Abstract: An array of force sensors for determining a position of an object, detecting motion of object, and tracking motion of objects in 3D space are described herein. In particular, an array of force sensors can be used to monitor anatomical motion during medical procedures, such as head motion during cranial radiosurgery, to maintain a desired alignment with the anatomical feature. Alerts can be posted to the medical machine operator and the radiosurgery system or scanner can make compensatory adjustments to maintain the desired alignment either after suspension of treatment or dynamically during treatment. Methods of detecting a position, movement or tracking motion of an anatomical feature are also provided herein.

Abstract: An end effector coupler for a surgical arm can include a body, a proximal coupler, and a tool lock. The tool lock can releasably retain a tool stem to the end effector coupler. The tool lock can include a keyed opening, a pin bore, a pin disposed in the bin bore, a biasing element located in the pin bore, and a pin release including an actuator, the pin release operable to retract the pin into to the body to disengage the pin from the tool stem allowing release of the tool stem from the keyed opening.

Abstract: A repositionable, lockable support arm assembly for surgical and other tools includes a base arm having a lower end and an upper end, a distal arm having a proximal end and a distal end, and a central joint, typically a rotational joint, directly or indirectly linking the upper end of the base arm to the proximal end of the distal arm. A lower joint, typically a spherical joint, is positioned at the lower end of the base arm, and an upper joint, also typically a spherical joint, is located at the distal end of the distal arm. A locking mechanism is coupled to the base arm at a location above the lower joint and is configured to simultaneously deliver locking forces to the lower joint, to the rotational joint, and to the upper joint. The kicking mechanism usually includes a powered, bilateral force generator for actuating the locking mechanism.

Abstract: A system or method may be used to align a guide (e.g., a screw guide, a trajectory guide for biopsies, etc.) for insertion of a screw, instrument, or tool (e.g., a spinal screw) at a specified angle. The system and method may track the movement and angle of the guide which may be affixed to an articulated arm with respect to a reference point based on sensor data. The system and method may determine whether the guide is at the specified angle based on sensor data.

Abstract: Examples described herein include mobility devices that may include a variety of enhanced features. For example, mobility devices are described which may more accurately assess a fall of a user by determining if a user is in proximity to a portion of the mobility device after a fall of the mobility device is detected. Examples of wall mounted chargers for mobility devices are also described. Moreover, examples of mechanisms for detaching and attaching tips to mobility devices (e.g. canes) are described which may facilitate swapping of different tips for different situations.

Abstract: An end effector coupler for a surgical arm can include a body, a proximal coupler, and a tool lock. The tool lock can releasably retain a tool stem to the end effector coupler. The tool lock can include a keyed opening, a pin bore, a pin disposed in the bin bore, a biasing element located in the pin bore, and a pin release including an actuator, the pin release operable to retract the pin into to the body to disengage the pin from the tool stem allowing release of the tool stem from the keyed opening.

Abstract: A repositionable, lockable support arm assembly for surgical and other tools includes a base arm having a lower end and an upper end, a distal arm having a proximal end and a distal end, and a central joint, typically a rotational joint, directly or indirectly linking the upper end of the base arm to the proximal end of the distal arm. A lower joint, typically a spherical joint, is positioned at the lower end of the base arm, and an upper joint, also typically a spherical joint, is located at the distal end of the distal arm. A locking mechanism is coupled to the base arm at a location above the lower joint and is configured to simultaneously deliver locking forces to the lower joint, to the rotational joint, and to the upper joint. The kicking mechanism usually includes a powered, bilateral force generator for actuating the locking mechanism.

Abstract: An end effector coupler for a surgical arm can include a body, a proximal coupler, and a tool lock. The tool lock can releasably retain a tool stem to the end effector coupler. The tool lock can include a keyed opening, a pin bore, a pin disposed in the bin bore, a biasing element located in the pin bore, and a pin release including an actuator, the pin release operable to retract the pin into to the body to disengage the pin from the tool stem allowing release of the tool stem from the keyed opening.

Abstract: An end effector coupler for a surgical arm can include an end effector body, a proximal coupler, and a tool lock. The tool lock can releasably retain a tool stem to the end effector coupler. The tool lock can include a keyed opening, a pin bore, a pin disposed in the bin bore, a biasing element located in the pin bore, and a pin release including an actuator, the pin release operable to retract the pin into to the end effector body to disengage the pin from the tool stem allowing release of the tool stem from the keyed opening.

Abstract: An end effector coupler for a surgical arm can include a body, a proximal coupler, and a tool lock. The tool lock can releasably retain a tool stem to the end effector coupler. The tool lock can include a keyed opening, a pin bore, a pin disposed in the bin bore, a biasing element located in the pin bore, and a pin release including an actuator, the pin release operable to retract the pin into to the body to disengage the pin from the tool stem allowing release of the tool stem from the keyed opening.

