Abstract: An image-guided robotic spine injection system includes an injection robot registered to an interoperative imaging system for real-time guidance. The system includes a guidance system to communicate with said injection robot and said interoperative imaging system during an injection procedure. The guidance system includes a preoperative injection plan based on preoperative imaging data of a subject's spine, and includes anatomical features identified as preoperative registration markers. The guidance system receives interoperative imaging data from said interoperative imaging system of said subject's spine. The guidance system receives an indication of anatomical features identified as interoperative registration markers that correspond in a one-to-one relationship to each of said preoperative registration markers. The guidance system registers said interoperative registration markers with said preoperative registration markers to transform said preoperative injection plan to an interoperative injection plan.

Abstract: The present invention is directed to a system to improve the safety of robotically assisted minimally invasive surgery. The system includes an endoscope holder, an accelerometer, and a controller. The accelerometer is configured to track motion of the patient's head and transmit that information to the controller. The controller is configured to operate the endoscope holder. When the accelerometer detects patient head movement, the controller then retracts the endoscope, via the endoscope holder. The system of the present invention can be used for endoscopic surgery for otolaryngology and neurosurgery. It can also be used for other surgical situations with similar requirements and constraints.

Abstract: A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.

Abstract: A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.

Abstract: A robotic system for remote operation of human-controllable equipment includes a remotely operable robotic subsystem configured to be at least one of mounted on or arranged adjacent to the human-controllable equipment to be controlled, and a remote controller that is configured to be operated by a human. The remote controller emulates a control representation of the human-controllable equipment such that a human can provide commands using the control representation. The remotely operable robotic subsystem is configured to receive commands from the remote controller to thereby operate the human-controllable equipment.

Abstract: A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.

Abstract: The present invention is directed to a device for allowing universal surgical tool exchange. The device of the present invention includes a tool-side adapter and a robot-side adapter that combine the benefits of a robot in the operating room (OR) with a system that has minimal impact on the current surgical workflow. The device of the present invention allows surgeons to preserve their natural grip on the surgical tool, creates a reliable and repeatable connection between the tool and the robot, and allows the user to rapidly swap the tools in and out from the surgical robot using a single-handed motion. A unique RFID tag and receiver is embedded in the tool-side adapter and the robot-side adapter, respectively to allow the robot to identify the tool that has been engaged. The present invention is universally applicable to any robotic system that is intended to hold a set of hand instruments.

Abstract: Systems and methods for providing a combined mosquito staging and dissection system are disclosed. The system can include a mosquito staging subsystem; a robotic pick-and-place station; and a dissection, extrusion, collection, and disposal subsystem. The subsystems can include one or more stations to provide orientation, decapitation, extrusion of salivary glands, and disposal of carcasses of the mosquitoes. The resident live sporozoites from the salivary glands can be used to produce Plasmodium SPZ-based vaccines.

Abstract: A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.

Abstract: A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.

Abstract: In one embodiment of the invention, a a minimally invasive surgical system is disclosed. The system configured to capture and display camera images of a surgical site on at least one display device at a surgeon console; switch out of a following mode and into a masters-as-mice (MaM) mode; overlay a graphical user interface (GUI) including an interactive graphical object onto the camera images; and render a pointer within the camera images for user interactive control. In the following mode, the input devices of the surgeon console may couple motion into surgical instruments. In the MaM mode, the input devices interact with the GUI and interactive graphical objects. The pointer is manipulated in three dimensions by input devices having at least three degrees of freedom. Interactive graphical objects are related to physical objects in the surgical site or a function thereof and are manipulatable by the input devices.

Abstract: A minimally invasive surgical system is disclosed including a processor coupled to a stereoscopic endoscope and a stereoscopic video display device. The processor generates an operative image of an anatomic structure in the surgical site, overlays the operative image onto the captured stereo video images for display on the stereoscopic video display device, generates and overlays a pointer onto the operative image or the captured stereo video images to display the pointer on the stereoscopic video display device with a three dimensional appearance, and switches between a first mode for input devices of a surgeon console used to couple motion into surgical instruments and a second mode used to control an interactive graphical user interface to allow interactions with the pointer and the operative image in three dimensions using input devices having at least three degrees of freedom.

