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: A method for tracking movement of a movable portion of an interventional device disposed within a natural or artificial body opening is provided. In particular, image data of fiducials is acquired and therefrom an initial position of an interventional device movable portion with respect to a given coordinate system is determined. Next, real time position data from the encoders is acquired as the movable portion is moved from the initial position, and a displaced position from the initial position is determined. From this acquired information, a position of the movable portion in the coordinate system is determined using both the initial position as determined from the image data and the real time displaced position as determined from the encoders.

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: A tool to fasten tissue or to fasten a prosthetic to tissue includes a gripper to hold one or more tissue portions, a needle, an actuator to drive the needle, a fastener cartridge to store one or more tissue fasteners, a holder cartridge to store one or more holders, and a holder applier to secure one of the holders on one of the fasteners. The actuator drives the needle and the needle pulls a first fastener from the fastener cartridge. The actuator drives the needle through the one or more tissue portions held by the gripper to form a hole in the tissue portions. The needle pulls a leading portion of the first fastener through the hole without a trailing portion of the first fastener being pulled through the hole. The holder applier secures a first holder from the holder cartridge onto the leading portion of the first fastener.

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 end-effector includes a sheath and a medical device or needle carrier that is disposed within the interior compartment of the sheath. An aperture is located in a portion of the sheath proximal a distal end of the sheath that is inserted into a natural or artificial cavity. This device is guided by a real-time imager.

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: A magnetic resonance imaging (MRI) probe includes a coil section having an imaging coil, and a handle section connected to the coil section. The handle section has a phase shifter circuit with inductors, capacitors, and coax line electrically connected and is configured to provide appropriate phase shift. The handle section further has a coaxial cable winding electrically connected to the imaging coil, and wound cylindrically, and has a slot therethrough between the ends of the cylindrical winding. The handle section further has a pre-amp circuit mounted on a substrate and electrically connected to the cylindrical coax winding.

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: 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 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: 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 system and method of creating a 3-dimensional (3D) replica of a patient's anatomy. The method includes acquiring 3D echo images of the patient's anatomy using ultrasound waves, selecting a filter that reduces noise in the 3D echo images, selecting a segmentation algorithm to segment the filtered 3D echo images, selecting at least one additional segmentation algorithm to subsequently segment the segmented 3D echo images, creating a 3D digital model, and outputting the 3D digital model as the 3D replica of the patient's anatomy. The method also includes acquiring other 3D images using MRI/CT scans, creating another 3D digital model, determining a scaling factor to scale the other 3D digital model to correspond to a size of the 3D digital model created using ultrasound waves, combining the 3D digital model and the other 3D digital model, and outputting the combined 3D digital models.

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 end-effector includes a sheath and a medical device or needle carrier that is disposed within the interior compartment of the sheath. An aperture is located in a portion of the sheath proximal a distal end of the sheath that is inserted into a natural or artificial cavity. This device is guided by a real-time imager.

Abstract: The end-effector (150) includes a sheath (152) and a medical device or needle carrier (154) that is disposed within the interior compartment (160) of the sheath. Aperture (162) is located in a portion of the sheath proximal a distal end of the sheath that is inserted into a natural or artificial cavity. This device is guided by a real-time imager.

Abstract: A tool to fasten tissue or to fasten a prosthetic to tissue includes a gripper to hold one or more tissue portions, a needle, an actuator to drive the needle, a fastener cartridge to store one or more tissue fasteners, a holder cartridge to store one or more holders, and a holder applier to secure one of the holders on one of the fasteners. The actuator drives the needle and the needle pulls a first fastener from the fastener cartridge. The actuator drives the needle through the one or more tissue portions held by the gripper to form a hole in the tissue portions. The needle pulls a leading portion of the first fastener through the hole without a trailing portion of the first fastener being pulled through the hole. The holder applier secures a first holder from the holder cartridge onto the leading portion of the first fastener.

Abstract: A low profile gastrointestinal dilation catheter for use in infants includes a catheter tube, a dilation balloon, and at least one anchoring device. The dilation balloon is disposed over the catheter tube and is configured to transition between a compressed state and an expanded state. The at least one anchoring device is configured to prevent migration of the dilation balloon during a transition of the dilation balloon from the compressed state to the expanded state. A method to treat infantile hypertrophic pyloric stenosis (IHPS) is also provided.

Abstract: A device, system, and method for entering a medical device such as a needle into the body inside a medical imager such as a MRI scanner, CT, X-ray fluoroscopy, and ultrasound imaging, from within a body cavity (such as the rectum, vagina, or laparoscopically accessed cavity). A three degree-of-freedom mechanical device translates and rotates inside the cavity and enters a needle into the body, and steers the needle to a target point selected by the user. The device is guided by real-time images from the medical imager. Networked computers process the medical images and enable the clinician to control the motion of the mechanical device that is operated within the imager, outside of the imager or remotely from outside the imager.

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.