Abstract: Examples described herein include mobility devices that may include a variety of enhanced features. For example, mobility devices are described which may more accurately assess a fall of a user by determining if a user is in proximity to a portion of the mobility device after a fall of the mobility device is detected. Examples of wall mounted chargers for mobility devices are also described. Moreover, examples of mechanisms for detaching and attaching tips to mobility devices (e.g. canes) are described which may facilitate swapping of different tips for different situations.

Abstract: A repositionable, lockable support arm assembly for surgical and other tools includes a base arm having a lower end and an upper end, a distal arm having a proximal end and a distal end, and a central joint, typically a rotational joint, directly or indirectly linking the upper end of the base arm to the proximal end of the distal arm. A lower joint, typically a spherical joint, is positioned at the lower end of the base arm, and an upper joint, also typically a spherical joint, is located at the distal end of the distal arm, A locking mechanism is coupled to the base arm at a location above the lower joint and is configured to simultaneously deliver locking forces to the lower joint, to the rotational joint, and to the upper joint. The locking mechanism usually includes a powered, bilateral force generator for actuating the locking mechanism.

Abstract: An end effector coupler for a surgical arm can include a body, a proximal coupler, and a tool lock. The tool lock can releasably retain a tool stem to the end effector coupler. The tool lock can include a keyed opening, a pin bore, a pin disposed in the bin bore, a biasing element located in the pin bore, and a pin release including an actuator, the pin release operable to retract the pin into to the body to disengage the pin from the tool stem allowing release of the tool stem from the keyed opening.

Abstract: An array of force sensors for determining a position of an object, detecting motion of object, and tracking motion of objects in 3D space are described herein. In particular, an array of force sensors can be used to monitor anatomical motion during medical procedures, such as head motion during cranial radiosurgery, to maintain a desired alignment with the anatomical feature. Alerts can be posted to the medical machine operator and the radiosurgery system or scanner can make compensatory adjustments to maintain the desired alignment either after suspension of treatment or dynamically during treatment. Methods of detecting a position, movement or tracking motion of an anatomical feature are also provided herein.

Abstract: Examples described herein include mobility devices that may include a variety of enhanced features. For example, mobility devices are described which may more accurately assess a fall of a user by determining if a user is in proximity to a portion of the mobility device after a fall of the mobility device is detected. Examples of wall mounted chargers for mobility devices are also described. Moreover, examples of mechanisms for detaching and attaching tips to mobility devices (e.g. canes) are described which may facilitate swapping of different tips for different situations.

Abstract: Examples described herein include mobility devices that may include a variety of enhanced features. For example, mobility devices are described which may more accurately assess a fall of a user by determining if a user is in proximity to a portion of the mobility device after a fall of the mobility device is detected. Examples of wall mounted chargers for mobility devices are also described. Moreover, examples of mechanisms for detaching and attaching tips to mobility devices (e.g. canes) are described which may facilitate swapping of different tips for different situations.

Abstract: A repositionable, lockable support arm assembly for surgical and other tools includes a base arm having a lower end and an upper end, a distal arm having a proximal end and a distal end, and a central joint, typically a rotational joint, directly or indirectly linking the upper end of the base arm to the proximal end of the distal arm. A lower joint, typically a spherical joint, is positioned at the lower end of the base arm, and an upper joint, also typically a spherical joint, is located at the distal end of the distal arm, A locking mechanism is coupled to the base arm at a location above the lower joint and is configured to simultaneously deliver locking forces to the lower joint, to the rotational joint, and to the upper joint. The locking mechanism usually includes a powered, bilateral force generator for actuating the locking mechanism.

Abstract: Described herein are radiolucent imaging devices and methods capable of acquiring real-time 2D, 3D, or 4D images. By using remote-actuation techniques to mechanically drive an ultrasound transducer element in multiple directions, the majority of dense metallic components typically present in the ultrasound probe itself are eliminated. Therefore the system herein achieves both CT compatibility and radiation beam compatibility.

Abstract: In external beam radiation therapy, a planning image (scan) of the patient is obtained prior to treatment as a basis for constructing a radiation delivery plan. However, since the planning scan is obtained prior to treatment (potentially days or weeks prior), it does not necessarily represent the state of the patient's anatomy as it presents at the time of treatment beam delivery. The potential mismatch between the patient's anatomy in the planning scan and anatomy at the time of treatment can result in dose discrepancies between the planned dose and the actual delivered dose. The methods herein describe the use of online images taken immediately before or during treatment delivery in order to predict, assess, and adapt to such discrepancies.