Abstract: A method of generating a 4D model includes capturing imagery of a catheter and a vessel as the catheter is directed through the vessel to a location of interest, wherein the catheter is disposed on a guidewire, constructing a 3D time varying reference curve describing a trajectory of the guidewire, and constructing a time varying 3D model of the artery using the reference curve.

Abstract: Embodiments of architecture, systems, and methods to develop a learning/evolving system to robotically perform one or more activities of a medical procedure where the medical procedure may include diagnosing a patient's medical condition(s), treating medical condition(s), and robotically diagnosing a patient's medical condition(s) and performing one or more medical procedure activities based on the diagnosis without User intervention.

Abstract: A method of creating a mass-customized femoral bone base plate comprising: (i) establishing anatomical landmarks across a plurality of bone models of a statistical atlas; (ii) establishing instrument landmarks across the plurality of bone models of the statistical atlas; (iii) establishing definitions for a reference plane calculation across the plurality of bone models of the statistical atlas, where the reference plane represents a boundary of a prosthetic implant; (iv) establishing an attachment site for a mass-customized femoral bone base plate using the anatomical landmarks, the instrument landmarks, and the reference plane; and, (v) fabricating the mass-customized femoral bone base plate configured to be attached to a femur, where the attachment sites of the mass-customized femoral bone base plate are predetermined to avoid impingement with the prosthetic implant when implanted.

Abstract: Provided are apparatus and methods for tracking a volume of interest in three dimensions in real time, using fewer than 6 DOF tracking information together with an external 6 DOE coordinate system. The apparatus and methods described herein provide more accurate, smaller, and less expensive tracking systems than prior approaches based on full 6 DOF tracking comprising translation and full orientation information. Embodiments may be used in applications such as surgical navigation, gaming, robotics, motion capture, and training.

Abstract: The subject of this invention is a surgical instrument positioning system, method and apparatus, using an anatomical reference plane registered in a non-invasive manner and a method of intra-operative use of this instrument for joint replacements, spine, trauma fracture reductions and deformity correction and implant placement/alignment

Abstract: Navigation assistance systems and methods for use with a surgical instrument to assist in navigation of a surgical instrument during an operation. The system may include sensors that may observe the patient to generate positioning data regarding the relative position of the surgical instrument and the patient. The system may retrieve imaging data regarding the patient and correlate the imaging data to the positioning data. In turn, the position of the surgical instrument relative to the imaging data may be provided and used to generate navigation date (e.g., position, orientation, trajectory, or the like) regarding the surgical instrument.

Abstract: An insertion system having a processor including hardware, configured to: determine, for each of a plurality of times, one or more positions of an insertion section configured to be inserted into an insertion subject; determine, for the each of the plurality of times, state of the insertion section relative to the insertion subject based on the one or more positions for the each of the plurality of times; determine, for the each of the plurality of times, whether an attention state of the insertion section that restricts insertion of the insertion section into the insertion subject has occurred, based on the state of the insertion section relative to the insertion subject determined; and control a monitor to display attention state information indicating the one or more positions of the insertion section at which the occurrence of the attention state of the insertion section is determined over the plurality of times.

Abstract: A surgical system for control of a surgical mechanical arm, which system comprises: at least one input arm comprising: a plurality of sections; a plurality of joints sequentially coupling said plurality of sections; at least one sensor configured to measure movement of one or more of said sections; and a weight attached to one of said plurality of sections which biases said one of said plurality of sections to a null configuration, by movement under gravity of said one of said plurality of sections about one or more of said joints; and circuitry configured to receive a measurement signal from said at least one sensor and to generate a control signal, based on said measurement signal for control of movement of said surgical mechanical arm.

Abstract: An end effector for impacting a prosthesis at a surgical site along a trajectory maintained by a surgical robot. The end effector comprises an impactor assembly and a guide. The impactor assembly has a head to receive impact force, an interface to releasably attach to the prosthesis, a shaft extending along an impactor axis between the head and the interface, and an impactor engagement surface disposed between the head and the interface. The guide is adapted to attach to the surgical robot and comprises a channel extending along a guide axis and defining an opening arranged to receive a portion of the shaft of the impactor assembly, a guide engagement surface shaped to abut the impactor engagement surface, and a limiter to maintain abutment of the impactor engagement surface with the guide engagement surface to facilitate coaxial alignment of the axes with the trajectory maintained by the surgical robot.

