Abstract: Certain aspects relate to systems with robotically controllable field generators and applications thereof. A robotic medical system may include a robotic arm coupled to an electromagnetic (EM) field generator configured to generate an EM field, and the first robotic arm may be configured to move the EM field generator. The medical system may also include a medical instrument configured for insertion into a patient. The medical instrument may comprise an EM sensor and one or more processors. The processors may: determine a position of the EM sensor within the EM field; and adjust a position of the EM field generator by commanding movement of the first robotic arm based on the determined position of the EM sensor.

Abstract: Techniques for aligning a medical instrument for access to a location within anatomy are discussed herein. For example, sensor data from a medical instrument can be used to determine an orientation of the medical instrument. The medical instrument can be configured to access the anatomy via an incision. A target trajectory can be determined for accessing the anatomy and alignment data can be generated that is indicative of an alignment of the orientation of the medical instrument to the target trajectory.

Abstract: Certain aspects relate to systems with robotically controllable field generators and applications thereof. For example, a robotic medical system may include a first robotic arm that is configured to couple to an electromagnetic (EM) field generator. The first robotic arm be capable of moving the EM field generator. The robotic medical system may also include one or more processors. The processors may determine an EM position of an EM sensor within the EM field in an EM coordinate frame associated with the EM field generator. The processors also determine a position of the EM field generator in a robotic coordinate frame associated with the first robotic arm. The processors determine a registration between the EM coordinate frame and the robotic coordinate frame based on the position of the EM field generator. Based on the registration, the processors may determine a position of the EM sensor in the robotic coordinate frame.

Abstract: The present disclosure relates to systems, devices, and methods to calibrate an endoscope with a location-sensor-to-camera transform or a camera-to-location-sensor transform.

Abstract: A robotic system is configured to evaluate an identified phase of a medical procedure. The robotic system includes a video capture device; a robotic manipulator; one or more sensors; an input device; a data store; and control circuitry. The control circuitry is configured to: determine a first status of the robotic manipulator based on sensor data from the one or more sensors; identify a first input from the input device for initiating a first action of the robotic manipulator; perform a first analysis of a video of a patient site captured by the video capture device; identify a first phase of the medical procedure based at least in part on the first status of the robotic manipulator, the first input, and the first analysis of the video; and generate an evaluation of the first phase of the medical procedure based on one or more metrics associated with the first phase.

Abstract: Certain aspects relate to systems with robotically controllable field generators and applications thereof. In one application, a robotic medical system, comprising a first robotic arm coupled to an electromagnetic (EM) field generator configured to generate an EM field, an EM sensor, and a processor. The processor may be configured to transmit a command to the first robotic arm to cause movement of the EM field generator along a robotic trajectory while the EM sensor remains at a location. An EM sensor trajectory of the EM sensor within the EM field corresponding to a period of time in which the EM field generator moved along the robotic trajectory may be detected. The robotic trajectory and the EM sensor trajectory may be analyzed to determine a difference between the robotic trajectory and the EM sensor trajectory; and EM distortion at the location may be detected comparing the difference and a threshold.

Abstract: Certain aspects relate to a medical system that includes a robotically controllable field generator and an instrument guide. The instrument guide may guide a percutaneously insertable instrument along an insertion axis. The instrument guide may also be positioned on an electromagnetic (EM) field generator, where the EM field generator can generate an EM field. A first robotic arm may be coupled to the EM field generator and it may move the EM field generator and the instrument guide. The system then determines: an EM target positioned within a patient, and a registration that maps positions within an EM coordinate frame associated with the EM field to positions within a robotic coordinate frame. The system may also determine, based on the registration, a position of the EM target within the robotic coordinate frame. Based on the position of the EM target within the robotic coordinate frame, move the first robotic arm may move to align the insertion axis of the instrument guide with the EM target.

Abstract: Techniques for aligning a medical instrument for percutaneous access to a location within the human anatomy can include determining an orientation of the medical instrument, determining a target location within the human anatomy, and determining a plane that includes the target location. Further, the techniques can include determining a projected position of the medical instrument on the plane and generating interface data indicating a distance between the projected position and the target location on the plane.

Abstract: A method of localizing a target anatomy involves advancing a ureteroscope to a target calyx of a kidney of a patient through at least a portion of a urinary tract of the patient, determining a positional offset between one or more position sensors associated with the ureteroscope and a target papilla of the kidney that is at least partially exposed within the target calyx, and determining a percutaneous access target based at least in part on one or more of a present position of the one or more position sensors or the positional offset.

