Abstract: A method and apparatus for marking a target with a radiopaque marker is disclosed. The method may include providing a radiopaque filament and inserting at least portion of the radiopaque filament into tissue. The filament may extend continuously and at last partially around a perimeter of the target so that the filament is disposed in a plurality of surgical planes to demarcate the target with the radiopaque maker.

Abstract: Embodiments described herein provide various examples of a machine-learning-based visual-haptic system for constructing visual-haptic models for various interactions between surgical tools and tissues. In one aspect, a process for constructing a visual-haptic model is disclosed. This process can begin by receiving a set of training videos. The process then processes each training video in the set of training videos to extract one or more video segments that depict a target tool-tissue interaction from the training video, wherein the target tool-tissue interaction involves exerting a force by one or more surgical tools on a tissue. Next, for each video segment in the set of video segments, the process annotates each video image in the video segment with a set of force levels predefined for the target tool-tissue interaction. The process subsequently trains a machine-learning model using the annotated video images to obtain a trained machine-learning model for the target tool-tissue interaction.

Abstract: Methods for affixing soft tissue to an implant. The implant has a soft tissue attachment structure that includes a surface defining one or more troughs, and either at least one ingrowth plate spanning a portion of the trough and defining a suture tunnel between the ingrowth plate and trough for receiving a suture, or fixation bridges spanning a portion of the one or more troughs, each fixation bridge and respective trough defining a suture tunnel for receiving suture. Systems for performing the method are also disclosed.

Abstract: Disclosed are methods and systems to provided planning tools for surgery, particularly for THA. Images of musculoskeletal structure of a patient (e.g. associated with respective planes and in a same or different functional position) may be displayed together and via co-registration and spatial transformations, 3D implants or other objects may be rendered and overlaid in a same position correctly with respect to each image. Measures may be represented with respect to various planes associated with the respective image and/or with respect to an existing implant. A safe zone (graphical element) may be rendered and overlaid with respect to each displayed image to indicate a clinically accepted safe range of positions for the 3D implant. Different instances of implants having respective characteristics affecting range of motion may be available for use during a procedure. For a set of available implants minimal and maximal safe zones may be presented for planning assistance.

Abstract: The system includes a frame composed of materials and geometry allowing selective deformation in a plane perpendicular to a patient's anatomy at the surgical site but resisting deformation in a plane parallel to the anatomy. The frame is connected to stabilizing features and sheets, which are attached to adhesive to secure the frame to the patient. The features, sheets, and adhesive layers extend both into and beyond the frame. An integrated sheet covers the prospective incision site on the patient. When positioned at the site, the frame conforms to the patient. Anchor points are distributed along the frame to reversibly secure and provide a stable base for surgical retractors, even when unilaterally applied. By adaptable positioning and design of the stabilizing members and adhesive layers on the frame, the system is able to provide optimal tractional stability when experiencing tensile loads in myriad surgical environments including ophthalmic and spinal surgery.

Abstract: A system and method for generating a depth map from image data in a surgical robotic system that employs a robotic subsystem having a camera assembly with first and second cameras for generating image data. The system and method generates based on the image data a plurality of depth maps, and then converts the plurality of depth maps into a single combined depth map having distance data associated therewith. The system and method can then control the camera assembly based on the distance data in the single combined depth map.

Abstract: A first input coupling and a second input coupling are coupled to rotatably drive an output coupling at the same time. In one embodiment, the output coupling rotates a robotic surgery endoscope about a longitudinal axis of the output coupling. A first motor drives the first input coupling while being assisted by a second motor that is driving the second input coupling. A first compensator produces a first motor input based on a position error and in accordance with a position control law, and a second compensator produces a second motor input based on the position error and in accordance with an impedance control law. In another embodiment, the second compensator receives a measured torque of the first motor. Other embodiments are also described and claimed.

Abstract: Described are targets for use in optical tracking, as well as related methods. In some implementations, a target comprises a planar surface with an optically detectable pattern thereon, and at least one protrusion extending from the planar surface. In other implementations, a target comprises a planar surface with an optically detectable pattern thereon, with a specular reflective region. The optically detectable pattern provides accurate position information of the target, and provides accurate orientation information of the target about a first axis, but may not provide accurate orientation information of the target about other axes. The at least one protrusion or the specular reflective region provide accurate information of orientation of the target, particularly orientations about axes other than the first axis.

Abstract: A surgical robotic system comprising: a robotic arm; a tool drive coupled to the robotic arm; a cannula interface configured to couple a cannula to the tool drive, the cannula interface having a fluid pathway in communication with an interior lumen of the cannula; and an insufflation pathway coupled to the robotic arm, the insufflation pathway having a distal end coupled to the fluid pathway and a proximal end coupled to a surgical insufflator.

Abstract: Systems and methods for tracking and aligning a surgical instrument having a configurable display are disclosed. The surgical instrument can include a display that is in communication with one or more computing devices mounted on the surgical instrument. The computing devices mounted on the surgical instrument can communicate with processing circuitry that tracks the position of the surgical instrument in a surgical environment. The processing circuitry can map the position of the surgical instrument within a 3D space co-registered with a medical image of a patient, and can provides prompts for presentation on the display mounted on the surgical device. The prompts can indicate instructions for a surgeon to position the surgical device at a target location in a patient.