Abstract: End effectors for driving tools at surgical sites along trajectories maintained by surgical robots. A tool has interface and working ends. An end effector has a mount to attach to the surgical robot, and an actuator configured to generate torque. A drive assembly with a geartrain translates rotation from the actuator into rotation of a drive conduit supported about an axis. A rotational lock operatively attached to the drive conduit releasably secures the tool for concurrent rotation about the axis, and an axial lock releasably secures the tool for concurrent translation with the drive conduit along the trajectory maintained by the surgical robot. The axial lock is operable between a release configuration where relative movement between the drive assembly and the tool is permitted along the axis, and a lock configuration where relative movement between the drive assembly and the tool is restricted along the axis.

Abstract: An interface assembly for detachably interfacing a surgical robot arm to a surgical instrument, the interface assembly comprising: an interface structure comprising: a base portion comprising a first surface for facing the surgical instrument and a second surface for facing the surgical robot arm; and a rear portion attached to a rear edge of the base portion, the rear portion comprising one or more fasteners for fastening the interface structure to a proximal exposed surface of the surgical robot arm; and a locking element moveably mounted on the rear portion, the locking element moveable between a locked position and an unlocked position, wherein when the locking element is in the locked position the locking element biases the one or more fasteners inward and when the locking element is in the unlocked position the locking element does not bias the one or more fasteners inward.

Abstract: A computer-assisted medical system comprises a flexible elongate instrument. The flexible elongate instrument comprises a plurality of wires extending from a proximal end of the flexible elongate instrument to a distal end of the flexible elongate instrument. Each wire of the plurality of wires may be used to steer the distal end. The system also comprises a control system coupled to the flexible elongate instrument. The control system is configured to monitor movement of the flexible elongate instrument along a longitudinal central axis and determine an extent of motion of the flexible elongate instrument in a first direction along the longitudinal central axis based on the monitoring. The control system is also configured to alter a rigidity of the flexible elongate instrument based on a rigidity profile relative to the extent of motion by adjusting one or more forces applied by the plurality of wires to the distal end of the flexible elongate instrument.

Abstract: Systems and methods for minimally invasive computer-assisted telesurgery are described. For example, this disclosure describes cannula devices for use with computer-assisted teleoperated surgery systems. The cannula devices can facilitate enlargement of a minimally invasive surgical workspace by creating a tissue tent. The devices and methods described herein can be used in conjunction with computer-assisted teleoperated surgery systems that use either hardware-constrained remote centers of motion or software-constrained remote centers of motion.

Abstract: A medical instrument includes a roll mechanism that rotates an instrument shaft. The roll mechanism may include a first gear coupled to the instrument shaft and meshed with a second gear. One of gears may be a spur gear while the other gear may be a beveloid gear. Further, the spur gear and the beveloid gear may be in a gear train containing a compressible gear, e.g., a gear with an inner center piece, an outer ring, and a flexible interconnecting structure between the inner center piece and the outer ring. With a compressible gear, an interference fit of in the gear train may be within manufacturing variations of the gear train, and the compressible gear may deflect radially away from the interference fit.

Abstract: Disclosed is a sterilizable flexible surgical instrument system, comprising a flexible continuous body structure. The flexible continuous body structure comprises a distal structural body, a middle connecting body and a proximal structural body. The distal structural body comprises at least one distal structural segment, the distal structural segment comprising a distal spacing disk, a distal fixing disk and a structural backbone. The proximal structural body comprises the same number of proximal structural segments as distal structural segments, the proximal structural segments comprising a proximal spacing disk, a proximal fixing disk and a structural backbone. The proximal structural segment is linked to the distal structural segment via a middle connecting body. A transmission unit is further comprised. The transmission unit comprises a transmission mechanism fixing plate arranged in front of the middle connecting body.

