Abstract: A compact robotic device for driving movement of two or more elongate surgical tools configured for a telescopic arrangement when said two or more elongate surgical tools are at least partially received within said device, the device comprising: a housing comprising walls which define an inner volume including at least two inner pathways for accommodating the two or more elongate surgical tools; the housing encasing: a plurality of motors, and two or more tool actuation assemblies configured at a position of each of the two or more inner pathways; the actuation assemblies driven by the plurality of motors and configured to operably contact an elongate surgical tool at least partially received in the inner pathway to at least one of advance, retract and/or roll said elongate surgical tool.

Abstract: A method and apparatus for steering of a flexible needle into tissue using a steering robotic platform for manipulation of the needle shaft, and by use of a semi-active arm for locating and orienting of the steering robot on the patient's body. As opposed to other steering methods, the robot does not hold the base of the needle, which is its proximal region, but rather grips the shaft of the needle by means of a manipulatable needle gripping device, near its distal end. The needle gripper attached to the robotic platform may be equipped with a traction assembly to provide motion to the needle in its longitudinal direction, such that it co-ordinates the entry of the needle with the desired entry angle. The gripping of the needle at its distal end, close to its insertion point, provides the needle manipulator with a low profile, with concomitant advantages.

Abstract: An exemplary method of determining a surgical spinal correction for a subject using analysis of motion capture images of the subject, which uses the steps of obtaining pre-operative three-dimensional images of a spinal region, obtaining a pre-operative time sequenced set of images of the subject during a movement progression of said subject, calculating in a plurality of the motion capture images, alignment parameters relating to upper and lower body regions of the subject, and determining if any of the calculated alignment parameters are outside their predetermined acceptable ranges in one or more of the images, iteratively adjusting anatomical elements in three-dimensional images until all of the calculated alignment parameters are within their predetermined acceptable ranges; and adjusting spinal anatomy in the three-dimensional images according to the degree of adjustment of spinal parameters in the motion capture images to determine a surgical spinal correction.

Abstract: A method for verifying a bone entry point includes receiving a surgical plan that defines a target bone entry point and a first portion of a bone surface at least partially surrounding the target bone entry point; positioning an imaging device near an identified bone entry point; receiving, from the imaging device, an image of a second portion of the bone surface surrounding the identified bone entry point; comparing at least one feature of the first portion to at least one feature of the second portion to quantify a degree of similarity therebetween; and generating, when the quantified degree of similarity between the first portion and the second portion exceeds a threshold, a confirmation.

Abstract: A device comprises at least one processor and a memory comprising instructions that when executed by the at least one processor cause the at least one processor to: generate a first signal that causes a vibration device to vibrate, the vibration device being in force-transmitting contact with a first anatomical element; receive, from a sensor, a second signal based on sensed vibration in a second anatomical element proximate the first anatomical element; and determine, based on the second signal, an amount of mechanical coupling between the second anatomical element and the first anatomical element.

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 method and apparatus for steering of a flexible needle into tissue using a steering robotic platform for manipulation of the needle shaft, and by use of a semi-active arm for locating and orienting of the steering robot on the patient's body. As opposed to other steering methods, the robot does not hold the base of the needle, which is its proximal region, but rather grips the shaft of the needle by means of a manipulatable needle gripping device, near its distal end. The needle gripper attached to the robotic platform may be equipped with a traction assembly to provide motion to the needle in its longitudinal direction, such that it co-ordinates the entry of the needle with the desired entry angle. The gripping of the needle at its distal end, close to its insertion point, provides the needle manipulator with a low profile, with concomitant advantages.

Abstract: A method according to one embodiment of the present disclosure comprises receiving a first image of a patient's anatomy, the first image generated at a first time and depicting a plurality of rigid elements; receiving a second image of the patient's anatomy, the second image generated at a second time after the first time and depicting the plurality of rigid elements; determining a transformation from the first image to the second image for each one of the plurality of rigid elements to yield a set of transformations; calculating a homography for each transformation in the set of transformations to yield a set of homographies; and identifying, using the set of homographies, a common portion of each transformation attributable to a change in camera pose, and an individual portion of each transformation attributable to a change in rigid element pose.

