Abstract: An x-ray CT system includes a gantry with a rotor arranged for rotation. The x-ray CT system includes an x-ray source and an x-ray detector supported on the rotor, with the x-ray source being configured to generate x-rays. The x-ray CT system includes a reference detector assembly for measuring flux of photons generated by the x-ray source. The reference detector assembly includes a tungsten shield defining an aperture, an x-ray sensitive element adjacent to the aperture for generating a reference output in response to x-rays from the x-ray source passing through the aperture, a photodiode adjacent to the x-ray sensitive element for receiving the reference output, and a reference detector controller for generating a reference signal based on the reference output. The x-ray CT system includes a controller for performing tomographic reconstruction of image data received from the x-ray detector and normalized based on the reference signal.

Abstract: A mobile medical imaging system includes a base defining a track, an imaging gantry, and a gantry mount supporting the imaging gantry for movement along the track between a plurality of track poses. The plurality of track poses includes a park pose defined with the gantry mount arranged adjacent to a first track end. The mobile medical imaging system further includes a catch operatively attached to the gantry mount and a latching system including a pedal operatively attached to the base and supporting a latch. The pedal is configured for movement between an engaged position that places the latch in a lock position with the latch engaging the catch to retain the imaging gantry in the park pose, and a disengaged position that places the latch in a released position with the latch spaced from the catch to permit translation of the gantry mount away from the park pose.

Abstract: A stabilization assembly for providing a mobile medical system with an additional point of contact with a floor surface includes a stabilization housing configured to be coupled to the mobile medical system. The stabilization assembly also includes a foot supported for displacement relative to the stabilization housing between a plurality of foot positions including an extended foot position. The stabilization assembly further includes a biasing element operatively attached to the foot to urge the foot towards the extended foot position. The stabilization assembly also further includes a retainer operable between a released state, and brace state to inhibit movement of the foot away from the floor surface. The retainer is configured to change operation from the released state to the brace state in response to movement of the foot beyond a threshold displacement from the extended foot position occurring in response to abutment of the foot with the floor surface.

Abstract: Methods and systems for performing robot-assisted surgery, including methods for defining a boundary surface for a robotic surgery system, methods for operating a robotic arm in an image-guided surgery system, methods and systems for providing haptic feedback to a user during robot-assisted surgery, and a robotic arm for use in robot-assisted surgery.

Abstract: A system for performing image-guided surgery includes an instrument having a first portion configured to define a trajectory into the body of a patient, a marker device and a user-interface component. A sensing device receives electromagnetic signals that are reflected or emitted from the marker device, and a processing system, coupled to the sensing device, includes at least one processor configured with processor-executable instructions to perform operations that include tracking the position and orientation of the instrument relative to the patient based on the signals received at the sensing device, receiving a signal from the user-interface component of the instrument indicating a user-input event, and saving the trajectory into the body of the patient defined by the first portion of the instrument in response to receiving the signal.

Abstract: A multi-axis imaging system comprising an imaging gantry with an imaging axis extending through a bore of the imaging gantry, a support column that supports the imaging gantry on one side of the gantry in a cantilevered manner, and a base that supports the imaging gantry and the support column. The imaging system including a first drive mechanism that translates the gantry in a vertical direction relative to the support column and the base, a second drive mechanism that rotates the gantry with respect to the support column between a first orientation where the imaging axis of the imaging gantry extends in a vertical direction parallel to the support column and a second orientation where the imaging axis of the gantry extends in a horizontal direction parallel with the base, and a third drive mechanism that translates the support column and the gantry in a horizontal direction along the base.

Abstract: Methods and systems for performing computer-assisted surgery, including robot-assisted image-guided surgery. Embodiments include marker devices for an image guided surgery system, marker systems and arrays for tracking a robotic arm using a motion tracking system, and image guided surgery methods and systems using optical sensors.

