Abstract: A surgical system includes a robotic arm, a constraint mechanism coupled to the robotic arm, and a computer system configured to control the robotic arm to constrain manual movement of the constraint mechanism to a plane. The computer system is also configured to control the robotic arm to lock the constraint mechanism in a desired pose when the constraint mechanism is moved to the desired pose via manual movement in the plane.

Abstract: An apparatus includes a proximal portion and a distal portion attached to the proximal portion. The proximal portion includes a proximal surface. The proximal portion defines a first pathway and a second pathway that both extend distally from the proximal surface. The first pathway is dimensioned to receive a shaft while the second pathway is dimensioned to receive a navigation guidewire. The distal portion includes a distal tip terminating into a distal end. The second pathway extends from the proximal portion into the distal tip.

Abstract: Methods, systems, and computer-readable medium tracks locations of one or more surgical instruments. The method includes detecting a plurality of markers disposed on a distal end of a first surgical instrument within a field of view of a camera, calculating a position of the first surgical instrument based on a location of the plurality of markers within the field of view of the camera, determining the position of the first surgical instrument in relation to a second surgical instrument.

Abstract: A surgical system includes a detector, comprising an array of pixels configured to detect light reflected by a surgical instrument and generate a first signal comprising a first dataset representative of a visible image of the surgical instrument. The surgical system also includes a processor configured to receive the first signal, generate a modified image of the surgical instrument that includes a control panel. The control panel includes one or more control elements representative of one or more operating parameters of the surgical instrument. The processor is further configured to receive an input to the control panel from a user, the input being effective to change one of the operating parameters. The processor is also configured to generate a command signal based on the input to change the one of the operating parameters.

Abstract: Navigation of an instrument within a luminal network can include image-based branch detection and mapping. Image-based branch detection can include identifying within an image one or more openings associated with one or more branches of a luminal network. Image-based branch mapping can include mapping the detected one or more openings to corresponding branches of the luminal network. Mapping may include comparing features of the openings to features of a set of expected openings. A position state estimate for the instrument can be determined from the mapped openings, which can facilitate navigation of the luminal network.

Abstract: Systems and methods are described herein for resurfacing bones, and in particular, for detecting and resurfacing one or more femoroacetabular impingements (FAIs). A FAI resurfacing controller may be used to perform this detecting and resurfacing of FAIs. The FAI resurfacing controller may include a bone model generator to receive bone imaging and to generate a model of at least one osteophyte and of a surface of a native bone surrounding the at least one osteophyte. The FAI resurfacing controller may include an osteophyte identifier to set a virtual 3D boundary surface between native bone surface and the at least one osteophyte. The FAI resurfacing controller may include a resurfacing navigator to generate and output a navigation file. The navigation file may include the model with the 3D boundary surface between native bone surface and the at least one osteophyte.

Abstract: A laser can produce pulses of light energy to eject a volume of the tissue, and the energy can be delivered to a treatment site through a waveguide, such as a fiber optic waveguide. The incident laser energy can be absorbed within a volume of the target tissue with a tissue penetration depth and pulse direction such that the propagation of the energy from the tissue volume is inhibited and such that the target tissue within the volume reaches the spinodal threshold of decomposition and ejects the volume, for example without substantial damage to tissue adjacent the ejected volume.

Abstract: A drill guide fixture may be configured to prepare a skull for attachment of a cranial insertion fixture. The drill guide fixture may include a central drill guide and a bone anchor guide at a base of the drill guide fixture. The central drill guide may define a central drill guide hole therethrough, wherein the central drill guide hole has a first opening at a base of the drill guide fixture and a second opening spaced apart from the base of the drill guide fixture. The bone anchor drill guide may define a bone anchor drill guide hole therethrough, and the bone anchor drill guide hole may be offset from the central drill guide hole in a direction that is perpendicular with respect to a direction of the central drill guide hole. Related cranial insertion fixtures, robotic systems, and methods are also discussed.

Abstract: A mounting system for coupling first and second surgical components. The mounting system comprises a first mounting portion associated with the first surgical component, a second mounting portion associated with the second surgical component and comprising a tensioner movable between a first position and a second position, and a sterile barrier assembly. The sterile barrier assembly comprises a coupling configured to releasably secure to the first mounting portion and to releasably receive the second mounting portion when the tensioner of the second mounting portion is in the first position, and a plurality of kinematic couplers configured to engage the mounting portions and arranged to provide a kinematic coupling between the mounting portions through the sterile barrier assembly to constrain six degrees of freedom of movement between the surgical components when the tensioner of the second mounting portion is in the second position.