Abstract: The present disclosure is directed to robotic surgical system that includes an operating console configured to operate at least one robotic arm and at least one drive motor configured to receive an input from the operating console and control the at least one robotic arm based on the input from the operating console. A surgical instrument is coupled to the at least one robotic arm. The surgical instrument is inserted into a patient and captures an image of a region of interest inside the patient during a surgical procedure. A controller receives the image and applies at least one image processing filter to identify at least one non-visible property of an object in the region of interest. A display displays the image to a user.

Abstract: Described herein is a surgical instrument holder for use with a robotic surgical system, for example, during spinal surgery. In certain embodiments, the surgical instrument holder is an interface between the robotic arm and a surgical instrument used during surgery. This interface may hold the surgical instrument precisely, rigidly, and in a stable manner while permitting a surgeon to easily and quickly install or withdraw the instrument in case of emergency.

Abstract: A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.

Abstract: A robotized surgery system comprises at least one robot arm which acts under the control of a control console intended for the surgeon. The console comprises an eye tracking system for detecting the direction of the surgeon's gaze and for entering commands depending on the directions of the gaze detected. The console comprises advantageously a screen with at least one zone for viewing the operating field and, among the commands which can be performed depending on the gaze directions.

Abstract: An actuation element guide for a surgical instrument comprises a first piece, a second piece, at least one guide channel defining a twisted path about a longitudinal axis of the guide. The guide channel may be between the inner piece and the outer piece. A cross-section of the at least one guide channel, at a location along an axial length of the guide, may be defined by a surface portion of the first piece and by a surface portion of the second piece. Exemplary embodiments further regard medical devices including an actuation element guide and methods of manufacturing an actuation element guide.

Abstract: Systems and methods for a computer-assisted instrument motion are described. For example, the disclosure provides mechanisms and techniques for holding an instrument with a computer-assisted manipulator assembly, and methods for actuating computer-assisted motions of the instrument.

Abstract: A system comprises a teleoperational assembly including an operator control system and a first teleoperational manipulator configured for operation by an operator control device of the operator control system. The first teleoperational manipulator is configured to control the operation of a first medical instrument in a surgical environment. The system also comprises a processing unit including one or more processors. The processing unit is configured to display an image of a field of view of the surgical environment and display a menu proximate to an image of the first medical instrument in the image of the field of view. The menu includes at least one icon representing a function for the first medical instrument.

Abstract: A robotic system includes a base movable relative to a floor surface and a controllable arm extending from the base. The arm is configured to support and move a tool. The arm has a powered joint operable to position and/or orient the tool. The robotic system further includes a positioning indicator. A processor operates the positioning indicator to direct a manual repositioning of the base relative to the floor surface while the processor is operating the powered joint to maintain the position and/or orientation of the tool during the manual repositioning.

Abstract: A computer-assisted teleoperated surgical system includes one or more manipulator devices and other components. A manipulator device includes a first link, a second link coupled to a distal end of the first link, a third link coupled to the second link, and an instrument actuator coupled to the third link. A joint that couples the second link to the first link defines a yaw axis. A joint that couples the third link to the second link defines a pitch axis. The instrument actuator defines an insertion axis. The yaw, pitch, and insertion axes are fixed in relation to each other and intersect at a remote center of motion. The instrument actuator may insert a surgical instrument along the insertion axis roll and may roll the surgical instrument around the insertion axis. The proximal end of the first link may be coupled to a repositionable setup structure, which may optionally be mechanically grounded to an operating room table.

Abstract: An instrument chassis for a robotic surgical system includes a bridge member, a first instrument guide member configured to receive a first surgical instrument, a second instrument guide member configured to receive a second surgical instrument, wherein each of the first instrument guide member and the second instrument guide member is moveably coupled to the bridge member such that each of the first instrument guide member and the second instrument guide member is moveable in at least one degree of freedom relative to the bridge member, and a central instrument guide member coupled to the bridge member between the first instrument guide member and the second instrument guide member, the central instrument guide member configured to receive a third surgical instrument.

