Abstract: Disclosed herein is a robotic tele-surgery system for performing laparoscopic surgeries. The system may include: a patient-side unit, a surgeon-side unit, and a controller that may be configured for establishing a master-slave relationship between the surgeon-side unit and the patient-side unit. The patient side unit may include a patient support assembly, at least two passive mounting mechanisms that may be slidably coupled to the patient support assembly and at least two slave robotic arms, coupled with a surgical instrument via a tool adapting mechanism from their distal end, and mounted on an associated passive support assembly from their base end. The surgeon-side unit may including at least two master robotic arms, and an ergonomic adjustment mechanism that may be configured for housing and adjusting the position and orientation of the master robotic arms.

Abstract: A system for electromagnetic navigation in dental implant placement may include an electromagnetic tracking system that may be configured to track positions and orientations of a plurality of electromagnetic sensors. An exemplary electromagnetic tracking system may include a field generator that may be attached to a dental unit utilizing a positioning arm. An exemplary system may further include a control unit that may be coupled to the electromagnetic tracking system and the positioning arm. The control unit may be configured to receive the tracked positions of the plurality of the electromagnetic sensors from the electromagnetic tracking system and to adjust at least a position or an angular orientation of the field generator to maintain the plurality of the electromagnetic sensors within a volume of interest within the tracking volume.

Abstract: An ergonomic adjustment mechanism comprising a vertical adjustment mechanism to move master robotic arms along a vertical axis. An exemplary vertical adjustment mechanism includes a main shaft extended along a horizontal axis between a first end and a second end, where the horizontal axis may be perpendicular to the vertical axis. The vertical adjustment mechanism further includes a linear actuator coupled to the horizontal beam to actuate a translational movement of the horizontal beam along the vertical axis. The ergonomic adjustment mechanism further includes a horizontal adjustment mechanism to move exemplary master robotic arms along the horizontal axis. The horizontal adjustment mechanism includes a horizontal sliding rail that is mounted on the horizontal beam. Master robotic arms may be slidably mounted on the sliding rail, where the master robotic arms are slidable on the sliding rail along the horizontal axis.

Abstract: Disclosed herein a haptic handling system for tele-robotic surgery. The haptic handling system may include a main body, a fine-tuning roll mechanism, and a grasp control mechanism. The main body may include a first hollow cylindrical section and a second hollow cylindrical section. The fine-tuning roll mechanism may include a knob, a roller coupled to the knob, and a roll encoder coupled to the roller. The grasp control mechanism may include a slider comprising an internal slider and an external slider, a lead screw coupled to the slider, and a grasp encoder coupled to the lead screw. The haptic handling system may further include a force feedback system comprising one or more dynamometers measuring a magnitude and a direction of a couple and a force applied to a surgical tool, a roll actuator coupled to the roller, and a grasp actuator coupled to the lead screw.

Abstract: A method and apparatus for passive pin positioning of a reconfigurable forming die is disclosed. The apparatus may include a plurality of pins disposed within a frame, and a bolt that when tightened can secure or lock the pins into position. When the bolt is loosened, the position of the pins can be adjusted. A preliminary model of a contoured surface that is to be imparted to an article by the reconfigurable forming die can be used to help define a forming surface of the reconfigurable die.

Abstract: Disclosed herein is a robotic tele-surgery system for performing laparoscopic surgeries. The system may include: a patient-side unit, a surgeon-side unit, and a controller that may be configured for establishing a master-slave relationship between the surgeon-side unit and the patient-side unit. The patient side unit may include a patient support assembly, at least two passive mounting mechanisms that may be slidably coupled to the patient support assembly and at least two slave robotic arms, coupled with a surgical instrument via a tool adapting mechanism from their distal end, and mounted on an associated passive support assembly from their base end. The surgeon-side unit may including at least two master robotic arms, and an ergonomic adjustment mechanism that may be configured for housing and adjusting the position and orientation of the master robotic arms.

Abstract: A location tracking apparatus and method of tracking are disclosed. The location tracking apparatus includes a tip configured to move on a surface, a tracking instrument, and a frictionless sensor associated with the tip. The tip is configured to undergo a displacement within a limited range when the tip is pushed to the surface, or when the tip is moved away from the surface, so that the tip maintains contact with the surface while moving on the surface. The tracking instrument is configured to generate location data. The frictionless sensor is configured to generate displacement data.

Abstract: A method for controlling a laparoscopic instrument. The method includes grasping a target utilizing the laparoscopic instrument by applying an initial trigger force to a trigger of the laparoscopic instrument, obtaining an updated trigger force based on a first pinch force, a second pinch force, and a state of the laparoscopic instrument, and grasping the target utilizing the laparoscopic instrument by applying the updated trigger force to the laparoscopic instrument. The first pinch force is applied to the target by an upper jaw of the laparoscopic instrument and the second pinch force is applied to the target by a lower jaw of the laparoscopic instrument.

Abstract: Various devices and methods for guiding a biopsy surgical tool are disclosed. One type of surgical device includes a first rotational mechanism, a translational mechanism, and a second rotational mechanism. In some cases, the second rotational mechanism includes a circular frame and an end-effector. The yaw movement of the end-effector is effectuated via the first rotational mechanism. In addition, roll and pitch movements of the end-effector are effectuated via the second rotational mechanism. Furthermore, translational movement of the end-effector is effectuated via the translational mechanism.