Abstract: A system includes a control device, a manipulator configured to support a tool having a tool frame, and at least one processor coupled to the control device and the manipulator. The at least one processor is configured to perform a method. The method includes receiving one or more images captured by an image-capturing system, the image-capturing system having an image frame. The tool is visible in the one or more images. The method further includes determining, based on information in the one or more images, an estimated frame transform relating the image frame and the tool frame, determining, based on the estimated frame transform, an output movement for the tool in response to an input at the control device, and causing movement of the tool according to the output movement.

Abstract: A medical instrument may include multiple joint members and at least two pairs of tendons connected with the joint members and adapted to move at least one of the joint members relative to at least one other joint member. Each joint member may include a main structural body that may be a single piece and includes at least one convex contact surface. A main portion of each tendon contacts the medical instrument only on the convex contact surfaces.

Abstract: A medical instrument may include multiple joint members and at least two pairs of tendons connected with the joint members and adapted to move at least one of the joint members relative to at least one other joint member. Each joint member may include a main structural body that may be a single piece and includes at least one convex contact surface. A main portion of each tendon contacts the medical instrument only on the convex contact surfaces.

Abstract: A compact medical treatment tool having an end portion, used for surgery, and a surgical system having such a medical treatment tool are provided. A medical treatment tool includes an end effector, a wrist member, a shaft, a first pulley, and a second pulley. A first pulley portion included in the end effector is rotatably mounted on the wrist member via a first connection, and is located closer to a first end of the first connection. The first pulley is mounted on the wrist member. A rotational axis of the first pulley intersects with a plane defined by a shaft axis and a first axis that is defined by the first connection. The rotational axis of the first pulley is located closer to a second end of the first connection, opposite to the first end of the first connection, than a groove of the first pulley portion.

Abstract: A compact medical treatment tool having an end portion, used for surgery, and a surgical system having such a medical treatment tool are provided. A medical treatment tool includes an end effector, a wrist member, a shaft, a first pulley, and a second pulley. A first pulley portion included in the end effector is rotatably mounted on the wrist member via a first connection, and is located closer to a first end of the first connection. The first pulley is mounted on the wrist member. A rotational axis of the first pulley intersects with a plane defined by a shaft axis and a first axis that is defined by the first connection. The rotational axis of the first pulley is located closer to a second end of the first connection, opposite to the first end of the first connection, than a groove of the first pulley portion.

Abstract: A drill guide fixture may be configured to prepare a skull for attachment of a cranial insertion fixture. The drill guide fixture may include a central drill guide and a bone anchor guide at a base of the drill guide fixture. The central drill guide may define a central drill guide hole therethrough, wherein the central drill guide hole has a first opening at a base of the drill guide fixture and a second opening spaced apart from the base of the drill guide fixture. The bone anchor drill guide may define a bone anchor drill guide hole therethrough, and the bone anchor drill guide hole may be offset from the central drill guide hole in a direction that is perpendicular with respect to a direction of the central drill guide hole. Related cranial insertion fixtures, robotic systems, and methods are also discussed.

Abstract: A teleoperational system in a surgical environment comprises a teleoperational assembly including a first teleoperational arm, a first display device coupled to the teleoperational assembly, and a processor. The processor is configured to monitor a location of the first display device in the surgical environment and render a first image on the on the first display device. The first image is rendered based upon the location of the first display device in the surgical environment.

Abstract: A configurable parallel medical robot (30) employs a plurality of unassembled serial robot modules (40). Each serial robot module (40) includes a serial articulated robotic arm (50) and a serial end-effector (60). Each serial end-effector (60) includes a coaxial coupler (61), and the coaxial couplers are configured to coaxially couple two or more serial end-effectors (60) to form a coaxial end-effector (63) based on a plurality of configurations of the configurable parallel medical robot, each configuration including a different number of assembled serial robot modules (40). A parallel medical robotic system (20) employs a configuration controller (80) for determining a configuration of the configurable parallel medical robot (30) to robotically guide a medical tool (10) within a medical procedural space. The configuration controller (80) may further determine a mounting and/or a pose of the configuration of the parallel medical robot (30) within the medical procedural space.