Abstract: A mount assembly for use with a navigable tracker. The mount assembly includes a frame defining a seat, a coupler operatively attached to the frame for releasably securing to the navigable tracker, and a guide defining a bore and arranged in the seat for selective pivoting movement about a pivot point disposed within the bore. An anchor having a shank is arranged for selective sliding engagement with the bore. A guide lock is coupled to the frame and is selectively operable between: a locked configuration to restrict movement of both the anchor and the guide relative to the frame, and a released configuration to simultaneously permit pivoting movement of the anchor relative to the frame about the pivot point and translational movement of the anchor relative to the guide through the bore.

Abstract: An imaging system includes a first portion and a second portion that translates and/or rotates with respect to the first portion. A first locking mechanism may prevent the second portion from translating with respect to the first portion, such as during transport of the system. A second locking mechanism may prevent the second portion from rotating with respect to the first portion, such as during transport and/or during an imaging scan. Further embodiments include a cable management system between the first and second portions, a spherically-shaped surface of a support gimbal and a user interface device for an imaging system.

Abstract: A surgical navigation tracker assembly including a rotational adapter for removably attaching a tracker to a surgical instrument assembly including a surgical handpiece. The adapter may be coupled to an end effector of the surgical instrument and configured to allow the end effector to actuate relative to the adapter. The end effector may comprise a stop, the adapter configured to abut the stop when coupled to the end effector. The adapter may comprise a mount for releasably securing the tracker to the adapter. The adapter may also comprise a biasing element, and the biasing element may comprise an abutment interface configured to engage either of the surgical handpiece or the stop when the end effector is coupled to the surgical handpiece. The biasing element is configured to limit rotation of the adapter relative to the surgical handpiece when the abutment interface is engaged with the surgical handpiece or the stop.

Abstract: A mount assembly for use with a navigable tracker. The mount assembly includes a frame defining a seat, a coupler operatively attached to the frame for releasably securing to the navigable tracker, and a guide defining a bore and arranged in the seat for selective pivoting movement about a pivot point disposed within the bore. An anchor having a shank is arranged for selective sliding engagement with the bore. A guide lock is coupled to the frame and is selectively operable between: a locked configuration to restrict movement of both the anchor and the guide relative to the frame, and a released configuration to simultaneously permit pivoting movement of the anchor relative to the frame about the pivot point and translational movement of the anchor relative to the guide through the bore.

Abstract: A robotic surgical system is provided. The robotic surgical system includes a navigation system and a robotic arm. The robotic arm includes a joint including a proximal joint subassembly supporting a distal joint subassembly for rotation about an axis. The joint also includes a distal joint module attached to the distal joint subassembly and including a distal interface. The robotic arm also includes a proximal joint module attached to the proximal joint subassembly and including a proximal interface. The robotic arm also includes a harness assembly coupled to the proximal interface and to the distal interface, and a spiral region being supported for movement between an expanded state and a contracted state to permit rotation of the distal joint subassembly between a first radial position and a second radial position while maintaining communication between the proximal interface and the distal interface.

Abstract: A mount assembly for use with a navigable tracker. The mount assembly includes a frame, a coupler for releasably securing the tracker, and an anchor extending along an axis between a distal end for engaging tissue and a proximal end arranged to receive impaction force. The anchor includes an arrow body coupled to a shank and having a tip tapering towards the distal end for advancing into engagement with tissue, and a pair of wing braces to inhibit rotation of the anchor relative to engaged tissue. A guide operatively attached to the frame defines a bore to receive the shank, and a guide lock is operable between: a released configuration to permit movement of the shank along the bore, and a locked configuration to restrict movement of the shank along the bore to effect concurrent movement of the tracker with the tissue engaged by the anchor.

Abstract: A table system for use with an imaging device includes a base portion that supports the table system over a support surface, a patient support including a platform for supporting a patient in a standing position and a bed for supporting the patient in a lying position, a linkage portion coupled between the base portion and the patient support that is pivotable with respect to both the base portion and the patient support, a first drive mechanism that drives the pivoting of the patient support with respect to the linkage portion, and a second drive mechanism that drives the pivoting of the linkage portion with respect to the base portion, the first and second drive mechanisms moving the patient support between a vertical position in which the platform is substantially parallel to the support surface and a horizontal position in which the bed is substantially parallel to the support surface.