Abstract: Methods and systems for damping vibrations in a surgical system are disclosed herein. The damping of these vibrations can increase the precision of surgery performed using the surgical system. The surgical system can include one or several moveable set-up linkages. A damper can be connected with one or several of the set-up linkages. The damper can be a passive damper and can mitigate a vibration arising in one or more of the set-up linkages. The damper can additionally prevent a vibration arising in one of the linkages from affecting another of the set-up linkages. In some embodiments the damper is a squeeze film damper. In some embodiments, the squeeze film damper includes an insert having a plurality of first protrusions, a cup configured to receive the insert, and the cup having a having a plurality of second protrusions interdigitated with the plurality of first protrusions.

Abstract: A surgical system includes a dynamic preload tension feature for a tensioning element that actuates a distal end comport of a surgical instrument. The surgical instrument includes a chassis at a proximal end of the surgical instrument, drive components mounted in the chassis, a distal end component at a distal end of the surgical instrument, a flexible tensioning element coupled between a first of the drive components and the distal end component, and a dynamic preload tensioner mounted in the chassis and coupled to a second of the drive components. The flexible tensioning element extends along a path. The dynamic preload tensioner is configured to be driven by the second of the drive components to be moved relative to the chassis and is positioned to change the path of the flexible tensioning element as the dynamic preload tensioner moves relative to the chassis.

Abstract: A robotic surgical instrument comprising a shaft, an articulation attached to the distal end of the shaft, and a driving mechanism at the proximal end of the shaft. The articulation comprises a plurality of joints for articulating an end effector, the plurality of joints driveable by at least first and second pairs of driving elements. The driving mechanism comprises a pulley arrangement and a pulley drive. The pulley arrangement comprises first and second pulleys attached together such that their separation is fixed, wherein the first pair of driving elements is constrained to move around the first pulley, and the second pair of driving elements is constrained to move around the second pulley.

Abstract: Disclosed herein are various systems and methods for guiding, supporting, and/or housing instruments. One exemplary system includes a guide tube having a manipulation section and mated with rails carrying instrument control members. Moving the rails with respect to the guide tube, or another point of reference, can control movement of the manipulation section.

Abstract: A storage system includes at least one cabinet, a plurality of shelves adjustably positioned within the at least one cabinet, and a plurality of scales removably attached to at least one of the shelves, each of the scales including a load sensor. The storage system also includes a plurality of holders, each of the holders being configured to hold at least one container containing medical supplies, and each of the holders being supported by a respective one of the scales. The storage system also includes a receiver in operative communication with each of the load sensors. Each of the load sensors is configured to continuously measure a weight of the medical supplies contained in the respective at least one container held by the respective holder, and to communicate each detected weight to the receiver.

Abstract: The invention relates to a storage assembly for at least a medical device, an insert and tray assembly comprising such storage assembly, and a manufacturing method for such storage assembly. The storage assembly comprises a sheet material. The sheet material comprises at least a recess in a planar portion of the sheet metal and at least a holding structure. The recess is configured to surround the medical device to be stored. The holding structure protrudes into the direction of the recess and is bent out of the sheet material planar portion to extend below the sheet material planar portion, so that the holding structure is configured to hold the medical device to be received from above relative to the sheet material planar portion.

Abstract: A package including at least one bumper having an elliptical shape that extends from a first end to a second end along a first plane and having a protrusion that extends from a first front along a second plane; and a first tray having a first cavity that extends from a second front along the second plane, wherein the first cavity includes at least one groove configured and dimensioned to receive the at least one bumper is disclosed.

Abstract: An apparatus for targeting an injection site using anatomical landmarks includes a first landmark identifier, a second landmark identifier, and a targeting band. The targeting band is connected with the first landmark identifier at a first end and a second landmark identifier at a second end. At least a portion of the targeting band is linearly deformable. In another embodiment, an apparatus for targeting an injection site using anatomical landmarks on a patient includes a targeting band having a first end and a second end, at least a portion of the targeting being linearly deformable, a first landmark identifier pivotably connected to the targeting band at the first end, a second landmark identifier configured to be connected with the second end of the targeting band; and a fastener configured to secure the first and second landmark identifiers to the patient.