Abstract: Systems and methods for accurate determination of the position of an anatomic part of a subject in robotic assisted image-based surgery, using an inertial measurement unit (IMU) to determine the position and orientation of the anatomical part of the subject. The intrinsic drift of the IMU, which would make the IMU position measurements inaccurate, can be reset to zero regularly, at points of time when the subject's body is stationary. This can be achieved when motion from the subject's breathing and from the heartbeat are essentially zero. Such positions occur respectively when the respiratory signal shows the position of the breathing cycle to be at the end of the expiration phase, and the heartbeat signal represents a time in the diastole period of the subject's electrocardiographic cycle. When these two signal moments coincide, the IMU is essentially stationary, and its drift reset to zero.

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: Systems and methods for robotic retraction of tissues in a surgical field. Two retractor mechanisms are used on either side of an incision. Each retractor is adapted to be held by a robotic arm, which applies force on the retractor mechanism to pull dissected tissue away from the incision, thus revealing the operative field. A force sensor is employed to measure the force on the retractor, an optional tracking sensor may be used to measure the extent of tissue retraction in two or three dimensions, and both sources of information provided to the robotic controller. By monitoring feedback from either the force sensor or the tracking sensor, the system is able to maintain equal retraction on both sides of the incision. The retractor elements incorporate mechanisms that move down the tissue as the retractors are pulled laterally.

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.

Abstract: A compact robotic device for driving movement of two or more elongate surgical tools configured for a telescopic arrangement when said two or more elongate surgical tools are at least partially received within said device, the device comprising: a housing comprising walls which define an inner volume including at least two inner pathways for accommodating the two or more elongate surgical tools; the housing encasing: a plurality of motors, and two or more tool actuation assemblies configured at a position of each of the two or more inner pathways; the actuation assemblies driven by the plurality of motors and configured to operably contact an elongate surgical tool at least partially received in the inner pathway to at least one of advance, retract and/or roll said elongate surgical tool.

Abstract: A robotic device for performing intracranial procedures, comprising a baseplate for mounting on the subject's skull and a rotatable base element rotating on the baseplate. The rotatable base element has a central opening through which a cannulated needle can protrude such that it can rotate around an axis perpendicular to the baseplate. This cannulated needle is robotically controlled to provide motion into and out of the subject's skull. A flexible needle is disposed coaxially within the cannulated needle, and it is controlled to move into and out of a non-axial aperture in the distal part of the cannulated needle. Coordinated control of the insertion motion of the cannulated and flexible needles, and rotation of the combined cannulated/flexible needle assembly enables access to be obtained to a volume of a region of the brain having lateral dimensions substantially larger than the width of the cannulated needle.

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 may be detected based on information received from at least one internal sensor of the first robotic arm. A position of the anatomical element may be determined based on the information. The determined position may be compared to an expected position of the anatomical element. A tool trajectory of a second robotic arm may be updated when the determined position is offset from the expected position.

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: A modular robotic surgical system includes one or more tool-receiver units arranged as separate units, each tool-receiver unit operable to move a first elongate surgical tool received therein. The device also includes a base comprising one or more motors, the base operable to move a second elongate surgical tool attached to the base or received therein, the base serving as a mounting for the one or more tool-receiver units, each of the tool-receiver units is independently and interchangeably attachable to the base via a mechanical coupling interface which transfers one or more of: driving force for driving movement of the first elongate surgical tool received within the unit; electrical power supply to one or more components of the unit which drive movement of the first elongate surgical tool received within the unit; and data for controlling movement of the first elongate surgical tool received within the unit.

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: A robotic surgical system is provided. An illustrative robotic surgical system includes a base having a known position relative to an operating table; an end effector configured to hold and align a surgical tool for performing a procedure on a subject on said operating table; at least one robotic arm connecting said base with said end effector; and a target attached to the end effector, wherein an image of the target attached to the end effector is used to determine a pose of the end effector.

Abstract: A method for optimizing orthopedic spinal implant survival using preoperative finite element analysis combined with intraoperative stress analysis. Based on clinically relevant data, finite element analysis, and corrected values of spinal parameters, an acceptable long-term stress score is determined for an appropriate implant, which is selected from a set of potential implants, such that the shape of the implant minimizes predicted stress values. From a preoperative medical image set, values of selected spinal alignment parameters are determined; finite element analysis is performed on potential implants to determine stress values; and a selected implant is digitally positioned in the medical image set to create a virtual bone/implant configuration. After the selected implant is inserted and bent to shape, actual stress values are measured intraoperatively.