Abstract: System and method for imaging a target site with a housing assembly having a head unit configured to be at least partially directed towards the target site. An optical coherence tomography (OCT) module and stereoscopic visualization camera are at least partially located in the head unit and configured to obtain a first set and a second of volumetric data of the target site, respectively. A controller is configured to register the first set of volumetric data with the second set of volumetric data to create a third set of registered volumetric data. The third set of registered volumetric data and second set of volumetric data are rendered, via a volumetric render module, to a first and second region. The first region and the second region are overlaid to obtain a composite shared view of the target.

Abstract: A system, method, and apparatus for displaying a fused reconstructed image with a multidimensional image are disclosed. An example imaging system receives a selection corresponding to a portion of a displayed multidimensional visualization of a surgical site. At the selected portion of the multidimensional visualization, the imaging system displays a portion of a three-dimensional image which corresponds to the selected multidimensional visualization such that the displayed portion of the at least one of the three-dimensional image or model is fused with the displayed multidimensional visualization.

Abstract: A system, method, and apparatus for displaying a fused reconstructed image with a multidimensional image are disclosed. An example imaging system receives a selection corresponding to a portion of a displayed multidimensional visualization of a surgical site. At the selected portion of the multidimensional visualization, the imaging system displays a portion of a three-dimensional image which corresponds to the selected multidimensional visualization such that the displayed portion of the at least one of the three-dimensional image or model is fused with the displayed multidimensional visualization.

Abstract: A robotic surgical navigation system is disclosed. An example system includes a stereoscopic camera and a robotic arm having an end-effector connected to the camera. The system also includes a navigation computer that determines a first transformation between the stereoscopic camera and a target surgical site, a second transformation between the end-effector and a robotic base of the robotic arm, and a third transformation between the robotic base and the target surgical site. The navigation computer calculates a fourth transformation using the first, second, and third transformations. The fourth transformation represents a transformation between the end-effector and the stereoscopic camera. The navigation computer uses the transformations to determine coordinates for a view vector of the stereoscopic camera that are in a coordinate system of the robotic arm, thereby enabling movement of the robotic arm based on commands provided by an operator in relation to the view vector of the camera.

Abstract: A stereoscopic imaging apparatus and platform are disclosed. An example stereoscopic imaging apparatus includes a main objective assembly and left and right lens sets defining respective parallel left and right optical paths from light that is received from the main objective assembly of a target surgical site. Each of the left and right lens sets includes a front lens, first and second zoom lenses configured to be movable along the optical path, and a lens barrel configured to receive the light from the second zoom lens. The example stereoscopic imaging apparatus also includes left and right image sensors configured to convert the light after passing through the lens barrel into image data that is indicative of the received light. The example stereoscopic visualization camera further includes a processor configured to convert the image data into stereoscopic video signals or video data for display on a display monitor.

Abstract: A system, method, and apparatus for displaying a fused reconstructed image with a multidimensional image are disclosed. An example imaging system receives a selection corresponding to a portion of a displayed multidimensional visualization of a surgical site. At the selected portion of the multidimensional visualization, the imaging system displays a portion of a three-dimensional image which corresponds to the selected multidimensional visualization such that the displayed portion of the at least one of the three-dimensional image or model is fused with the displayed multidimensional visualization.

Abstract: A method of calibrating a robotic imaging apparatus includes providing the robotic imaging apparatus, calibrating a stereoscopic camera portion of the apparatus to robot space, and registering the robot space to a patient space. An embodiment of the apparatus includes a base section defining the robot space, a robotic arm including a first end connected to the base section, a second end including a coupling interface, and a plurality of joints and links connecting the first end to the second end, each joint including a motor configured to rotate the joint around an axis and a joint sensor configured to transmit a position of the respective joint, a stereoscopic camera connected at the coupling interface, and a sensor positioned at the coupling interface and configured to detect force imparted on the stereoscopic camera by an operator and to transmit output data indicative of the detected force.