Abstract: A robotic surgical system includes a robotic arm and a user interface. The robotic arm supports a jaw assembly that includes opposed jaw members defining a jaw angle therebetween. The user interface includes a handle assembly having a body portion, a handle controller disposed within the body portion, and a first actuator movable relative to the body portion to change an opening angle of the first actuator. The first actuator has a force profile which is a force required to move the first actuator as a function of the opening angle, and the jaw assembly has a jaw angle profile which is the jaw angle as a function of the opening angle.

Abstract: A surgical instrument may comprise a shaft; a wrist structure coupled to the shaft; an end effector coupled to the wrist structure; and an actuation element extending through the shaft and the wrist and coupled to the end effector. The wrist structure may be articulatable in multiple degrees of freedom relative to the shaft, and the actuation element may follow a twisted path along at least a portion of a length of the wrist structure, the twisted path having an angular extent of less than 360 degrees over the length of the wrist.

Abstract: Embodiments relate to robotic arm assemblies. Embodiments include shoulder segment and upper arm segment having motor drive portion. Embodiments include shoulder coupling joint assembly connecting upper arm segment to shoulder segment. Shoulder coupling joint assembly includes distal shoulder joint subassembly connected to upper arm segment. Distal shoulder joint subassembly includes distal shoulder joint forming first axis. Distal shoulder joint subassembly includes shoulder planetary gear assembly having shoulder sun gear configured to rotate relative to first axis when motor drive portion is driven to rotate. Shoulder planetary gear assembly includes shoulder planetary gear carrier. When shoulder sun gear rotates, shoulder planetary gear carrier drives upper arm segment to rotate relative to first axis. Shoulder coupling joint assembly includes proximal shoulder joint subassembly connecting shoulder segment to distal shoulder joint subassembly.

Abstract: A surgical system comprising: at least two modular units, the modular units each comprising: a surgical arm; and a motor unit configured for actuating movement of the surgical arm, the motor unit configured to be operably attached to the surgical arm, where a first face of a motor unit housing generally defines a plane which is at an angle of 60-120° to a long axis of the surgical arm; wherein the motor unit is configured to be aligned adjacent a motor unit of at least one second modular unit; wherein a second face of a housing of the motor unit generally defines a plane which is at an angle to the first face and which comprises a connection geometry suitable for connecting the housing of the motor unit to a housing of the motor unit of the second modular unit.

Abstract: A method of controlling a function of a surgical instrument of a surgical robot with a input of a user interface includes selecting a function of a surgical instrument to link a input of the user interface with the function of the surgical instrument, actuating the input to activate the function of the surgical instrument, and delinking the input from the surgical instrument in response to an event of the surgical robot or the user interface.

Abstract: A treatment tool includes an elongated shaft that has a bending mechanism at a distal end thereof; a bending operation part that is connected to a proximal-end side of the shaft in order to operate the bending mechanism; a connection sleeve that is provided at a connection section of the bending operation part where the bending operation part and the shaft are connected, and that rotatably holds the shaft; a rotation operation member that is provided at the proximal-end side of the shaft and that rotates the shaft; and a stopper member that can be made to slide outside the connection sleeve along a direction of a longitudinal axis of the shaft and that is engaged with both the rotation operation member and the connection sleeve at a specific position in a range of movement thereof, thereby locking rotation of the shaft with respect to the connection sleeve.

Abstract: A surgical system includes a robotic device, an end effector mounted on the robotic device, and a processing circuit. The processing circuit is configured to generate a plurality of virtual geometries, each virtual geometry associated with a surgical task, track a position of the end effector, and determine whether the position of the end effector is at a location corresponding to a first virtual geometry of the plurality of virtual geometries. In response to a determination that the position of the end effector is at the location corresponding to the first virtual geometry, the processing circuit is configured to control the robotic device to facilitate completion of a first surgical task associated with the first virtual geometry.