Abstract: Systems, methods, and devices are provided for assisting or performing guided interventional procedures using custom templates. The system uses pre-procedure scans of a patient's anatomy to identify targets and critical structures. A template is then manufactured containing guide elements. During a procedure, the template may be aligned to the patient and instruments passed though the guide elements and into various targets. The template may be aligned using one or more of, for example, a position sensing system or a live imaging modality to register the patient to the template. The system makes optional use of devices designed to immobilize or track an organ during therapy.

Abstract: The present disclosure provides an apparatus for supporting at least one recording device. The apparatus can have a base element, a movable joint, an arm, and a receiving element. The base element can have a horizontal and a vertical segment, where the vertical segment extends from a midpoint along the length of the horizontal segment. The movable joint can connect the arm to the base element. The arm can house the recording device. The receiving element can receive user input. For example, this apparatus can be worn during surgery to video record a surgical procedure.

Abstract: Embodiments relate to expandable tissue cavity markers and corresponding systems and deployment methods. In one embodiment, an expandable tissue cavity marker comprises a pouch and at least one radiopaque marker element. The pouch can transition between a compressed state, in which a profile or dimension of the tissue cavity marker is reduced such that the tissue cavity marker can be deployed through a minimally invasive surgical procedure incision, and an expanded state, in which a profile or dimension of the tissue cavity marker is increased such that the tissue cavity marker fills or defines a volume of a tissue cavity. In one embodiment, the pouch can be transformed between the compressed state and the expanded state by delivery of a fill material into the pouch. The pouch can comprise one or more functional materials in embodiments, including materials that provide an anti-infection, hemostasis, anti-migration, medicinal, or other function to the tissue cavity marker.

Abstract: A handling device for a dental tool having a) a body having an elongated shape configured to receive a prying load from an operator; and b) one or more receptacles through the body configured to retain at least a portion of a dental tool and allow an engagement portion of the dental tool to project therefrom substantially perpendicular to a longitudinal axis of the body; wherein the engagement portion is adapted to contact a portion of a dental covering along only one of a facial side or a lingual side of the dental covering and by being wedged between a gum-line and the dental covering; and wherein the one or more receptacles are configured to transfer the prying load from the body to the engagement portion of the dental tool.

Abstract: A method is provided for placing a preformed dental article. The method comprises: providing a preformed dental article; providing an uncured self-supporting dental article having a first shape, wherein the uncured dental article comprises: a polymerizable resin system; at least 50 wt-% of filler; placing the preformed dental article onto a tooth structure such that the uncured dental article is provided at an interface between the preformed dental article and tooth structure; and forming the uncured dental article into a second shape thereby improving the continuity of the interface. Further, a dental article for use at an interface between a dental restoration and tooth structure having a first self-supporting shape are provided in accordance with the invention.

Abstract: A dental separator device for applying pressure against adjacent teeth to separate the teeth from one another so that a dental restoration can be made. The separator device increases the interproximal space between the adjacent teeth giving the dental clinician improved visibility and working space. The invention also encompasses a flexible matrix band used for making the restoration. The matrix band is wrapped around the tooth to define a desired mold or shape for the restoration.

Abstract: Detection of a state of an oral appliance (such as an aligner, palatal expander, mandibular repositioning device, etc.) to determine if the oral appliance is functioning properly and/or if it has developed a defect.

Abstract: Systems and methods for improved visual prosthetic and orthodontic treatment planning are provided herein. In some aspects, a method for preparing a tooth of a patient is disclosed. The method may comprise building a model of a dentition of the patient including a model of the initial shape of tooth. The method may also include determining a final prepared shape of the tooth. In some aspects, the method may also include generating a treatment plan comprising a plurality of steps to modify the initial shape of the tooth to the final prepared shape of the tooth. The method may also include rendering visualizations for the plurality of steps of the treatment plan. The visualizations may depict the removal of tooth material to modify the initial shape of the tooth to the final prepared shape of the tooth.