Abstract: A system, method, and apparatus for displaying a fused reconstructed image with a multidimensional image are disclosed. An example imaging system receives a selection corresponding to a portion of a displayed multidimensional visualization of a surgical site. At the selected portion of the multidimensional visualization, the imaging system displays a portion of a three-dimensional image which corresponds to the selected multidimensional visualization such that the displayed portion of the at least one of the three-dimensional image or model is fused with the displayed multidimensional visualization.

Abstract: A robotic imaging apparatus is disclosed. A robotic imaging apparatus includes a robotic arm, a stereoscopic camera, and a sensor positioned between the robotic arm and the stereoscopic camera. The sensor transmits output data that is indicative of translational and/or rotational force imparted on the stereoscopic camera by an operator. The robotic imaging apparatus also includes a processor that is configured to determine a movement sequence for the robotic arm based on a current position of the robotic arm and the output data from the sensor and to cause at least one of the joints of the robotic arm to rotate based on the determined movement sequence via one or more motor control signals provided to the at least one joint. The rotation of the at least one joint provides power-assisted movement of the robotic arm based on the detected translational and/or rotational forces imparted by the operator.

Abstract: A stereoscopic imaging apparatus and platform are disclosed. An example stereoscopic imaging apparatus includes a main objective assembly and left and right lens sets defining respective parallel left and right optical paths from light that is received from the main objective assembly of a target surgical site. Each of the left and right lens sets includes a front lens, first and second zoom lenses configured to be movable along the optical path, and a lens barrel configured to receive the light from the second zoom lens. The example stereoscopic imaging apparatus also includes left and right image sensors configured to convert the light after passing through the lens barrel into image data that is indicative of the received light. The example stereoscopic visualization camera further includes a processor configured to convert the image data into stereoscopic video signals or video data for display on a display monitor.

Abstract: A robotic imaging apparatus is disclosed. A robotic imaging apparatus includes a robotic arm, a stereoscopic camera, and a sensor positioned between the robotic arm and the stereoscopic camera. The sensor transmits output data that is indicative of translational and/or rotational force imparted on the stereoscopic camera by an operator. The robotic imaging apparatus also includes a processor that is configured to determine a movement sequence for the robotic arm based on a current position of the robotic arm and the output data from the sensor and to cause at least one of the joints of the robotic arm to rotate based on the determined movement sequence via one or more motor control signals provided to the at least one joint. The rotation of the at least one joint provides power-assisted movement of the robotic arm based on the detected translational and/or rotational forces imparted by the operator.

Abstract: A stereoscopic visualization camera and platform are disclosed. An example stereoscopic visualization camera includes a main objective assembly and left and right lens sets defining respective parallel left and right optical paths from light that is received from the main objective assembly of a target surgical site. Each of the left and right lens sets includes a front lens, first and second zoom lenses configured to be movable along the optical path, and a lens barrel configured to receive the light from the second zoom lens. The example stereoscopic visualization camera also includes left and right image sensors configured to convert the light after passing through the lens barrel into image data that is indicative of the received light. The example stereoscopic visualization camera further includes a processor configured to convert the image data into stereoscopic video signals or video data for display on a display monitor.

Abstract: System and method for imaging a target site with a housing assembly having a head unit configured to be at least partially directed towards the target site. An optical coherence tomography (OCT) module and stereoscopic visualization camera are at least partially located in the head unit and configured to obtain a first set and a second of volumetric data of the target site, respectively. A controller is configured to register the first set of volumetric data with the second set of volumetric data to create a third set of registered volumetric data. The third set of registered volumetric data and second set of volumetric data are rendered, via a volumetric render module, to a first and second region. The first region and the second region are overlaid to obtain a composite shared view of the target.

