Abstract: Embodiments consistent with the present disclosure allow the ring, arc, and linear offset values for a stereotactic frame to be determined for a cranial procedure without requiring a CT scan to be acquired with the fiducial frame attached. Having the ring, arc, and offset values available for a cranial procedure allows the surgeon to revert to traditional stereotactic ring-arc frame guidance as a fallback strategy in case a robot cannot be used. This disclosure also provides an alternate method for registering a ring-arc system to the medical image volume for facilities having no CT scanner or scanner with limited field of view such that the intended fiducial localizer cannot be used.

Abstract: A surgical robot system includes a surgical robot, a robot arm connected to such surgical robot, and an end-effector connected to the robot arm. A registration fixture is used in conjunction with various registration systems in the surgical robot system. Such registration systems likewise include a detachable base in the form of a detachable dynamic reference base, along with an associated mount, the dynamic reference base and mount having certain features which permit the dynamic reference base to be selectively attached, detached, and reattached at different phases of an operation, whether pre-operative or intra-operative, and such successive attachments are done without the dynamic reference base, and tracking markers associated therewith, losing registration. Related methods allow for the more efficient and effective performance of operations by virtue of the dynamic reference base maintaining its registration during attachments and reattachments.

Abstract: A system of robotic surgery includes components capable of drilling a bore in the cranium of a patient in connection with craniotomy and other cranial surgeries. A perforator associated with such system is controlled by suitable computer-implemented instructions to maintain the perforator tip along a desired trajectory line while moving the perforator bit at locations proximal to such perforator tip in a circular motion, thereby imparting a conical oscillation to the perforator bit relative to the trajectory line. The angle at which the perforator bit is oscillated relative to such trajectory line results in the bore formed in the cranium having a diameter larger than the bit diameter, and the larger diameter and related conical oscillation is selected so as to reduce frictional force opposing withdrawal of the bit from the situs of the bore, thereby reducing the risk of jamming of the bit during its associated operations.

Abstract: A system for robotic surgery makes use of an end-effector which has been configured so that any selected one of a group of surgical tools may be selectively connected to such end-effector. The end-effector makes use of a tool-insert locking mechanism which secures a selected one of the surgical tools at not only a respective, predetermined height and angle of orientation, but also at a rotational position relative to an anatomical feature of the patient. The tool-insert locking mechanism may include interchangeable inserts to interconnect multiple tools to the same end-effector. In this way, different robotic operations may be accomplished with less reconfiguration of the end-effector. The end-effector may also include a tool stop which has a sensor associated with a moveable stop mechanism which may be positioned to selectively inhibit tool insertion or end-effector movement.

Abstract: Devices, Systems, and Methods for determining a trajectory of a biopsy needle using a surgical robot. A surgical robotic may be configured to plan a trajectory and move to a location along the planned trajectory. The surgical robot may be configured to receive the biopsy needle and hold its position along the trajectory while the biopsy needle is used to aspirate a tissue sample from a patient.

Abstract: A system for robotic surgery makes use of an end-effector which has been configured so that a drill connected thereto is guided in its trajectory and limited in its advancement into an associated anatomical feature by a drill guide. The drill guide may be adjusted manually to engage a corresponding surface of the drill after its advancement by a pre-selected amount. The drill guide likewise includes features to guide the drill during trajectories having oblique angles relative to the surface of the anatomical feature associated with the medical procedure.

Abstract: An improved system and computer product for robotic brain surgery in which brain deformation during surgery caused by tools or pressure changes is tracked, allowing for improved accuracy in targeting structures for robotic surgical procedures.

Abstract: A position is determined for each fiducial marker of a plurality of fiducial markers in an image volume. Based on the determined positions, a position and orientation of the registration fixture with respect to the anatomical feature is determined. A position is determined for each tracked marker of a first plurality of tracked markers on the registration fixture and a second plurality of tracked markers on the robot arm in a tracking data frame. Based on the determined positions of tracked markers, a position and orientation of the registration fixture and the robot arm of a surgical robot with respect to the tracking space are determined.

Abstract: A drill guide fixture may be configured to prepare a skull for attachment of a cranial insertion fixture. The drill guide fixture may include a central drill guide and a bone anchor guide at a base of the drill guide fixture. The central drill guide may define a central drill guide hole therethrough, wherein the central drill guide hole has a first opening at a base of the drill guide fixture and a second opening spaced apart from the base of the drill guide fixture. The bone anchor drill guide may define a bone anchor drill guide hole therethrough, and the bone anchor drill guide hole may be offset from the central drill guide hole in a direction that is perpendicular with respect to a direction of the central drill guide hole. Related cranial insertion fixtures, robotic systems, and methods are also discussed.

Abstract: Methods may be provided to operate an image-guided surgical system using imaging information for a 3-dimensional anatomical volume. A trigger can be detected based on information received from a tracking system regarding a probe. A pose of the probe can be detected based on the information received from the tracking system. A location in the 3-dimensional anatomical volume can be identified based on the pose of the probe and based on the imaging information. The location can be stored in memory based on detecting the trigger and detecting the pose of the probe.

Abstract: A current generator for a swimming system may include multiple entrainment pumps that discharge a flow of water into a pool. The entrainment pumps may each have a nozzle, a venturi and an entrainment inlet. In use, the flow of water from the nozzle into the venturi causes water at the entrainment inlet to flow into the venturi along with water from the nozzle. Each entrainment pump is arranged such that the fluid that flows out of the venturi passage is directed within a main passage, and the flow from multiple venturis may be combined and may be directed at least partially against the force of gravity before that fluid is directed out of the main passage outlet and into the pool. In at least some implementations, the fluid flows for at least one foot between the venturi and the main passage outlet.

Abstract: A current generator for a swimming system may include multiple entrainment pumps that discharge a flow of water into a pool. The entrainment pumps may each have a nozzle, a venturi and an entrainment inlet. In use, the flow of water from the nozzle into the venturi causes water at the entrainment inlet to flow into the venturi along with water from the nozzle. Each entrainment pump is arranged such that the fluid that flows out of the venturi passage is directed within a main passage, and the flow from multiple venturis may be combined and may be directed at least partially against the force of gravity before that fluid is directed out of the main passage outlet and into the pool. In at least some implementations, the fluid flows for at least one foot between the venturi and the main passage outlet.