Abstract: A system and method for repositioning teeth in a patient jaw includes an attachment bonded to a tooth. The attachment has at least one force receiving component for receiving a force. A polymeric shell repositioning appliance is positioned over at least some of the teeth in the patient jaw. The polymeric shell has at least one force transmitting component for engaging the force receiving component to form a locus of engagement. The locus of engagement transmits the force and moves but is maintained as the tooth is repositioned. In specific embodiments the locus of engagement is maintained over a substantial range of motion. The force transmitted at the locus of engagement increases in response to the tooth lagging an intended position. A space between the positioned appliance and the tooth permits the tooth to move into an intended position.

Abstract: In an illustrative embodiment, a dental appliance is provided including a matrix of printed voxels having a three-dimensional shape of a dental arch for surrounding a set of teeth corresponding to a first teeth alignment of a patient, the shape of the dental arch having a lingual side, an occlusal surface, and a facial side, where each voxel includes a deposited material for adhering to an adjacent voxel, and where the matrix of printed voxels applies a force to one or more teeth of the set of teeth causing the one or more teeth to shift into a second teeth alignment.

Abstract: Provided herein is an orthodontic aligning appliance for moving tooth or teeth of a patient and methods of making and using the same.

Abstract: Provided herein is an orthodontic frame work and methods of making and using the same. The framework is configured to be placed within a dental arch nearby a tooth or teeth of a patient in combination with an appliance via an attachment for moving the tooth or teeth, the framework being less pliable than the appliance so as to serve as an anchor or a backbone of the appliance, the appliance is effective to move a tooth or teeth from an initial position to an intermediate position or final position of the tooth or teeth according to a prescription by a treating doctor, and the attachment is via a material forming the appliance and is configured to allow the framework to exert a non-reciprocal force upon the appliance and the appliance to exert a non-reciprocal force upon the tooth or teeth.

Abstract: The present disclosure includes method, system, apparatus, and indicator embodiments. One apparatus includes an appliance for placement over one or more teeth and a release agent receptacle including an outer portion provided on appliance surface, an inner portion provided within the outer portion, and one or more apertures formed in the outer portion.

Abstract: A dental appliance for positioning a patient's teeth includes a removable orthodontic tooth positioning appliance having teeth receiving cavities shaped to directly receive at least some of the patient's teeth and apply a resilient positioning force to the patient's teeth. The appliance includes a hard polymer layer having a hard polymer layer elastic modulus disposed between a first soft polymer layer having a first soft polymer layer elastic modulus and a second soft polymer layer having a second soft polymer layer elastic modulus. The hard polymer layer elastic modulus is greater than each of the first soft polymer layer elastic modulus and the second soft polymer layer elastic modulus. At least one of the first soft polymer layer and the second soft polymer layer has a flexural modulus of greater than about 35,000 psi.

Abstract: Provided herein is an orthodontic hybrid appliance for moving one or more teeth of a patient and methods of making and using the same.

Abstract: An orthodontic bite ramp has a body having an anterior base for bonding attachment to the lingual surface of an upper tooth; an occlusal surface extending lingually from the base to provide a stop limiting upward movement of a patient's lower teeth; and a vertical slot in the lingual aspect of the bite ramp. The vertical slot divides the body into two lateral wings that can be compressed by application of a lateral compressive force to deform the base and thereby release the bite ramp from the tooth. Optionally, a bonding pad can be secured to the base for bonding attachment to the lingual surface of an upper tooth.

Abstract: An orthodontic bite ramp has a body having an anterior base for bonding attachment to the lingual surface of an upper tooth; an occlusal surface extending lingually from the base to provide a stop limiting upward movement of a patient's lower teeth; and a vertical slot in the lingual aspect of the bite ramp. The vertical slot divides the body into two lateral wings that can be compressed by application of a lateral compressive force to deform the base and thereby release the bite ramp from the tooth. Optionally, a bonding pad can be secured to the base for bonding attachment to the lingual surface of an upper tooth.