Abstract: Various robotic guides for a biopsy surgical tool are disclosed, of which one includes a main shaft, an end-effector mounted on a distal end of the main shaft, a roll/yaw actuating mechanism, a translational actuating mechanism, and a pitch actuating mechanism. Optionally, the roll/yaw actuating mechanism includes a first actuating mechanism and a second actuating mechanism. Roll movement or yaw movement of the main shaft is effectuated by combination of movements of the first actuating mechanism and the second actuating mechanism.

Abstract: A system for electromagnetic navigation in dental implant placement may include an electromagnetic tracking system that may be configured to track positions and orientations of a plurality of electromagnetic sensors. An exemplary electromagnetic tracking system may include a field generator that may be attached to a dental unit utilizing a positioning arm. An exemplary system may further include a control unit that may be coupled to the electromagnetic tracking system and the positioning arm. The control unit may be configured to receive the tracked positions of the plurality of the electromagnetic sensors from the electromagnetic tracking system and to adjust at least a position or an angular orientation of the field generator to maintain the plurality of the electromagnetic sensors within a volume of interest within the tracking volume.

Abstract: Disclosed herein is a robotic tele-surgery system for performing laparoscopic surgeries. The system may include: a patient-side unit, a surgeon-side unit, and a controller that may be configured for establishing a master-slave relationship between the surgeon-side unit and the patient-side unit. The patient side unit may include a patient support assembly, at least two passive mounting mechanisms that may be slidably coupled to the patient support assembly and at least two slave robotic arms, coupled with a surgical instrument via a tool adapting mechanism from their distal end, and mounted on an associated passive support assembly from their base end. The surgeon-side unit may including at least two master robotic arms, and an ergonomic adjustment mechanism that may be configured for housing and adjusting the position and orientation of the master robotic arms.

Abstract: A minimally invasive heart stabilizer includes a guide tube, a revolute joint, a stabilizing end-effector, and a linkage. The guide tube is sized to allow insertion through an endoscopic cannula. The revolute joint is coupled to a distal end of the guide tube. The stabilizing end-effector is coupled to the revolute joint. The linkage has a distal end and a proximal end. The distal end is pivotally connected to the end-effector. The stabilizing end-effector includes two tissue engaging members in parallel alignment with one another. The two tissue engaging members are joined via an arrangement of links.

Abstract: A tool adapting device attaches to a robotic surgery arm, and receives a manual surgical instrument, and translates movement by the robotic surgery arm into multiple degrees of freedom of the manual surgical instrument, to interact with a tissue under surgery.

Abstract: Disclosed herein is a robotic tele-surgery system for performing laparoscopic surgeries. The system may include: a patient-side unit, a surgeon-side unit, and a controller that may be configured for establishing a master-slave relationship between the surgeon-side unit and the patient-side unit. The patient side unit may include a patient support assembly, at least two passive mounting mechanisms that may be slidably coupled to the patient support assembly and at least two slave robotic arms, coupled with a surgical instrument via a tool adapting mechanism from their distal end, and mounted on an associated passive support assembly from their base end. The surgeon-side unit may including at least two master robotic arms, and an ergonomic adjustment mechanism that may be configured for housing and adjusting the position and orientation of the master robotic arms.

Abstract: Disclosed herein a haptic handling system for tele-robotic surgery. The haptic handling system may include a main body, a fine-tuning roll mechanism, and a grasp control mechanism. The main body may include a first hollow cylindrical section and a second hollow cylindrical section. The fine-tuning roll mechanism may include a knob, a roller coupled to the knob, and a roll encoder coupled to the roller. The grasp control mechanism may include a slider comprising an internal slider and an external slider, a lead screw coupled to the slider, and a grasp encoder coupled to the lead screw. The haptic handling system may further include a force feedback system comprising one or more dynamometers measuring a magnitude and a direction of a couple and a force applied to a surgical tool, a roll actuator coupled to the roller, and a grasp actuator coupled to the lead screw.

Abstract: Disclosed herein is a method for navigating an imaging instrument in a branched structure. The branched structure includes a plurality of landmarks. The method includes selecting a target in the branched structure, selecting a first landmark from the plurality of landmarks, acquiring a virtual model of the branched structure, extracting a first virtual image of the first landmark from the virtual model, acquiring a first live image of the first landmark by the imaging instrument, and registering the first live image with the first virtual image. The first landmark is associated with the target.

Abstract: A location tracking apparatus and method of tracking are disclosed. The location tracking apparatus includes a tip configured to move on a surface, a tracking instrument, and a frictionless sensor associated with the tip. The tip is configured to undergo a displacement within a limited range when the tip is pushed to the surface, or when the tip is moved away from the surface, so that the tip maintains contact with the surface while moving on the surface. The tracking instrument is configured to generate location data. The frictionless sensor is configured to generate displacement data.

Abstract: Various devices and methods for guiding a biopsy surgical tool are disclosed. One type of surgical device includes a first rotational mechanism, a translational mechanism, and a second rotational mechanism. In some cases, the second rotational mechanism includes a circular frame and an end-effector. The yaw movement of the end-effector is effectuated via the first rotational mechanism. In addition, roll and pitch movements of the end-effector are effectuated via the second rotational mechanism. Furthermore, translational movement of the end-effector is effectuated via the translational mechanism.