue that has regular movement patterns.

Abstract: Systems and methods are disclosed for an automated touchless registration of patient anatomy for surgical navigation systems. An example method includes: acquiring a plurality of images of the patient; determining relevant objects from a plurality of poses; and processing the received images through a photogrammetry module. The photogrammetry module may provide camera calibration and facilitate camera registration. As such, manual movement or robotic movement capabilities of the camera head, and digital visualization capabilities of a digital surgical microscope disclosed herein can be extended to allow near-automated or fully automated touchless registration for traditional surgical navigation.

Abstract: New and innovative systems and methods for calibrating and correcting sensors associated with a collaborative robot are disclosed. An example system comprises: at least one robotic arm; a sensor affixed to a location on the robotic arm, wherein the sensor measures force and torque across six degrees of freedom (6DOF); a processor; and memory. The system may receive, from the sensor, sensor input in real-time that indicate a measured force or torque. The system may generate, in real-time, sensor corrections that correspond to offset, linear, and non-linear deviations of the measured force in each sensor axis. The sensor corrections may correspond to offset, linear, and non-linear cross-coupling of the measured force between two or more sensor axes. The sensor corrections may be determined by applying offset, linear, and non nonlinear corrections to each degree of freedom (DOF) from every other DOF.

Abstract: A stereoscopic camera with fluorescence strobing based visualization is disclosed herein. In an example, a stereoscopic camera is configured to provide a visible light mode for a first specified number of frames over a cycle by causing visible light reflected from a surgical site to be provided to left and right image sensors by activating a visible light source. The stereoscopic camera is also configured to provide a fluorescence mode for a second specified number of frames over the cycle by causing fluorescence emission light from the surgical site to be provided to the left and right image sensors by activating a near-ultraviolet light source. The stereoscopic camera switches between the visible light mode and the fluorescence mode based on the first and second specified number of frames. A processor superimposes image data corresponding to the fluorescence mode on subsequently received image data corresponding to the visible light mode.

Abstract: A mounting adapter for detachably attaching a sterile cover to an objective of a microscope includes a passage for inserting the objective. A drape-lens or light-transparent disc is arranged in the passage such that it adopts an oblique angle to the longitudinal axis of the passage. The mounting adapter includes a latching device for an axially holding of the mounting adapter on the objective inserted into the passage. A positioning geometry causes a reproducible target angular positioning or target rotational alignment of the mounting adapter on the objective by its axial attachment to fulfil its positioning function independently and separately from the latching device.

Abstract: New and innovative systems and methods for registration degradation correction for surgical procedures are disclosed. An example system includes a surgical marking pen including a first trackable target and a registration plate including a second trackable target. The system also includes a navigation camera and a processor configured to perform a pen registration that determines a transformation between a tip of the surgical marking pen and the first trackable target when the tip of the surgical marking pen is placed on the registration plate. The pen registration enables the processor to record virtual marks at locations of the pen tip that correspond to physical marks drawn by the pen. Locations of the virtual marks are later compared to images of the physical marks to correct any registration degradation by moving a surgical camera or robotic arm connected to the surgical camera.