Abstract: The present disclosure describes imaging systems configured to determine the accuracy of anatomical measurements obtained from image data. Systems may include an ultrasound transducer configured to acquire echo signals responsive to ultrasound pulses transmitted toward a target region. Systems can also include a graphical user interface configured to display a biometry tool widget, such as a caliper, for acquiring a measurement of an anatomical feature within the target region from at least one image frame generated from the ultrasound echoes. Systems can also include one or more processors configured to determine a confidence metric indicative of the accuracy of the measurement. The processors can also be configured to cause the graphical user interface to display a graphical indicator corresponding to the confidence metric. The processors can implement one or more neural networks, and can derive additional information, such as gestational age or weight, from the anatomical measurements acquired.

Abstract: An optical shape sensing device includes an elongated outer body with flexible tubing configured to maneuver through a passage; a multicore optical fiber extending through the elongated outer body, and enabling shape sensing by tracking deformation of the multicore optical fiber along a length of the multicore optical fiber; a termination piece attached to a distal tip of the multicore optical fiber, the termination piece having a distal tip; and a force sensing region integrated with the elongated outer body and configured to enable determining of an axial force exerted on a distal end of the elongated outer body. The shape sensing occurs along the multicore optical fiber to the distal tip of the termination piece.

Abstract: A system for controlling a robotic tool includes a memory that stores instructions and a processor that executes the instructions. When executed by the processor, the instructions cause the system to perform a process that includes monitoring sequential motion of tissue in a three-dimensional space. The process also includes projecting locations and corresponding times when the tissue will be at projected locations in the three-dimensional space. An identified location of the tissue in the three-dimensional space is identified based on the projected locations. A trajectory of the robotic tool is set to meet the tissue at the identified location at a projected time corresponding to the identified location.

Abstract: The invention relates to an ultrasound device (1) insertable into a patient body (2) for in-situ ultrasound imaging. The device (1) comprises an ultrasound transducer device (4) having an imaging surface (5) for contacting tissue to be imaged and being attached to a support element (21). The support element (21) comprises a gripping member (21, 23) having a gripping surface configured for being at least temporarily affixed to the tissue, the gripping member (21) at least partly surrounding the imaging surface (5) of the ultrasound transducer device (4) and the gripping surface (23) being made from a deformable material. By means of the gripping member (21, 23), the device (1) can automatically be held at an imaging position. Further, the device (1) does not require an elongated shaft for manipulating the ultrasound module, which could interference with other surgical devices.

Abstract: An intervention system employing an interventional robot (30), an interventional imaging modality (10) and an interventional controller (70). In 5 operation, the interventional controller (70) navigates an anatomical roadmap (82) of an anatomical region of a patient in accordance with an interventional plan to thereby control a navigation of the interventional robot (30) within the anatomical region in accordance with the anatomical roadmap (82).

Abstract: A system and method for tool exchange during surgery for cooperatively controlled robots comprises a tool holder for receiving a surgical tool adapted to be held by a robot and a surgeon, a tool holding element for constraining downward motion of the tool while allowing low force removal of the surgical tool from the holder, a first sensor for detecting if the surgical tool is docked within the tool holder, and a selector for automatically selecting different movements or actions of the tool holder to be performed based upon information detected by the first sensor. The system and method of the present invention provides an advantage to an often slow moving cooperative robot, by increasing the speed by which the tool holder may move in the direction away from the patient.

Abstract: A cooperatively controlled robotic system includes a main robot assembly, and an arm assembly comprising a proximal end and a distal end. The arm assembly is connected to the main robot assembly at the proximal end. The system also includes a tool assembly connected to the arm assembly at the distal end, a first force sensor between the distal end of the arm assembly and the tool assembly, and a second force sensor between the proximal end of the arm assembly and the main robot assembly. The system includes a control system that is configured to determine a force applied at the first force sensor based on a force detected by the second force sensor, and to compare the determined force to a force detected by the first force sensor to detect a failure of at least one of the first and second force sensors.

Abstract: An embodiment in accordance with the present invention provides a tracking system architecture for tracking surgical tools in a surgical field. The system architecture is integrated into a mask placed directly on the face of the patient. The system can combine multiple imaging and range finding technologies for tracking the eye and the surgical instrumentation. The system can be used to generate a three dimensional scene for use during the surgical procedure. Additionally, the system can incorporate a modular design to account for variable anatomy. The system described is for eye surgery applications. However, the system could also be used for other procedures such as cochlear implant or craniotomy.

Abstract: A system and method for tool exchange during surgery for cooperatively controlled robots comprises a tool holder for receiving a surgical tool adapted to be held by a robot and a surgeon, a tool holding element for constraining downward motion of the tool while allowing low force removal of the surgical tool from the holder, a first sensor for detecting if the surgical tool is docked within the tool holder, and a selector for automatically selecting different movements or actions of the tool holder to be performed based upon information detected by the first sensor. The system and method of the present invention provides an advantage to an often slow moving cooperative robot, by increasing the speed by which the tool holder may move in the direction away from the patient.

Abstract: A method and system for micro-force guided cooperative control that assists the operator in manipulating tissue in the direction of least resistance. A tool holder receives a surgical tool adapted to be held by a robot and a surgeon. A first sensor measures interaction forces between a tip of the surgical tool and tissue of a region of interest. A second sensor measures interaction forces between the surgeon and a handle to the surgical tool. A data processor is configured to perform an algorithm to actively guide the surgical tool by creating a bias towards a path of least resistance and limit directional tool forces of the surgical tool as a function of handle input forces and tip forces. This function offers assistance to challenging retinal membrane peeling procedures that require a surgeon to delicately delaminate fragile tissue that is susceptible to hemorrhage and tearing due to undesirable forces.