Abstract: A drape adaptor configured for coupling to a first component of a medical device and for receiving a medical tool. The first component of the medical device including a non-sterile portion of a driving mechanism. The drape adaptor comprises a sealing member configured for passing therethrough at least a portion of at least one component of a sterile portion of the driving mechanism. The drape adaptor is configured to enable transmission of torque from the first component of the medical device to the medical tool via direct engagement between the at least one component of the sterile portion of the driving mechanism and the non-sterile portion of the driving mechanism, through the sealing member, without compromising the sterility of the environment external to the drape adaptor.

Abstract: A surgical drape is configured for covering a patient and an ultrasonography probe during surgical treatment of the patient. The surgical drape may comprise a first portion that comprises a canopy portion. The canopy portion can be sized and shaped to at least partially cover a mechanical arm coupled to the ultrasonography probe and a proximal portion of the ultrasonography probe, and the canopy portion can be configured to move with the proximal portion of the ultrasonography probe when the ultrasonography probe is supported by the mechanical arm. A second portion can be coupled to the first portion, in which the second portion is sized and shaped to cover at least a portion of a torso of the patient.

Abstract: A surgical drape is configured for covering a patient and an ultrasonography probe during surgical treatment of the patient. The surgical drape may comprise a first portion that comprises a canopy portion. The canopy portion can be sized and shaped to at least partially cover a mechanical arm coupled to the ultrasonography probe and a proximal portion of the ultrasonography probe, and the canopy portion can be configured to move with the proximal portion of the ultrasonography probe when the ultrasonography probe is supported by the mechanical arm. A second portion can be coupled to the first portion, in which the second portion is sized and shaped to cover at least a portion of a torso of the patient.

Abstract: A surgical drape is configured for covering a patient and an ultrasonography probe during surgical treatment of the patient. The surgical drape may comprise a first portion that comprises a canopy portion. The canopy portion can be sized and shaped to at least partially cover a mechanical arm coupled to the ultrasonography probe and a proximal portion of the ultrasonography probe, and the canopy portion can be configured to move with the proximal portion of the ultrasonography probe when the ultrasonography probe is supported by the mechanical arm. A second portion can be coupled to the first portion, in which the second portion is sized and shaped to cover at least a portion of a torso of the patient.

Abstract: The present disclosure provides a coupling system for coupling a medical accessory to an accessory support is provided. The present disclosure also provides a system for powering a medical accessory with an accessory support.

Abstract: A catheter is provided with increased flexibility and radiopaque measurement visibility. The radiopaque measurement bands are formed of a continuous coil of radiopaque material defined by areas of tightly packed coils spaced by areas of loosely wound coils. Systems and methods of utilizing the measurement structure are also provided.

Abstract: An objective of the present invention is achieved by a bio-implantable material winding system constituted by a sheet winding system comprising a sheet-shaped bio-implantable material F and a sheet winding device capable of winding the bio-implantable material, said sheet winding device comprising an axle member and a cylindrical member fitted onto the axle member and capable of moving relative to the axle member in the axle direction. The bio-implantable material winding system is configured to be capable of retaining the bio-implantable material in a rolled state in a gap between a leading end part of the axle member and the cylindrical member covering the leading end part. The bio-implantable material is configured to be deployable so as to assume a sheet-like shape when the leading end part of the axle member is exposed and the retaining action by the sheet winding device released.

Abstract: The subject invention provides devices and methods for alleviating discomfort associated with neuroma formation. The devices and methods of the invention effectively use the body's natural response of reconstructing implanted biomaterials to minimize the size of isolate, and protect a neuroma. In preferred embodiments, the subject device is a cylindrical cap, wherein the internal chamber of the cylindrical cap physically partitions the nerve to enable an arrangement of nerve fibers (as opposed to haphazardly arranged nerve fibers often produced in neuromas). Tabs arranged on the outside of the cap can be used to manipulate the cap into place on a nerve. The open end can also be configured with flaps that can be used to widen the open end for easier insertion of the nerve into the cap. In addition, the cap's material remodels into a tissue cushion after implantation, which protects the neuroma from being stimulated and inducing pain.

Abstract: The present disclosure relates to an intracranial guide for use in a medical procedure, such as to evacuate a subdural hematoma or to relieve an intracerebral hemorrhage. The intracranial guide generally includes a guide cannula to be received within a portion of a cranial port. The cranial port is configured to be anchored in a burr hole to be formed in the patient's cranium. The guide cannula includes at least one channel that may be used to guide a catheter to a targeted portion of the patient's anatomy or to apply a suction force within the patient's cranium.

