Abstract: The present disclosure provides systems and methods for discretizing a movement or a motion of one or more robotic arms. The system may comprise a robotic arm, an end effector coupled to a distal portion of the robotic arm, and a trocar through which the end effector may be inserted. The trocar may comprise a trocar reference point. The system may further comprise a processor configured to (i) determine a starting position and a destination position of a distal end of the end effector, (ii) determine a path between the starting position and the destination position, (iii) determine a plurality of points along the path, and (iv) determine a set of motions to move the distal end of the end effector from the starting position to the destination position, based at least in part on the trocar reference point.

Abstract: The present disclosure provides systems and methods for medical imaging. The system may comprise a scope assembly. The scope assembly may comprise a housing unit configured to releasably couple to at least a portion of an elongated scope. The scope assembly may comprise an imaging unit operably coupled to the housing unit, wherein the imaging unit comprises an optics assembly configured to (i) receive one or more light beams that are transmitted through the elongated scope and (ii) direct at least a portion of the one or more light beams onto two or more locations within a subject's body. At least one of the two or more locations may comprise a target site. The imaging unit may be configured to move via a rotational and/or translational motion relative to the housing unit to alter a field of view when imaging within the subject's body.

Abstract: An articulating flexible endoscope is provided. The endoscope comprises: a bending section connected to a distal tip portion at a first end, and connected to a shaft portion at a second end; a pull wire coupled to the distal tip portion at a first location and is configured for articulating the bending section; and a first tube for accommodating the pull wire. A distal end of the first tube is coupled to a second location on the bending section or on the shaft portion, a proximal end of the first tube is coupled to a proximal portion of the articulating flexible endoscope. An effective bending section of the articulating flexible endoscope is adjusted by varying i) a length between the first location and the second location or ii) the second location.

Abstract: The present disclosure provides systems and methods for medical imaging. The system may comprise a scope assembly. The scope assembly may comprise a housing unit configured to releasably couple to at least a portion of an elongated scope. The scope assembly may comprise an imaging unit operably coupled to the housing unit, wherein the imaging unit comprises an optics assembly configured to (i) receive one or more light beams that are transmitted through the elongated scope and (ii) direct at least a portion of the one or more light beams onto two or more locations within a subject's body. At least one of the two or more locations may comprise a target site. The imaging unit may be configured to move via a rotational and/or translational motion relative to the housing unit to alter a field of view when imaging within the subject's body.

Abstract: The present disclosure provides methods for processing medical data. The method may comprise receiving a plurality of data inputs associated with (i) at least one medical patient or (ii) at least one surgical procedure. The method may further comprise receiving one or more annotations for at least a subset of the plurality of data inputs. The method may further comprise generating an annotated data set using (i) the one or more annotations and (ii) one or more data inputs of the plurality of data inputs. The method may further comprise using the annotated data set to (i) perform data analytics for the plurality of data inputs, (ii) develop one or more medical training tools, or (iii) train one or more medical models.

Abstract: The present disclosure provides a system for enabling autonomous or semi-autonomous surgical operations. The system comprises: one or more processors that are individually or collectively configured to: process an image data stream comprising one or more images of a surgical site; fit a parametric model to a tissue surface identified in the one or more images; determine a direction for aligning a tool based in part on the parametric model; determine an optimal path for automatically moving the tool to perform a surgical procedure at the surgical site; and generate one or more control signals for controlling i) a movement of the tool based on the optimal path and ii) a tension force applied to the tissue by the tool during the surgical procedure.

Abstract: Provided herein are systems, methods, and media capable of determining estimated force applied on a target tissue region to enable tactile feedback during interaction with said target tissue region.

Abstract: The present disclosure provides systems and methods for medical imaging. The system may comprise a scope assembly. The scope assembly may comprise a housing unit configured to releasably couple to at least a portion of an elongated scope. The scope assembly may comprise an imaging unit operably coupled to the housing unit, wherein the imaging unit comprises an optics assembly configured to (i) receive one or more light beams that are transmitted through the elongated scope and (ii) direct at least a portion of the one or more light beams onto two or more locations within a subject's body. At least one of the two or more locations may comprise a target site. The imaging unit may be configured to move via a rotational and/or translational motion relative to the housing unit to alter a field of view when imaging within the subject's body.

Abstract: The present disclosure provides systems and methods for discretizing a movement or a motion of one or more robotic arms. The system may comprise a robotic arm, an end effector coupled to a distal portion of the robotic arm, and a trocar through which the end effector may be inserted. The trocar may comprise a trocar reference point. The system may further comprise a processor configured to (i) determine a starting position and a destination position of a distal end of the end effector, (ii) determine a path between the starting position and the destination position, (iii) determine a plurality of points along the path, and (iv) determine a set of motions to move the distal end of the end effector from the starting position to the destination position, based at least in part on the trocar reference point.