Abstract: A system performs a method for processing an image of a machine-readable code. The method includes receiving an image of a machine-readable code comprising coded information, where the machine-readable code is at least partially obscured. An adjusted image is generated by adjusting a color space of the image. At least a machine-readable code region of the image is binarized, wherein the machine-readable code region of the image depicts the machine-readable code. The binarized machine-readable code region is decoded to determine the coded information. Other apparatus and methods are also described.

Abstract: User interface devices for manipulating a robotic surgical tool in a surgical robotic system are described. A user interface device can include a device housing having a gripping surface symmetrically disposed about a central axis. The gripping surface can include a surface of revolution about the central axis. A tracking sensor can be mounted within the device housing to generate spatial state signals in response to movement of the device housing. The spatial state signals can be used to control motion of robotic system actuators. A finger clutch can be disposed at an end of the device housing, and can generate a clutch signal in response to a touch by a user. The clutch signal can be used to pause the motion of the robotic system actuators. Other embodiments are also described and claimed.

Abstract: A system for accessing a patient's uterine cavity and detecting perforations in the uterus includes an elongated probe having a flow channel extending to a terminal outlet in a distal region of the probe. A fluid source is coupled to the flow channel, and a seal on the probe is positionable in an endocervical canal. The probe may be trans-cervically inserted into the uterine cavity, and a fluid may be introduced through the channel to flow outwardly from the terminal outlet into the uterine cavity. A parameter of said fluid flow is monitored to detect a perforation in the uterus.

Abstract: Various user-presence/absence detection techniques based on deep learning are provided. These user-presence/absence detection techniques can include building/training a deep-learning model including a user-presence/absence classifier based on training images of a user-seating area of a surgeon console under various clinically-relevant conditions. The trained user-presence/absence classifier can then be used during teleoperation/surgical procedures to monitor/track users in the user-seating area of the surgeon console, and continuously classify captured real-time video images of the user-seating area into either a user-presence classification or a user-absence classification. In some embodiments, the user-presence/absence classifier can be used to detect a user-switching event at the surgeon console when a second user is detected to have entered the user-seating area after a first user is detected to have exited the user-seating area.

Abstract: A tissue resection device comprises inner and outer coaxial sleeves. The outer sleeve has a cutting window formed therein, and the inner sleeve has a distal cutting end that can be reciprocated past the cutting window. The sleeves comprise electrodes to provide electrosurgical cutting, and an edge portion of the window includes a dielectric material.

Abstract: In this patent disclosure, various embodiments of using near-field communication (NFC) to facilitate secure data exchange between a robotic surgical system and a surgical tool attached onto the robotic surgical system are disclosed. In one aspect, a process for enabling secure data exchange between a robotic surgical system and a surgical tool begins by detecting a coupling of the surgical tool onto the robotic surgical system. The process next establishes a NFC link between a first NFC module embedded in the robotic surgical system and a second NFC module embedded in the surgical tool. The process then determines whether the surgical tool is authenticated to the robotic surgical system via the NFC link. Next, in response to the authentication of the surgical tool, the process establishes secure data exchange between the robotic surgical system and the surgical tool.

Abstract: The disclosed embodiments relate to systems and methods for a surgical tool or a surgical robotic system. One example system for handling hardstops includes one or more processors configured to calculate an articulation joint position for the articulation drive disk or the one or more corresponding rotary motors corresponding rotary motors, calculate an articulation joint torque for the articulation drive disk or the one or more corresponding rotary motors, determine a torque ratio based on the articulation joint position and the articulation joint torque, and adjust a commanded articulation joint position received from the user based on the torque ratio to compensate for collision involving the end effector.

Abstract: A robotic surgical system includes a robotic arm comprising a first segment having a first plurality of links and a first plurality of actuated joint modules providing the robotic arm with at least five degrees of freedom, and a second segment having a proximal end coupled to a distal end of the first segment, and comprising a second plurality of links and a second plurality of actuated joint modules providing the robotic arm with at least two degrees or freedom. The robotic surgical system further comprises an instrument driver coupled to the second segment and configured to hold a surgical instrument. The second arm segment is configured to move the surgical instrument within a generally spherical workspace, and the first arm segment is configured to move the location of the spherical workspace.

Abstract: Systems and methods for creating cuts on a bone are provided utilizing one or more cutting guides assembled to a plurality of bone pins, where the bone pins are inserted on the bone coincident with one or more virtual pin planes defined relative to one or more of the cuts. Alignment guides are also disclosed herein that aid in the creation of pilot holes for receiving a cutting block in a desired position and orientation (POSE). An articulating surgical device actively positions the bone pins coincident with the virtual plane to ensure the cutting guides, when assembled to the pins, aligns one or more guide slots in the desired POSE to create the cuts.

Abstract: Apparatus, systems, and methods for cleaning an endoscope during a procedure, are disclosed. One method comprises utilizing a trocar comprising a main body defining a cavity for receiving an endoscope, a wash orifice disposed in the main body and configured allow a flow of wash solution into the cavity, and a gas orifice disposed between the distal end of the main body and the wash orifice, the gas orifice configured allow a flow of gas into the cavity, the method comprising: washing the endoscope; drying the endoscope; and managing residual fluids on the endoscope or in the cavity, or both.