Abstract: Methods and systems for detecting, monitoring, and accounting for anatomical motion is provided. An initial contact between a first robotic arm and an anatomical element of a patient is detected based on information received from at least one internal sensor of the first robotic arm. A position of the anatomical element is determined based on the information. The determined position is compared to an expected position of the anatomical element. A tool trajectory of a second robotic arm is updated when the determined position is offset from the expected position.

Abstract: A robotic surgical system comprising at least two robotic arms having co-ordinate systems known relative to each other, one of the arms carrying an X-ray source, and the other an imaging detector plate. The arms are disposed to enable an image to be generated on the region of interest of a subject. One of the arms can additionally or alternatively carry a surgical tool or tool holder, such that the pose of the tool is known in the same co-ordinate system as that of an image generated by the X-ray source and detector. Consequently, any surgical procedure planned on such an X-ray image can be executed by the tool with high accuracy, since the tool position is known in the image frame of reference. This enables the surgeon to accurately position his tool in a real-time image without the need for an external registration procedure.

Abstract: A novel system for hand rehabilitation comprising a combination of finger position devices and velocity measurement devices, providing the exact spatial location and orientation of the fingers and the thumb, enabling measurement of movements of the hand, including position and rotations. The movements and positions outputs are monitored while the subject is using the hand to perform actions on an object with known physical, geometric and kinematic parameters, such as dimensions, weights and stiffnesses. By knowing both the hand's motion and the physical, geometrical and kinematic parameters of the above-mentioned tools, the system can calculate the forces exerted by the patient's hand, measure motion ranges and track the rehabilitation process without a need for using force sensors or sensors inside the tools. Computer processing and gaming applications are used to encourage patient rehabilitation involvement and motivation and to assess the rehabilitation process.

Abstract: Systems, methods, and devices for planning a path are provided. A work volume and one or more no-fly zones may be mapped. The work volume may define a volume in which a robot may access and each of the one or more no-fly zones may define at least one volume in which a robot is restricted from accessing. Information may be received about a position of at least one instrument and a void volume may be calculated based on the position of the at least one instrument. The work volume may be updated to include the void volume to yield an updated work volume. A path may be calculated for a robotic arm of a robot from outside a patient anatomy to within the patient anatomy that is within the updated work volume and avoids the one or more no-fly zones.

Abstract: Systems and methods for performing minimally invasive surgical procedures, especially for removal of tumors, and especially for brain tumors, using a robotically inserted therapeutic probe, which first detects tumorous tissue on a pre-planned path through the patient's tissue, before performing therapeutic procedures on the tissue, such as ablation. This pre-treatment detection procedure is thus able to avoid the destruction of healthy tissue. This also ensures that the therapeutic process indicated in a preoperative surgical plan is only performed on tumorous tissue, without sole reliance on preoperative image indications. This is important for neurosurgical operations performed on the brain, since preoperative images may not be accurate due to brain shift occurring during the procedure. Detection can be performed optically or ultrasonically, and treatment by laser or RF ablation. The probe insertion can be performed at 90° to the insertion axis of the device, thus minimizing passage through healthy tissue.

Abstract: A hand held robotic system that remains stiff so long as it is operating within allowed limits, but which become actively controlled once the operator exceeds those limits. The system thus corrects deviations by more than a predetermined amount of the operator's hand motions, so that the tool remains in the allowed region even when the operator's hand deviates from the planned trajectory. The pose and path of the robotic operating head is ascertained by means of a navigation or tracking system, or by means of a proximity device to measure the closeness of the operating head to a damage sensitive feature. As the tool deviates from its predetermined path or pose, or comes too close to the hazardous area, the robot control acts to move the tool back to its predetermined pose or path, or away from the hazardous region, independently of user's hand movement.

Abstract: An assembly for driving linear movement and roll movement of an elongate surgical tool, comprising: an elongate shaft comprising a central lumen extending along the shaft long axis; the elongate shaft comprising a plurality of apertures extending across walls of the elongate shaft and into the central lumen; a set of wheels positioned opposing each other and aligned on two sides of the central lumen, the set of wheels at least partially extending through the apertures beyond the walls of the elongate shaft and into the central lumen to contact an elongate surgical tool received therein; the set of wheels being coupled to the elongate shaft and configured to rotate with the elongate shaft as a single unit when the elongate shaft is rotated about the shaft long axis.