Abstract: Systems, methods, and computer program products for determining joint angles of a wristed laparoscopic tool of a robotic surgical instrument are disclosed. The method includes providing a first robotic arm where the robotic arm includes surgical instrument having a proximal end and a distal end and the tool is disposed at the distal end of the instrument. The tool has an elbow joint, a wrist joint, and a distal-most end. A three-dimensional position of the wrist joint is determined based on a three-dimensional position and orientation of the distal-most end. A three dimensional position of the elbow joint is determined based on the three-dimensional position of the wrist joint. A first angle corresponding to a twist of the tool, a second angle corresponding to an elbow joint angle of the tool, a third angle corresponding to a wrist angle, and a fourth angle corresponding to an open/close angle of the tool are determined.

Abstract: Systems, methods, and computer program products for quantification of error in tool orientation of a surgical robotic are disclosed. A first robotic arm is provided where the robotic arm includes a surgical instrument and a tool disposed at the distal end of the surgical instrument. A first orientation of the tool is determined including a first x-component, a first y-component, and a first z-component. A desired orientation of the tool is determined including a second x-component, a second y-component, and a second z-component. A first angle between the first x-component and the second x-component is determined, a second angle between the first y-component and the second y-component is determined, and a third angle between the first z-component and the second z-component is determined. An error metric based on the first angle, the second angle, and the third angle is determined.

Abstract: Examples of a self-supported device for guiding motions of a target joint of a target body are disclosed. The device comprises a motion generator, a motion transfer system, a target body interfacing system, a load bearing system and a controller. The load bearing system comprises a plate connected to the motion transfer system and a network of joints and links configured to constrain the plate to rotate in three dimensions about a center of rotation of the load bearing system. A position of the center of rotation of the load bearing system being adjustable by adjusting a connection point between the links. The plate of the load bearing system is connected to an adjustable target body interfacing system that is configured to be mounted to the target body. The center of rotation of the load bearing system coincides (or nearly coincides) with a center of rotation of the target joint of the target body.

Abstract: An inflatable cushion for body support is described. The inflatable cushion can be adjusted to manually/automatically set the proper pressure distribution, remove pressure from sensitive regions, alternate pressure, facilitate moisture removal, automatically detect leakage and avoid bottom down, communicate leakage and other problems with the user/caregiver, detect wrong positioning and facilitate position correction. The inflatable cushion can be used either as a chair cushion such as for example as a cushion for wheelchair or as a bed mattress.

Abstract: Examples of a self-supported device for guiding motions of a target joint of a target body are disclosed. The device comprises a motion generator, a motion transfer system, a target body interfacing system, a load bearing system and a controller. The load bearing system comprises a plate connected to the motion transfer system and a network of joints and links configured to constrain the plate to rotate in three dimensions about a center of rotation of the load bearing system. A position of the center of rotation of the load bearing system being adjustable by adjusting a connection point between the links. The plate of the load bearing system is connected to an adjustable target body interfacing system that is configured to be mounted to the target body. The center of rotation of the load bearing system coincides (or nearly coincides) with a center of rotation of the target joint of the target body.

Abstract: Examples of a self-supported device for guiding motions of a target joint of a target body are disclosed. The device comprises a motion generator, a motion transfer system, a target body interfacing system, a load bearing system and a controller. The load bearing system comprises a plate connected to the motion transfer system and a network of joints and links configured to constrain the plate to rotate in three dimensions about a center of rotation of the load bearing system. A position of the center of rotation of the load bearing system being adjustable by adjusting a connection point between the links. The plate of the load bearing system is connected to an adjustable target body interfacing system that is configured to be mounted to the target body. The center of rotation of the load bearing system coincides (or nearly coincides) with a center of rotation of the target joint of the target body.

Abstract: This invention relates to a method of controlling a Solid State Transformer (SST).

Abstract: This invention relates to a method of controlling a Solid State Transformer (SST).

Abstract: A probe for traversing a tubular passage includes an introducer to be supported at an entrance to the tubular passage. The probe also includes a probe tip to traverse the tubular passage, and a tube with an inflatable tube segment. In some embodiments, the inflatable tube segment is storable in the probe tip. The inflatable tube segment is configured to be inflated to push the probe tip away from the introducer toward an end of the tubular passage. In some embodiments, the probe includes a sealing mechanism, where the sealing mechanism can be positioned between the inflatable tube segment of the tube and the introducer to maintain the inflatable tube segment in a deflated configuration until inflation of the inflatable tube segment.

Abstract: An inflatable cushion for body support is described. The inflatable cushion can be adjusted to manually/automatically set the proper pressure distribution, remove pressure from sensitive regions, alternate pressure, facilitate moisture removal, automatically detect leakage and avoid bottom down, communicate leakage and other problems with the user/caregiver, detect wrong positioning and facilitate position correction. The inflatable cushion can be used either as a chair cushion such as for example as a cushion for wheelchair or as a bed mattress.

Abstract: A method for producing nanoporous graphene includes steps of preparing cellulosic raw materials; impregnating the prepared raw materials with a catalyst; activating the impregnated cellulosic raw materials; heating the activated cellulosic raw materials in a heating system to create nanoporous graphene; and washing the nanoporous graphene to remove impurities.