Abstract: A micromanipulation system includes a micromanipulator that includes a handpiece, and a micromanipulation tool that includes a tool shaft and is operatively connected to the handpiece. The micromanipulator further includes an actuator assembly connected to the micromanipulation tool to provide manual control of the micromanipulation tool, and a force sensing system comprising a force sensor attached to the tool shaft. The force sensing system is configured to provide an output signal that indicates a force imposed on the tool shaft. The micromanipulation system also includes a processor that is in communication with the force sensing system, and is configured to receive the output signal and compensate for forces due to actuation of the micromanipulation tool to determine a force due to interaction of the micromanipulation tool with a region of interest. The processor outputs an indication of at least one of a magnitude and a direction of the determined force.

Abstract: A micromanipulation system includes a micromanipulator that includes a handpiece, and a micromanipulation tool that includes a tool shaft and is operatively connected to the handpiece. The micromanipulator further includes an actuator assembly connected to the micromanipulation tool to provide manual control of the micromanipulation tool, and a force sensing system comprising a force sensor attached to the tool shaft. The force sensing system is configured to provide an output signal that indicates a force imposed on the tool shaft. The micromanipulation system also includes a processor that is in communication with the force sensing system, and is configured to receive the output signal and compensate for forces due to actuation of the micromanipulation tool to determine a force due to interaction of the micromanipulation tool with a region of interest. The processor outputs an indication of at least one of a magnitude and a direction of the determined force.

Abstract: A visual tracking and annotation system for surgical intervention includes an image acquisition and display system arranged to obtain image streams of a surgical region of interest and of a surgical instrument proximate the surgical region of interest and to display acquired images to a user; a tracking system configured to track the surgical instrument relative to the surgical region of interest; a data storage system in communication with the image acquisition and display system and the tracking system; and a data processing system in communication with the data storage system, the image acquisition and display system and the tracking system. The data processing system is configured to annotate images displayed to the user in response to an input signal from the user.