Abstract: Embodiments of the present disclosure provide improved methods and apparatus for coupling a probe to an instrument device manipulator (e.g., robotic arm). In some embodiments, a probe, which may be carried by a handpiece, is configured to couple to the end of a device manipulator of a robotic arm. A transmission can be provided that is configured to couple to the probe and also couple to the instrument device manipulator. The transmission can be configured to receive motion input from the instrument device manipulator and transfer the motion input into motion of the probe. The transmission can provide improved movement of the probe. By decreasing the number of components on the handpiece and probe, the handpiece and probe can be provided as a sterile, single use consumable device and the transmission can be reused.

Abstract: Embodiments of the present disclosure provide improved methods and apparatus for coupling a probe to an instrument device manipulator (e.g., robotic arm). In some embodiments, a probe, which may be carried by a handpiece, is configured to couple to the end of a device manipulator of a robotic arm. A transmission can be provided that is configured to couple to the probe and also couple to the instrument device manipulator. The transmission can be configured to receive motion input from the instrument device manipulator and transfer the motion input into motion of the probe. The transmission can provide improved movement of the probe. By decreasing the number of components on the handpiece and probe, the handpiece and probe can be provided as a sterile, single use consumable device and the transmission can be reused.

Abstract: A system for treating a target tissue of a patient comprises a first robotic arm coupled to a treatment probe for treating the target tissue of the patient, and a second robotic arm coupled to an imaging probe for imaging the target tissue of the patient. The system further comprises one or more computing devices operably coupled with the first robotic arm and the second robotic arm, the one or more computing devices configured to execute instructions for controlling movement of one or more of the first robotic arm or the second robotic arm. The treatment probe and/or imaging probe may be constrained to be moved only within an allowable range of motion.

Abstract: Disclosed herein are improved methods and apparatuses for providing hemostasis within a cavity defined by an internal surface of a bleeding tissue space. A catheter comprising a proximal end and a distal end may be advanced into the cavity through a proximal opening of the tissue space into the cavity. A distal balloon coupled to the catheter may be expanded, and the catheter tensioned to apply pressure to the internal surface of the tissue space to inhibit bleeding of the tissue space.

Abstract: An imaging probe is covered with a stiff sheath, which allows the imaging probe to move while the stiff sheath remains in a substantially fixed location for at least a portion of the surgical procedure while the probe moves within the stiff sheath. The stiff sheath may comprise sufficient stiffness to resist deformation as the imaging probe moves along an internal channel of the sheath. The sheath can be sized and shaped in many ways and may comprise one or more openings to allow fluid to move within the channel in which the probe is located.

Abstract: A system for treating a target tissue of a patient comprises a first robotic arm coupled to a treatment probe for treating the target tissue of the patient, and a second robotic arm coupled to an imaging probe for imaging the target tissue of the patient. The system further comprises one or more computing devices operably coupled with the first robotic arm and the second robotic arm, the one or more computing devices configured to execute instructions for controlling movement of one or more of the first robotic arm or the second robotic arm. The treatment probe and/or imaging probe may be constrained to be moved only within an allowable range of motion.

Abstract: An imaging probe is covered with a stiff sheath, which allows the imaging probe to move while the stiff sheath remains in a substantially fixed location for at least a portion of the surgical procedure while the probe moves within the stiff sheath. The stiff sheath may comprise sufficient stiffness to resist deformation as the imaging probe moves along an internal channel of the sheath. The sheath can be sized and shaped in many ways and may comprise one or more openings to allow fluid to move within the channel in which the probe is located.

Abstract: Systems, methods, and apparatuses detect tissue strain associated with tissue resistance and shearing and provide feedback such as real time feedback during insertion of a probe, which can decrease potential tissue damage associated with insertion of a probe. In some embodiments, a method may include generating one or more digital images of a tissue, determining a strain imparted on the tissue based on the one or more digital images, and providing feedback based on the detected strain. The feedback may be one or more of audible, visual, or haptic feedback. The feedback may be provided when the determined strain is above a threshold. The strain may be determined through the use of an artificial intelligence or machine learning classifier.

Abstract: A probe for insertion into a patient comprises an elongate body. The elongate body comprises a distal portion and a proximal portion, in which the distal portion is shaped for insertion into the patient, and the proximal portion is coupled to the distal portion to advance the distal portion with advancement of the proximal portion. One or more sensors are supported with the elongate probe body and coupled to the distal portion of the probe to detect tissue resistance of the distal portion of the probe during insertion of the probe. An output is operatively coupled to the one or more sensors to provide feedback to a user in response to the tissue resistance. This output allows the user to respond and decrease pressure to the tissue. In some embodiments, a sheath comprising the one or more sensors is configured for placement over the probe prior to insertion.

Abstract: A probe is configured with a flushing port and an evacuation port to establish a flow path to remove blood from a resected tissue. The probe comprises a balloon configured to expand and contact the resected tissue to compress filaments and improve access to the underlying blood vessels for coagulation with an energy source. An endoscope can be used to view the tissue, and the balloon may comprise a transparent material or a viewing port to allow imaging of the bleeding tissue through the balloon. The probe may have a light source to illuminate the tissue with a beam oriented at an oblique angle to the tissue surface, which can decrease interference from blood and may allow more localized coagulation of the blood vessel.