Abstract: A system for guiding an ophthalmic procedure is disclosed. The system includes a housing assembly with a head unit configured to be at least partially directed towards a target site in an eye. An optical coherence tomography (OCT) module and stereoscopic visualization camera are at least partially located in the head unit and configured to obtain a first set and a second set of volumetric data, respectively. A controller is configured to register the first set and second set of volumetric data to create a third set of registered volumetric data. The third set and second set of registered volumetric data are rendered, via a volumetric render module, to a first and second region. The first region and the second region are overlaid to obtain a shared composite view of the target site. The controller is configured to extract structural features and/or enable visualization of the target site.

Abstract: A robotic imaging apparatus is disclosed. A robotic imaging apparatus includes a robotic arm, a stereoscopic camera, and a sensor positioned between the robotic arm and the stereoscopic camera. The sensor transmits output data that is indicative of translational and rotational force imparted on the stereoscopic camera by an operator. The robotic imaging apparatus also includes a processor that is configured to determine a movement sequence for the robotic arm based on a current position of the robotic arm and the output data from the sensor and to cause at least one of the joints of the robotic arm to rotate based on the determined movement sequence via one or more motor control signals provided to the at least one joint. The rotation of the at least one joint provides power-assisted movement of the robotic arm based on the detected translational and rotational forces imparted by the operator.

Abstract: A system, method, and apparatus for displaying a fused reconstructed image with a multidimensional image are disclosed. An example imaging system receives a selection corresponding to a portion of a displayed multidimensional visualization of a surgical site. At the selected portion of the multidimensional visualization, the imaging system displays a portion of a three-dimensional image which corresponds to the selected multidimensional visualization such that the displayed portion of the at least one of the three-dimensional image or model is fused with the displayed multidimensional visualization.

Abstract: A system, method, and apparatus for displaying a fused reconstructed image with a multidimensional image are disclosed. An example imaging system receives a selection corresponding to a portion of a displayed multidimensional visualization of a surgical site. At the selected portion of the multidimensional visualization, the imaging system displays a portion of at least one of a three-dimensional image or model which corresponds to the selected multidimensional visualization such that the displayed portion of the at least one of the three-dimensional image or model is fused with the displayed multidimensional visualization.

Abstract: A robotic imaging apparatus is disclosed. A robotic imaging apparatus includes a robotic arm, a stereoscopic camera, and a sensor positioned between the robotic arm and the stereoscopic camera. The sensor transmits output data that is indicative of translational and rotational force imparted on the stereoscopic camera by an operator. The robotic imaging apparatus also includes a processor that is configured to determine a movement sequence for the robotic arm based on a current position of the robotic arm and the output data from the sensor and to cause at least one of the joints of the robotic arm to rotate based on the determined movement sequence via one or more motor control signals provided to the at least one joint. The rotation of the at least one joint provides power-assisted movement of the robotic arm based on the detected translational and rotational forces imparted by the operator.

Abstract: A stereoscopic visualization camera and platform are disclosed. An example stereoscopic visualization camera includes a main objective assembly and left and right lens sets defining respective parallel left and right optical paths from light that is received from the main objective assembly of a target surgical site. Each of the left and right lens sets includes a front lens, first and second zoom lenses configured to be movable along the optical path, and a lens barrel configured to receive the light from the second zoom lens. The example stereoscopic visualization camera also includes left and right image sensors configured to convert the light after passing through the lens barrel into image data that is indicative of the received light. The example stereoscopic visualization camera further includes a processor configured to convert the image data into stereoscopic video signals or video data for display on a display monitor.

Abstract: A stereoscopic visualization camera and platform are disclosed. An example stereoscopic visualization camera includes a first plurality of lenses positioned along a first optical path and a first image sensor to record a first image stream of a target site from light in the first optical path. The stereoscopic visualization camera also includes a second plurality of lenses positioned along a second optical path, parallel to the first optical path, and a second image sensor to record a second image stream of the target site from light in the second optical path. The stereoscopic visualization camera also includes a processor configured to reduce spurious parallax between the first and second images streams by selecting pixel sets of pixel grids of the first and second image sensors such that zoom repeat points (“ZRP”) are located at a center of the respective pixel grids.