Abstract: An imaging system having a gantry connected with a base. The gantry includes an x-ray source to produce an x-ray beam, an x-ray detector to receive the x-ray beam from the x-ray source, and an adjustable collimator including a limiter disposed between the x-ray source and the x-ray detector. The limiter is arranged for movement between: a first position to at least partially limit transmission of the x-ray beam towards the x-ray detector according to a first transmission parameter, and a second position to at least partially limit transmission of the x-ray beam towards the x-ray detector according to a second transmission parameter different from the first transmission parameter. A controller of a control system is configured to move the limiter of the adjustable collimator between the first position and the second position to adjust transmission of the x-ray beam from the x-ray source towards the x-ray detector.

Abstract: A surgical navigation tracker assembly including a rotational adapter for removably attaching a tracker to a surgical instrument assembly including a surgical handpiece. The adapter may be coupled to an end effector of the surgical instrument and configured to allow the end effector to actuate relative to the adapter. The end effector may comprise a stop, the adapter configured to abut the stop when coupled to the end effector. The adapter may comprise a mount for releasably securing the tracker to the adapter. The adapter may also comprise a biasing element, and the biasing element may comprise an abutment interface configured to engage either of the surgical handpiece or the stop when the end effector is coupled to the surgical handpiece. The biasing element is configured to limit rotation of the adapter relative to the surgical handpiece when the abutment interface is engaged with the surgical handpiece or the stop.

Abstract: A surgical system includes a tool for engaging a target site, a navigation system including a localizer to track states of trackers, a patient tracker for attachment relative to the target site, a robotic arm to maintain alignment of the tool, and an end effector attached to the robotic arm to support the tool. The end effector includes an end effector tracker having markers each including a body having an inner bore surface defining a bore between an inlet and an outlet, a light module supported adjacent to the inlet and arranged to emit light into reflection with the inner bore surface, and a diffuser supported adjacent to the outlet to diffuse light reflected by the inner bore surface, the diffuser having an output surface arranged to present diffused light across the output surface detectable by the localizer of the navigation system to enable tracking states of the end effector.

Abstract: A surgical system including a patient tracker and a tracking system. The patient tracker is adapted for attachment to a patient, and includes a hybrid marker having a radiological marker contained within an optical marker. The tracking system tracks the hybrid marker. A computing device obtains a three-dimensional image of a patient's anatomy and the attached patient tracker; identifies a three-dimensional portion of the hybrid marker within a scan volume; determines a location of the hybrid marker within the scan volume based on the identified three-dimensional portion; tracks the location of the hybrid marker in three-dimensional space using the tracking system while the patient tracker remains fixed to the patient; and registers the three-dimensional image in three-dimensional space based on a known geometric relationship between the location of the hybrid marker within the scan volume and the location of the hybrid marker in three-dimensional space.

Abstract: A surgical system including a patient tracker and a tracking system. The patient tracker is adapted for attachment to a patient, and includes a hybrid marker having a radiological marker contained within an optical marker. The tracking system tracks the hybrid marker. A computing device obtains a three-dimensional image of a patient's anatomy and the attached patient tracker; identifies a three-dimensional portion of the hybrid marker within a scan volume; determines a location of the hybrid marker within the scan volume based on the identified three-dimensional portion; tracks the location of the hybrid marker in three-dimensional space using the tracking system while the patient tracker remains fixed to the patient; and registers the three-dimensional image in three-dimensional space based on a known geometric relationship between the location of the hybrid marker within the scan volume and the location of the hybrid marker in three-dimensional space.

Abstract: The present teachings generally provide for a robotic surgical system also including a robotic arm extending between a distal end and a proximal end; a keeper coupled to the robotic arm, with the keeper having a keeper interface. The system further including a drape including: a first portion defining an opening shaped to receive the distal end of the robotic arm there through, a second portion disposed in fluid communication with the first portion and defining a cavity shaped to accommodate at least a portion of the distal end of the robotic arm therein, and a guide disposed, between the first portion and the second portion and having a guide interface configured to releasably attach to the keeper interface of the keeper to secure the drape to the robotic arm.