Abstract: The present invention is directed to a system to improve the safety of robotically assisted minimally invasive surgery. The system includes an endoscope holder, an accelerometer, and a controller. The accelerometer is configured to track motion of the patients head and transmit that information to the controller. The controller is configured to operate the endoscope holder. When the accelerometer detects patient head movement, the controller then retracts the endoscope, via the endoscope holder. The system of the present invention can be used for endoscopic surgery for otolaryngology and neurosurgery. It can also be used for other surgical situations with similar requirements and constraints.

Abstract: Systems and methods for providing a combined mosquito staging and dissection system are disclosed. The system can include a mosquito staging subsystem; a robotic pick-and-place station; and a dissection, extrusion, collection, and disposal subsystem. The subsystems can include one or more stations to provide orientation, decapitation, extrusion of salivary glands, and disposal of carcasses of the mosquitoes. The resident live sporozoites from the salivary glands can be used to produce Plasmodium SPZ-based vaccines.

Abstract: An ultrasound imaging system having real-time tracking and image registration includes a fiducial-marker system comprising an ultrasound transmitter structured to provide a localized ultrasound pulse at an optically observable localized spot on a body of interest. The system further includes an optical imaging system, a two-dimensional ultrasound imaging system, an optical image processing system, and an ultrasound image processing system.

Abstract: A device and method of use for augmenting the extraction of salivary glands from Plasmodium-infected mosquitoes, where the sporozoite stage of Plasmodium primarily resides. Sporozoites are useful for research as well as for the immunogen in whole parasite vaccines for the prevention of malaria. The device and methods of use disclosed herein greatly increase the rate at which sporozoites can be harvested.

Abstract: The present invention is directed to a device to firmly grasp and manipulate delicate tissues in microsurgery, while precisely measuring tool-tissue interaction forces in three dimensions (x-y-z). The design enables precise measurement of forces at the tool tip without being influenced by other forces that may act on the tool shaft. The device of the present invention is capable of measuring axial (z) forces together with the transverse forces (x-y) on an actuated (not static) instrument. Fiber optic sensors are embedded into strategic locations of the design to decouple and precisely detect force components (x-y-z) separately. The force information is used to provide feedback to the operator, or to a robotic platform. The exerted forces on critical tissues, such as the retina in eye surgery, can be maintained at a safe level, clinical complications due to excessive forces can be lessened, safety, and outcome of microsurgical procedures can be enhanced.

Abstract: An intraoperative registration and tracking system includes an optical source configured to illuminate tissue intraoperatively with electromagnetic radiation at a substantially localized spot so as to provide a photoacoustic source at the substantially localize spot, an optical imaging system configured to form an optical image of at least a portion of the tissue and to detect and determine a position of the substantially localized spot in the optical image, an ultrasound imaging system configured to form an ultrasound image of at least a portion of the tissue and to detect and determine a position of the substantially localized spot in the ultrasound image, and a registration system configured to determine a coordinate transformation that registers the optical image with the ultrasound image based at least partially on a correspondence of the spot in the optical image with the spot in the ultrasound image.

Abstract: A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.

Abstract: The present invention is directed to a device for allowing universal surgical tool exchange. The device of the present invention includes a tool-side adapter and a robot-side adapter that combine the benefits of a robot in the operating room (OR) with a system that has minimal impact on the current surgical workflow. The device of the present invention allows surgeons to preserve their natural grip on the surgical tool, creates a reliable and repeatable connection between the tool and the robot, and allows the user to rapidly swap the tools in and out from the surgical robot using a single-handed motion. A unique RFID tag and receiver is embedded in the tool-side adapter and the robot-side adapter, respectively to allow the robot to identify the tool that has been engaged. The present invention is universally applicable to any robotic system that is intended to hold a set of hand instruments.