Abstract: Apparatus and methods for providing three-dimensional printed oral stents are provided for head and neck radiotherapy. Movement of the jaw of the patient is simulated via a computer processor. Simulating movement of the jaw of the patient comprises rotating and translating a mandible of the jaw. A digital negative impression is transformed into a digital oral stent by adding support structures to the digital negative impression. The support structures facilitate three-dimensional (3D) printing of the patient-specific oral stent.

Abstract: A system for use during surgical procedures includes a flexible arm having a plurality of ball and socket segments that are interconnected for pivoting relative to one another, a universal adapter coupled with a first end of the flexible arm, and a component adapter coupled with a second end of the flexible arm. The component adapter includes a ball component that forms a snap-fit connection with one of the ball and socket segments. The universal adapter includes a male projection having a free end, an outer surface, external threads provided on the outer surface, a locking flange, and an annular groove formed in the outer surface of the male projection that is located between the locking flange and the external threads. The system has an overhead light connector having a female opening with internal threads. The external threads of the male projection are threaded into the internal threads of the female opening for securing the universal adapter to the overhead light adapter.

Abstract: A fiducial attachment device for securement of one or more fiducials to a bone is provided that includes a bracket body having a first hole adapted to receive a first bone pin at a non-parallel angle ? and having a second hole adapted to receive a second bone pin at a non-parallel angles ??, the angles ? and ?? being relative to a center line of said bracket body between the first hole and the second hole. The bracket body sometimes having an aperture therein for knob attachment. A fiducial attachment member extends away from the bracket body, where a distal end of the fiducial attachment member is an attachment point for the one or more fiducials. A method of using the fiducial attachment device is also provided. A system for using a fiducial attachment device of during a surgical procedure is also provided.

Abstract: Systems and methods are provided for controlling an x-ray device with an introducer sheath configured to for introduce an intervention device into a vessel and an acquisition facility for automatically acquiring an item of identification information of the intervention device and for generating a corresponding item of control information for the x-ray device. The acquisition facility is arranged directly on the introducer sheath.

Abstract: To provide a zirconia mill blank for dental cutting and machining which has excellent machinability in a thin workpiece such as an inlay, an onlay and a veneer, and may impart high strength and high translucency to a zirconia perfect sintered body without a special sintering such as HIP treatment, and a preparing method thereof. The zirconia mill blank for dental cutting and machining has a porosity within a range of 15 to 30%.

Abstract: A dental bite block device includes a front wall, a flat lateral sidewall, and a concave lateral sidewall that define a longitudinal channel that extends through the device. The lateral sidewalls are connected by a crossbar, and the channel can be filled with polyvinyl siloxane (PVS) dental impression putty. When the device is positioned in the patient's mouth, the flat lateral sidewall faces the right inner check of the patient, the patient's tongue rests against the concave lateral sidewall, and the patient's upper and lower teeth rest open on the front wall. Once the PVS putty sets, it forms a solid half cylinder-shaped member that includes impressions of a plurality of the patient's upper and lower teeth, which assist to maintain the device in place. The front wall and concave sidewall further include an opening that defines a clip for a saliva ejector.

Abstract: An easier and more precise way of correcting an archwire in orthodontics. Resolution Means: A method of assisting orthodontics according to an embodiment including: a first acquisition step of acquiring target data showing a target dentition with a plurality of brackets installed; a second acquisition step of acquiring measurement data obtained by scanning an actual dentition of a patient with the plurality of brackets installed; a comparison step of obtaining a difference between the target data and the measurement data by comparing the target data and the measurement data; and a generation step of correcting a shape of an archwire attached to the plurality of brackets based on the difference, and generating wire data showing a corrected shape.

Abstract: In one aspect, the present application provides a method of fabricating a shell-shaped repositioner for repositioning teeth from a first tooth arrangement to a second tooth arrangement, comprising: obtaining a first 3D digital model representing the first tooth arrangement, a second 3D digital model representing the second tooth arrangement and information of restrictions on anchorage force bearing of a first tooth among the teeth; modifying the second 3D digital model based on the first 3D digital model, the second 3D digital model and the information of restrictions on anchorage force bearing of the first tooth, to obtain a third 3D digital model; and controlling an apparatus using the third 3D digital model to fabricate the shell-shaped repositioner.