Abstract: A system and method for tool exchange during surgery for cooperatively controlled robots comprises a tool holder for receiving a surgical tool adapted to be held by a robot and a surgeon, a tool holding element for constraining downward motion of the tool while allowing low force removal of the surgical tool from the holder, a first sensor for detecting if the surgical tool is docked within the tool holder, and a selector for automatically selecting different movements or actions of the tool holder to be performed based upon information detected by the first sensor. The system and method of the present invention provides an advantage to an often slow moving cooperative robot, by increasing the speed by which the tool holder may move in the direction away from the patient.

Abstract: A cooperatively controlled robotic system includes a main robot assembly, and an arm assembly comprising a proximal end and a distal end. The arm assembly is connected to the main robot assembly at the proximal end. The system also includes a tool assembly connected to the arm assembly at the distal end, a first force sensor between the distal end of the arm assembly and the tool assembly, and a second force sensor between the proximal end of the arm assembly and the main robot assembly. The system includes a control system that is configured to determine a force applied at the first force sensor based on a force detected by the second force sensor, and to compare the determined force to a force detected by the first force sensor to detect a failure of at least one of the first and second force sensors.

Abstract: A method for calibrating a Fourier domain optical coherence tomography system includes receiving spectral data from an optical detector comprising a linear array of detector elements, each detector element having a position labeled n, wherein detected light was wavelength-dispersed across the linear array of detector elements; determining parameters of a preselected functional relationship between wave number, kn, corresponding to detector element n as a function of optical detector element n based on the spectral data; further receiving subsequent spectral data subsequent to the first-mentioned receiving, wherein detected light was wavelength-dispersed across the linear array of detector elements; converting the subsequent spectral data using the preselected functional relationship between wave number kn and optical detector element n to obtain converted spectral data; and performing an inverse Fourier transform of the converted spectral data to obtain a depth profile.

Abstract: An embodiment in accordance with the present invention provides a tracking system architecture for tracking surgical tools in a surgical field. The system architecture is integrated into a mask placed directly on the face of the patient. The system can combine multiple imaging and range finding technologies for tracking the eye and the surgical instrumentation. The system can be used to generate a three dimensional scene for use during the surgical procedure. Additionally, the system can incorporate a modular design to account for variable anatomy. The system described is for eye surgery applications. However, the system could also be used for other procedures such as cochlear implant or craniotomy.

Abstract: A system and method for tool exchange during surgery for cooperatively controlled robots comprises a tool holder for receiving a surgical tool adapted to be held by a robot and a surgeon, a tool holding element for constraining downward motion of the tool while allowing low force removal of the surgical tool from the holder, a first sensor for detecting if the surgical tool is docked within the tool holder, and a selector for automatically selecting different movements or actions of the tool holder to be performed based upon information detected by the first sensor. The system and method of the present invention provides an advantage to an often slow moving cooperative robot, by increasing the speed by which the tool holder may move in the direction away from the patient.

Abstract: A system and method for cooperative control of surgical tool includes a tool holder for receiving a surgical tool adapted to be held by a robot and a surgeon, a sensor for detecting a force based on operator input and/or tool tip forces, a controller for limiting robot velocity based upon the force detected so as to provide a haptic feedback, a selector for automatically selecting one level of a multi-level audio feedback based upon the detected force applied, the audio feedback representing the relative intensity of the force applied, and an audio device for providing the audio feedback together with the haptic feedback. The audio feedback provides additional information to the surgeon that allows lower forces to be applied during the operation.

Abstract: A method and system for micro-force guided cooperative control that assists the operator in manipulating tissue in the direction of least resistance. A tool holder receives a surgical tool adapted to be held by a robot and a surgeon. A first sensor measures interaction forces between a tip of the surgical tool and tissue of a region of interest. A second sensor measures interaction forces between the surgeon and a handle to the surgical tool. A data processor is configured to perform an algorithm to actively guide the surgical tool by creating a bias towards a path of least resistance and limit directional tool forces of the surgical tool as a function of handle input forces and tip forces. This function offers assistance to challenging retinal membrane peeling procedures that require a surgeon to delicately delaminate fragile tissue that is susceptible to hemorrhage and tearing due to undesirable forces.

Abstract: An autofocusing endoscope includes an objective lens, a relay optical system arranged to relay an image between the objective lens and a proximal end of the autofocusing endoscope, an optical fiber arranged with a distal end proximate the objective lens, a light source arranged to couple light into the optical fiber, an optical detection system arranged to receive and detect light from the optical fiber, and a data processor constructed to communicate with the optical detection system while in operation. The data processor is configured to determine a distance of a surface to be imaged through the objective lens and provide instructions for adjusting a focus of the autofocusing endoscope of the surface.

Abstract: A method for calibrating a Fourier domain optical coherence tomography system includes receiving spectral data from an optical detector comprising a linear array of detector elements, each detector element having a position labeled n, wherein detected light was wavelength-dispersed across the linear array of detector elements; determining parameters of a preselected functional relationship between wave number, kn, corresponding to detector element n as a function of optical detector element n based on the spectral data; further receiving subsequent spectral data subsequent to the first-mentioned receiving, wherein detected light was wavelength-dispersed across the linear array of detector elements; converting the subsequent spectral data using the preselected functional relationship between wave number kn and optical detector element n to obtain converted spectral data; and performing an inverse Fourier transform of the converted spectral data to obtain a depth profile.