Abstract: The present disclosure is directed to a robotic surgical system and a corresponding method. The system includes at least one robot arm and a radiation source coupled to the robot arm. The system also includes a surgical table having a digital imaging receiver configured to output an electrical signal based on radiation received from the radiation source. A controller having a processor and a memory is configured to receive the electrical signal and generate an initial image of a patient on the surgical table based on the electrical signal. The controller transforms the initial image to a transformed image based on an orientation of the radiation source.

Abstract: A system includes a robotic arm, an autosteroscopic display, a user image capture device, an image processor, and a controller. The robotic arm is coupled to a patient image capture device. The autostereoscopic display is configured to display an image of a surgical site obtained from the patient image capture device. The image processor is configured to identify a location of at least part of a user in an image obtained from the user image capture device. The controller is configured to, in a first mode, adjust a three dimensional aspect of the image displayed on autostereoscopic display based on the identified location, and, in a second mode, move the robotic arm or instrument based on a relationship between the identified location and the surgical site image.

Abstract: A position and tracking system for radio-based localization in an operating room, includes a receiver, a mobile cart, a processor, and a memory coupled to the processor. The mobile cart includes a robotic arm and a transmitter in operable communication with the receiver. The memory has instructions stored thereon which, when executed by the processor, cause the system to receive, from the transmitter, a signal including a position of the mobile carts in a 3D space based on the signal communicated by the transmitter and determine a spatial pose of the mobile carts based on the received signal.

Abstract: Methods, systems, and computer-readable media for detecting image degradation during a surgical procedure are provided. A method includes receiving images of a surgical instrument; obtaining baseline images of an edge of the surgical instrument; comparing a characteristic of the images of the surgical instrument to a characteristic of the baseline images of the edge of the surgical instrument, the images of the surgical instrument being received subsequent to obtaining the baseline images of the edge of the surgical instrument and being received while the surgical instrument is disposed at a surgical site in a patient; determining whether the images of the surgical instrument are degraded, based on the comparing of the characteristic of the images of the surgical instrument and the characteristic of the baseline images of the surgical instrument; and generating an image degradation notification, in response to a determination that the images of the surgical instrument are degraded.

Abstract: An endoscope having an insertion tube with a distal optical module and a releasable handle. In a semi-robotic embodiment, the handle comprises haptic controllers and a computer configured for steering and/or adjusting physical properties of the insertion tube in response to one or more command inputs from the haptic controllers. The computer may also convert image data received from the optical module into two-dimensional images displayable on a monitor. The endoscope may have inertial measurement units (IMUs) for providing data to the computer for creating a digital three-dimensional image representation of an anatomy model and/or for facilitating handling properties of the endoscope.

Abstract: Methods for guiding a surgical procedure include accessing information relating to a surgical procedure, accessing at least one image of a surgical site captured by an endoscope during the surgical procedure, identifying a tool captured in the at least one image by a machine learning system, determining whether the tool should be changed based on comparing the information relating to the surgical procedure and the tool identified by the machine learning system, and providing an indication when the determining indicates that the tool should be changed.

Abstract: An endoscopy system having a low-profile multi-imager endoscope. The system is capable of using computational photography to provide enhanced output images using techniques such as super-resolution, foveation, magnification, and two-dimensional to three-dimensional conversion. The enhanced output images can improve clinical decision making and patient treatment. Signals from multiple imagers may be used to affect/adjust handing characteristics of the endoscope or direct semi-robotic guidance thereof.

Abstract: The present disclosure is directed to an augmented reality surgical system. The system includes an endoscope that captures an image of the region of interest of a patient and an ECG device that records an ECG of the patient. A controller receives the image and applies at least one image processing filter to the image. The image processing filter includes a decomposition filter that decomposes the image into frequency bands. A temporal filter is applied to the frequency bands to generate temporally filtered bands. An adder adds each band frequency band to a corresponding temporally filtered band to generate augmented bands. A reconstruction filter generates an augmented image by collapsing the augmented bands. The controller also receives the ECG and processes the augmented image with the ECG to generate an ECG filtered augmented image. A display displays the ECG filtered augmented image to a user.

Abstract: A system for delivering an agent to a patient, comprises a delivery device. The delivery device is configured to deliver a first agent to the patient, and comprises a reservoir, a transcutaneous delivery assembly, a pumping mechanism, a control module, a power supply, and a housing. The reservoir stores the first agent. The transcutaneous delivery assembly delivers the first agent to the patient transcutaneously. The pumping mechanism receives the first agent from the reservoir and propels the first agent to the transcutaneous delivery assembly. The control module controls at least the pumping mechanism. The power supply provides energy to at least the control module and the pumping mechanism. The housing surrounds at least the pumping mechanism. Methods of delivering an agent to the patient are also described.

Abstract: Systems and methods are provided to mitigate potential collisions between a person and robotic system. In various embodiments, a robotic surgical system includes a robotic linkage including joints, an endoscope coupled to a distal portion of the robotic linkage and configured to capture stereoscopic images, and a controller in communication with the endoscope. The controller executes instructions to analyze the stereoscopic images from the endoscope to identify a human-held tool in the stereoscopic images and to estimate a type and/or pose of the human-held tool, infer a position of a person holding the human-held tool based on the type and/or pose of the human-held tool, determine a spatial relationship between the person and the robotic linkage based on the inferred position of the person, and generate a warning of potential collision between the person and the robotic linkage based on the determined spatial relationship.