Abstract: Lifesaving devices for providing flotation support to their users, and comprising a pressurized gas container, a flotation balloon and a valve for releasing the pressurized gas into the flotation balloon. The method of designing the devices comprises selecting a gas charge for the pressurized gas container, having a high molecular weight, such that, for a specific lifesaving device, the diffusion of the gas charge through the walls of the pressurized gas container are reduced, as compared with a gas charge having a lower molecular weight. The device therefore has a longer shelf life before the need to recharge the gas fill. The use of such a high molecular weight gas also reduces the diffusion of the gas charge through the walls of the flotation balloon, such that the device fulfils its purpose of supporting the user in water for a longer period of time.

Abstract: Flexible lifesaving devices, such as life vests, pilot suits, lifeboats, lifebuoys, providing flotation to their users. An internal inflation space, integral to the device, has a volume sufficient when inflated, to provide flotation to a person or persons having up to a predetermined weight, using the device. Pressurized flotation gas, having a volume in its gaseous phase sufficient to inflate the internal space, is contained in a flexible pressurized gas container, such as a length of tubing or a pouch in a wall of the device, and enables the device to be both flexible and foldable. A valve connects the flexible container with the internal inflatable space of the device, such that when the valve is opened, the volume of pressurized flotation gas flows into the internal space. The flexible container is a regulatory required part of the device, which is thus flexible and foldable.

Abstract: Methods and systems for providing a safety mechanism for a robotically controlled surgical tool. Embodiments of the methods use sensors to detect parameters that vary by the tissue traversed by a surgical tool. The sensors detect signals arising from the interaction of the surgical tool with the tissue and provide this information to a robotic controller. For example, during drilling, the sensors may measure power, vibration, sound frequency, mechanical load, electrical impedance, and distance traversed according to preoperative measurements on a three-dimensional image set used for planning the tool trajectory. By comparing the detected output with that expected for the tool position based on the planned trajectory, identified discrepancies in output would indicate that the tool has veered from the planned trajectory. The robotic controller may then alter the tool trajectory, change the speed of the tool, or discontinue power to the tool, thereby preventing damage to underlying tissue.

Abstract: A system for tracking the position of a surgical tool manipulated by a surgical robotic system, to determine that the tool is correctly positioned and orientated. Miniature 3-D tracking cameras are mounted on the end effector of the robotic system, one viewing markers on the surgical tool, and the other markers attached to the anatomy part being operated on. The initial spatial position and orientation of the surgical tool on the surface of the anatomy part is measured, and the progress of the surgical tool into the anatomic body part is tracked using one of the miniature cameras. The cameras or sensors are close to the surgical region of interest, and all the mechanical and sensor elements necessary for the system operation are mounted within the realm of the robot. The system thus avoids interruption of communication between a remotely positioned navigation camera and the robot or patient.

Abstract: A hand held robotic system that remains stiff so long as it is operating within allowed limits, but which become actively controlled once the operator exceeds those limits. The system thus corrects deviations by more than a predetermined amount of the operator's hand motions, so that the tool remains in the allowed region even when the operator's hand deviates from the planned trajectory. The pose and path of the robotic operating head is ascertained by means of a navigation or tracking system, or by means of a proximity device to measure the closeness of the operating head to a damage sensitive feature. As the tool deviates from its predetermined path or pose, or comes too close to the hazardous area, the robot control acts to move the tool back to its predetermined pose or path, or away from the hazardous region, independently of user's hand movement.

Abstract: An assembly for driving linear movement and roll movement of an elongate surgical tool, comprising: an elongate shaft comprising a central lumen extending along the shaft long axis; the elongate shaft comprising a plurality of apertures extending across walls of the elongate shaft and into the central lumen; a set of wheels positioned opposing each other and aligned on two sides of the central lumen, the set of wheels at least partially extending through the apertures beyond the walls of the elongate shaft and into the central lumen to contact an elongate surgical tool received therein; the set of wheels being coupled to the elongate shaft and configured to rotate with the elongate shaft as a single unit when the elongate shaft is rotated about the shaft long axis.