Abstract: An energy source is offset from an elongate probe axis with an extension. The amount of offset of the energy source can be controlled by varying an amount of offset of the extension. The energy source rotated and translated at the offset distance to resect tissue. In some embodiments, the probe is configured to receive a second treatment probe comprising a second energy source, in which the second energy source is rotated and translated relative to the first treatment probe, which can improve positional accuracy and stability. The energy source and the extension can be coupled to a linkage to offset the energy source, and to translate and rotate the energy source with varying amounts of offset. The linkage can be coupled to a processor and one or more of the energy source moved in accordance with a treatment profile.

Abstract: Disclosed herein are improved methods and apparatuses for providing hemostasis within a cavity defined by an internal surface of a bleeding tissue space. A catheter comprising a proximal end and a distal end may be advanced into the cavity through a proximal opening of the tissue space into the cavity. A distal balloon coupled to the catheter may be positioned adjacent a distal opening of the tissue space, and expanded to seal the distal opening. A hemostatic agent may be applied from the catheter to the internal surface of the tissue space to inhibit bleeding of the tissue space. The hemostatic agent may be applied without occluding the proximal opening, the distal opening, and a path extending therebetween with the hemostatic agent.

Abstract: Disclosed herein are improved methods and apparatuses for providing hemostasis within a cavity defined by an internal surface of a bleeding tissue space. A catheter comprising a proximal end and a distal end may be advanced into the cavity through a proximal opening of the tissue space into the cavity. A distal balloon coupled to the catheter may be positioned adjacent a distal opening of the tissue space, and expanded to seal the distal opening. A hemostatic agent may be applied from the catheter to the internal surface of the tissue space to inhibit bleeding of the tissue space. The hemostatic agent may be applied without occluding the proximal opening, the distal opening, and a path extending therebetween with the hemostatic agent.

Abstract: A system for treating a target tissue of a patient comprises a first robotic arm coupled to a treatment probe for treating the target tissue of the patient, and a second robotic arm coupled to an imaging probe for imaging the target tissue of the patient. The system further comprises one or more computing devices operably coupled with the first robotic arm and the second robotic arm, the one or more computing devices configured to execute instructions for controlling movement of one or more of the first robotic arm or the second robotic arm. The treatment probe and/or imaging probe may be constrained to be moved only within an allowable range of motion.

Abstract: Embodiments of the present disclosure provide improved methods and apparatus for coupling a probe to an instrument device manipulator (e.g., robotic arm). In some embodiments, a probe, which may be carried by a handpiece, is configured to couple to the end of a device manipulator of a robotic arm. A transmission can be provided that is configured to couple to the probe and also couple to the instrument device manipulator. The transmission can be configured to receive motion input from the instrument device manipulator and transfer the motion input into motion of the probe. The transmission can provide improved movement of the probe. By decreasing the number of components on the handpiece and probe, the handpiece and probe can be provided as a sterile, single use consumable device and the transmission can be reused.

Abstract: An energy source is coupled to a probe mounted on a robotic arm, and a processor configured with instructions to release energy to resect tissue in coordination with movement of the robotic arm and probe. The tissue can be resected in accordance with a defined tissue resection volume that can be determined based on images of the patient. The probe can be moved to a plurality of positions with movement of a distal end of the robotic arm and tissue resected in accordance with the treatment plan. The distal end of the robotic arm can be configured to move to a plurality of locations and orientations to provide an appropriate position and orientation of the probe tip and energy source. The processor can be configured with instructions to pivot the probe at a location to decrease tissue movement near the pivot such as an internal location of the patient.

Abstract: A system for treating a target tissue of a patient comprises a first robotic arm coupled to a treatment probe for treating the target tissue of the patient, and a second robotic arm coupled to an imaging probe for imaging the target tissue of the patient. The system further comprises one or more computing devices operably coupled with the first robotic arm and the second robotic arm, the one or more computing devices configured to execute instructions for controlling movement of one or more of the first robotic arm or the second robotic arm. The distal end of the treatment probe and/or imaging probe is constrained to be moved only within an allowable range of motion.

Abstract: An energy source is coupled to a probe mounted on a robotic arm, and a processor configured with instructions to release energy to resect tissue in coordination with movement of the robotic arm and probe. The tissue can be resected in accordance with a defined tissue resection volume that can be determined based on images of the patient. The probe can be moved to a plurality of positions with movement of a distal end of the robotic arm and tissue resected in accordance with the treatment plan. The distal end of the robotic arm can be configured to move to a plurality of locations and orientations to provide an appropriate position and orientation of the probe tip and energy source. The processor can be configured with instructions to pivot the probe at a location to decrease tissue movement near the pivot such as an internal location of the patient.

Abstract: An energy source is coupled to a probe mounted on a robotic arm, and a processor configured with instructions to release energy to resect tissue in coordination with movement of the robotic arm and probe. The tissue can be resected in accordance with a defined tissue resection volume that can be determined based on images of the patient. The probe can be moved to a plurality of positions with movement of a distal end of the robotic arm and tissue resected in accordance with the treatment plan. The distal end of the robotic arm can be configured to move to a plurality of locations and orientations to provide an appropriate position and orientation of the probe tip and energy source. The processor can be configured with instructions to pivot the probe at a location to decrease tissue movement near the pivot such as an internal location of the patient.

Abstract: An apparatus for robotic surgery comprises a processor configured with instructions to receive patient data from treated patients, receive surgical robotics data for each of the plurality of treated patients, and output a treatment plan of a patient to be treated in response to the patient data and the surgical robotics data. This approach has the advantage of accommodating individual variability among patients and surgical system parameters so as to provide improved treatment outcomes.