Abstract: Certain aspects relate to a medical system that includes a robotically controllable field generator and an instrument guide. The instrument guide may guide a percutaneously insertable instrument along an insertion axis. The instrument guide may also be positioned on an electromagnetic (EM) field generator, where the EM field generator can generate an EM field. A first robotic arm may be coupled to the EM field generator and it may move the EM field generator and the instrument guide. The system then determines: an EM target positioned within a patient, and a registration that maps positions within an EM coordinate frame associated with the EM field to positions within a robotic coordinate frame. The system may also determine, based on the registration, a position of the EM target within the robotic coordinate frame. Based on the position of the EM target within the robotic coordinate frame, move the first robotic arm may move to align the insertion axis of the instrument guide with the EM target.

Abstract: Processes of localizing target papillas of renal anatomy involve advancing a ureteroscope to a target calyx of a kidney of a patient through at least a portion of a urinary tract of the patient, determining a positional offset between one or more position sensors associated with the ureteroscope and a target papilla of the kidney that is at least partially exposed within the target calyx, and determining a percutaneous access target based at least in part on one or more of a present position of the one or more position sensors and the offset.

Abstract: Techniques for segmenting a percutaneous medical procedure based on one or more determinable phases. The techniques may include obtaining a first set of features over a first time period. The first set of features may be derived from instrument telemetry data corresponding to an endoluminal scope instrument. The technique may also include obtaining a second set of features over the first time period. The second set of features may be derived from instrument telemetry data corresponding to a percutaneous needle instrument. Based on the first set of features and the second set of features, the techniques may classify at least a portion of the first time period as a first phase of the percutaneous medical procedure.

Abstract: The present disclosure relates to systems, devices, and methods to augment a two-dimensional image.

Abstract: A positioning system includes a group of positioning devices including a first device comprising a first positioning source associated with a first positioning modality, the first positioning source being configured to view a first field, a second device comprising a second positioning source associated with a second positioning modality that is of a different type than the first positioning modality, the second positioning source being configured to view a second field, a third device comprising one or more first markers detectable within the first field using the first positioning modality, and a fourth device comprising one or more second markers detectable within the second field using the second positioning modality. A linking structure physically links two of the group of positioning devices to one another in a fixed, rigid relative position and orientation.

Abstract: The present disclosure relates to systems, devices, and methods to reconstruct a three-dimensional model of an anatomy using two-dimensional images.

Abstract: The present disclosure relates to systems, devices, and methods for augmenting a two-dimensional image with three-dimensional pose information of instruments shown in the two-dimensional image.

Abstract: Techniques for aligning a medical instrument for percutaneous access to a location within the human anatomy can include determining an orientation of the medical instrument, determining a target location within the human anatomy, and determining a plane that includes the target location. Further, the techniques can include determining a projected position of the medical instrument on the plane and generating interface data indicating a distance between the projected position and the target location on the plane.

Abstract: Techniques for aligning a medical instrument for percutaneous access to a location within the human anatomy can include determining an orientation of the medical instrument, determining a target location within the human anatomy, and determining a target trajectory for percutaneous access of the target location. Further, the techniques can include causing display of an interface that includes an instrument-alignment element indicative of an alignment of the orientation of the medical instrument to the target trajectory.

Abstract: A robotic system is configured to automatically identify phases of a medical procedure. The robotic system includes a video capture device, a robotic manipulator, one or more sensors, an input device, and control circuitry. The control circuitry is configured to: determine a first position of the robotic manipulator based on sensor data; determine a first procedure from a set of procedures based on a user input and the sensor data; narrow a set of procedure phases to a subset of the procedure phases based on the determined first procedure; perform a first analysis of a captured video of a patient site; identify a first phase of the medical procedure from the subset of the procedure phases based on the first position of the robotic manipulator and the first analysis of the video; and generate a first video marker indicating a beginning of the first phase of the medical procedure.

Abstract: A robotic system is configured to automatically trigger a robotic action based on an identified phase of a medical procedure. The robotic system includes a video capture device; a robotic manipulator; one or more sensors; an input device; and control circuitry. The control circuitry is configured to: determine a first status of the robotic manipulator based on sensor data from the one or more sensors; identify a first input from the input device for initiating a first action of the robotic manipulator; perform a first analysis of a video of a patient site captured by the video capture device; identify a first phase of the medical procedure based at least in part on the first status of the robotic manipulator, the first input, and the first analysis of the video; and trigger a first automatic robotic action of the robotic manipulator based on the identified first phase.