Abstract: Improved orthodontic appliances, along with related systems and methods, are provided. In one aspect, an appliance includes a shell having a plurality of cavities shaped to receive teeth, a discontinuity formed in the shell, and an elastic member positioned to interact with the discontinuity. In another aspect, an appliance includes a plurality of discrete shell segments joined by an elastic material to form a single appliance shell. In another aspect, an appliance includes a shell having an exterior layer and an interior layer having a stiffness less than a stiffness of the exterior layer, and a discontinuity formed in the exterior layer. In another aspect, an appliance includes a shell comprising an interior surface and an exterior surface, and an elastic coating covering at least a portion of one or more of the interior surface or exterior surface of the shell.

Abstract: A computationally implemented method includes, but is not limited to: determining an incrementally progressive series of adjustment appliances, each of the series of adjustment appliances having geometries selected to progressively reposition teeth; and determining for each of the series of adjustment appliances, a vertical displacement and a forward mandibular position for treating sleep apnea. In addition to the foregoing, other method aspects are described in the claims, drawings, and text forming a part of the present disclosure.

Abstract: Devices for carrying out subperiosteal minimally invasive jaw bone augmentation and reconstruction procedures, to develop a passageway and surgical site in a concealed area of patient tissue, where the surgical site is not exposed. The devices have shanks with specially configured tips to facilitate maneuvering the device through mammalian tissue to develop a tunnel in the tissue and a remote surgical site within the tissue. The device tips have one or more peripheral cutting surfaces that direct the positioning of the tunnel formation when the instrument handle is manipulated, e.g., by rotation, angular, forward or rearward motion. Embodiments of the devices are configured with tips that have a wide spread for cutting and elevating tissue, and with tips that may be maneuvered to condense bone graft material being implanted at a surgical site concealed within the tissue.

Abstract: A method and apparatus for generating and displaying a 3D representation of a portion an intraoral scene is provided. The method includes determining 3D point cloud data representing a part of an intraoral scene in a point cloud coordinate space. A colour image of the same part of the intraoral scene is acquired in camera coordinate space. The colour image elements are labelled that are within a region of the image representing a surface of said intraoral scene, which should preferably not be included in said 3D representation. A labelled and applicably transformed colour image is then mapped onto the 3D point cloud data, whereby the 3D point cloud data points that map onto labelled colour image elements are removed or filtered out. A 3D representation is generated from said filtered 3D point cloud data, which does not include any of the surfaces represented by the labelled colour image elements.

Abstract: A dental impression tray which in a modular system can be assembled from a plurality of portions which can be connected together and is thus individually adaptable to the patient jaw situation. There may be a universal base tray with insertable additional parts both for lower jaw and also for upper jaw impressions, wherein further adaptation can be implemented by extension portions and by shortening of the portions on the basis of predetermined markings or desired breaking locations. The impression tray may be a thermoplastic material which can be heated and still more precisely formed to the respective jaw geometry within the patient's mouth.

Abstract: Systems and methods are disclosed for processing and storing acquired data relating to one or more dental conditions. The methods can include acquiring a first oral feature in a first data acquisition using a data acquisition device, determining a first oral feature first reference point from the first data acquisition, diagnosing a first dental condition upon confirming that the first oral feature first reference point is associated with the first dental condition, acquiring the first oral feature in a second data acquisition using the data acquisition device, determining a first oral feature second reference point from the second data acquisition, and tracking the progression of the first dental condition by determining a discrepancy between the first oral feature first and second reference points.

Abstract: The invention relates to a process for the preparation of a zirconia blank by introducing a zirconia suspension into a porous mould and demoulding the blank formed as well as the use of the optionally presintered blank formed for the preparation of a dental restoration using a very short dense-sintering process.

Abstract: An improved method of a dental framework design and manufacturing, incorporating a dental framework design volume to eliminate framework or denture teeth modification post framework manufacturing.

Abstract: The invention relates to a process for the production of a dental restoration, in which an oxide ceramic material (a) is subjected to a first heat treatment, (b) is subjected to a second heat treatment and (c) is cooled, wherein the heat treatment in step (a) is effected at lower pressure than the heat treatment in step (b).