Abstract: A computer-implemented method of object enhancement in endoscopy images is presented. The computer-implemented method includes capturing an image of an object within a surgical operative site, by an imaging device. The image includes a plurality of pixels. Each of the plurality of pixels includes color information. The computer-implemented method further includes accessing the image, accessing data relating to depth information about each of the pixels in the image, inputting the depth information to a machine learning algorithm, emphasizing a feature of the image based on an output of the neural network, generating an augmented image based on the emphasized feature, and displaying the augmented image on a display.

Abstract: Methods and systems for providing a visual indication of suture strain include detecting a force applied to the suture; obtaining an image including the suture; identifying, based on at least one of an algorithm to convert a plurality of forces to a plurality of colors or in a table that associates a plurality of colors to a plurality of forces, respectively, a color associated with the force applied to the suture; generating an augmented version of the image; and displaying the augmented version of the image, where the identified color is used to represent at least a portion of the suture.

Abstract: Systems and methods for surgical robotic collision detection in accordance with aspects of the present disclosure are disclosed. In various embodiments, a system for surgical robotic collision detection includes a robotic cart having a robotic arm, an imaging device supported by the robotic cart or the robotic arm, the imaging device captures images within a field of vision of the imaging device, and a controller in operable communication with the robotic arm and the imaging device. The controller includes a processor and a memory storing instructions which, when executed by the processor, causes the controller to: receive the images from the imaging device, generate a grid including a first plurality of spatial points from the images, and detect a potential collision within the field of vision based on the generated grid.

Abstract: A method of controlling an end effector of a surgical robot includes receiving a desired pose, generating motor torques, transmitting the motor torques, generating null torques, generating desired torques, and transmitting the desired torques to an IDU such that the IDU moves the end effector to the desired pose. A primary controller receives the desired pose of the end effector in three DOF. The primary controller generates the motor torques in response to receiving the desired pose. The primary controller transmits the motor torques which are received in a secondary controller. The secondary controller generates null torques to maintain tension in cables of a differential drive mechanism of the IDU. The desired torques are generated for each motor of the IDU to include a sum of the motor torques and the null torques.

Abstract: Disclosed are systems, devices, and methods for synthesizing spatially-aware transitions between camera viewpoints. An exemplary method includes receiving images of a surgical site from a first camera, tracking a position of a robotic arm including a second camera coupled thereto, tracking the pose of the second camera, receiving images of the surgical site from the second camera that are different from the images received from the first camera as the robotic arm is moved to different positions, comparing a pose from which at least one of the images received from the second camera were captured to a pose from which at least one of the images received from the first camera were captured, generating a transition between the compared images, and displaying the transition when switching between displaying images received from the first and second cameras.

Abstract: An actuating system including at least one actuation section that includes a plurality of actuating supports. Each of the actuating supports includes a shaft assembly and configured to be actuated individually. The shaft assembly of each of the plurality of actuating supports is configured to translate between a first position and a second position. In the first position an actuated actuating support is aligned with the remaining of the plurality of actuating supports and in the second position the actuated actuating support is misaligned with the remaining of the plurality of actuating supports.

Abstract: A method of visualizing a body cavity during a surgical procedure including positioning an elongated body of an angled endoscope in a first position within a body cavity of a patient, rotating the elongated body about a longitudinal axis in response to a command point, capturing a plurality of images with an image capture device positioned within the elongated body as the elongated body is rotated, and generating a panoramic view of the body cavity from the plurality of images. In the first position of the elongated body, a surgical site is within a field of view of the image capture device. The field of view of the image capture device capturing a first volume of the body cavity, including the surgical site, when the angled endoscope is in the first position.

Abstract: A method of visualizing a body cavity during a surgical procedure including positioning an elongated body of an angled endoscope in a first position within a body cavity of a patient, rotating the elongated body about a longitudinal axis in response to a command point, capturing a plurality of images with an image capture device positioned within the elongated body as the elongated body is rotated, and generating a panoramic view of the body cavity from the plurality of images. In the first position of the elongated body, a surgical site is within a field of view of the image capture device. The field of view of the image capture device capturing a first volume of the body cavity, including the surgical site, when the angled endoscope is in the first position.

Abstract: Methods, systems, and computer-readable media for detecting image degradation during a surgical procedure are provided. A method includes receiving images of a surgical instrument; obtaining baseline images of an edge of the surgical instrument; comparing a characteristic of the images of the surgical instrument to a characteristic of the baseline images of the edge of the surgical instrument, the images of the surgical instrument being received subsequent to obtaining the baseline images of the edge of the surgical instrument and being received while the surgical instrument is disposed at a surgical site in a patient; determining whether the images of the surgical instrument are degraded, based on the comparing of the characteristic of the images of the surgical instrument and the characteristic of the baseline images of the surgical instrument; and generating an image degradation notification, in response to a determination that the images of the surgical instrument are degraded.

Abstract: Reprocessable endoscopes and associated systems and methods therefor. The endoscope is disassemblable and reassemblable using selected new, re-qualified, or upgraded sub-components.