Abstract: Methods and systems for providing a safety mechanism for a robotically controlled surgical tool. Embodiments of the methods use sensors to detect parameters that vary by the tissue traversed by a surgical tool. The sensors detect signals arising from the interaction of the surgical tool with the tissue and provide this information to a robotic controller. For example, during drilling, the sensors may measure power, vibration, sound frequency, mechanical load, electrical impedance, and distance traversed according to preoperative measurements on a three-dimensional image set used for planning the tool trajectory. By comparing the detected output with that expected for the tool position based on the planned trajectory, identified discrepancies in output would indicate that the tool has veered from the planned trajectory. The robotic controller may then alter the tool trajectory, change the speed of the tool, or discontinue power to the tool, thereby preventing damage to underlying tissue.

Abstract: A system and method for ensuring safe and tolerable insertion of a needle into a subject's body according to a preplanned or continuously monitored sequence of insertion steps. The system comprises a gripping device for gripping the needle in order to perform robotic insertion steps, yet for releasing the grip between such insertion steps, until the next insertion step is initiated. Thereby, the robot has full control of the needle during insertion steps, but does not constrain the needle between insertions, such that movement of the subject can cause neither damage nor discomfort. The gripping and insertion steps may be coordinated to keep in synchronization with the subject's breathing cycles, such that the insertion steps may be performed in the same segment of each cycle of motion of the subject's chest. The gripper can either fully disconnect from the needle, or can partially disconnect but constrain motion within limits.

Abstract: A system for tracking the position of a surgical tool manipulated by a surgical robotic system, to determine that the tool is correctly positioned and orientated. Miniature 3-D tracking cameras are mounted on the end effector of the robotic system, one viewing markers on the surgical tool, and the other markers attached to the anatomy part being operated on. The initial spatial position and orientation of the surgical tool on the surface of the anatomy part is measured, and the progress of the surgical tool into the anatomic body part is tracked using one of the miniature cameras. The cameras or sensors are close to the surgical region of interest, and all the mechanical and sensor elements necessary for the system operation are mounted within the realm of the robot. The system thus avoids interruption of communication between a remotely positioned navigation camera and the robot or patient.

Abstract: Multi-arm surgical robotic platforms and systems are provided. The platforms and systems may comprise a support structure or a frame and an operating table mounted to the support structure or the frame. A plurality of robotic arms may be mounted to the support structure or the frame and may be capable of manipulating an emitter and a detector to obtain between and including 0 to 360-degree imaging of a patient on the operating table.

Abstract: Systems and methods for retractor interference avoidance is provided. At least one retractor includes a base and one or more elongate members extending from the base. The one or more elongate members are movable. A position of the at least one retractor may be determined and a trajectory of a surgical device may be received. At least one elongate member of the one or more elongate members positioned to interfere with movement of the device along a trajectory may be identified based on the position of the retractor and the trajectory of the surgical device.

Abstract: An assembly for driving movement of an elongate surgical tool, comprising: a plurality of adjacent pairs of driving wheels, each pair of driving wheels having a space therebetween such that spaces of the plurality of pairs of driving wheels are axially aligned to form a channel for the elongate surgical tool to extend through; wherein at least one pair of driving wheels out of the plurality of pairs is arranged to lie on a plane different than a plane on which at least one other pair of driving wheels lies.

Abstract: A flotation device for providing emergency flotation for a person swimming or passing through a body of water, comprising a container filled with a charge of a gaseous material under a pressure such that it is in its liquid phase at normal environmental temperatures. The container is connected to a flexible flotation chamber through a passage which remains normally closed until actuated by the user. When the device is actuated by opening the passage, the charge expands into the flotation chamber, thereby inflating it, and providing support to the user in the water. The gaseous material has thermodynamic properties such that it remains in its liquid phase right up to the maximum temperatures to which the device is expected to be exposed to. Consequently, its volume, and hence the internal pressure within the gas container, does not increase significantly, thereby enabling the container to be of lightweight construction.