Abstract: An augmented reality system for displaying a medical image (in particular an image stream) and a respective method are disclosed. The augmented reality system includes an optical head mounted display, a medical imaging device, a tracking system that is adapted to measure data concerning a position and orientation of at least one object, and a processing unit. The processing unit is configured to transform an image from a coordinate system in which the image was taken to a coordinate system of the display. This transformation is performed using data measured by the tracking system, where the ARS is adapted to display the transformed image on the display in a position, orientation and scale that corresponds to the perspective of a position and orientation of the bearer of the display.

Abstract: An acoustic imaging apparatus and method receive a sensor signal from a passive sensor disposed on a surface of an intervention device which is disposed in an area of interest, wherein the passive sensor is located at a fixed distance from the tip of the intervention device. A processor is configured to ascertain an estimated range of locations of the tip of the intervention device in an image plane by using the sensor signal and an estimated effective distance, projected onto the image plane, from the passive sensor to the tip of the intervention device.

Abstract: A system and method for a catheter in a luminal network including capturing images via an optical sensor, comparing the captured images to pre-operative images, identifying fiducials in the captured images that correspond to fiducials in the pre-operative images; and depicting the position of the catheter in a three-dimensional (3D) model or two-dimensional (2D) images derived from the pre-operative images.

Abstract: A locating system for a surgical suite includes optical markers coupled to a medical device. A sensor is configured to obtain an initial position data of the optical markers. A laser device is configured to obtain subsequent position data of the optical markers. A controller receives the initial position data from the sensor and the subsequent position data from the laser device. The controller is configured to determine a position of the medical device within the surgical suite and recognize a type of the medical device in response to the optical markers.

Abstract: There is described a system and a method for assisting a user manipulating an object during a surgery, the method comprising: tracking the object in a sterile field in which surgery is being performed at a location using a tracking device which generates tracking data; processing the tracking data using a processing device located outside the sterile field to generate position and orientation information related to the object; and sending the position and orientation information related to the object to a displaying device positioned in the sterile field adjacent to the location at which the surgery is being performed, for display to the user.

Abstract: A C-arm, or a mobile intensifier device, is one example of a medical imaging device that is based on X-ray technology. Because a C-arm device can display high-resolution X-ray images in real time, a physician can monitor progress at any time during an operation, and thus can take appropriate actions based on the displayed images. Monitoring the images, however, is often challenging during certain procedures, for instance during procedures in which attention must be paid to the patient's anatomy as well as a medical imaging device display. In an example, a surgical instrument assembly includes a processor, a surgical instrument configured to operate on an anatomical structure, and a display coupled to the processor and attached to the surgical instrument. The display can be configured to display visual information comprising X-ray images generated by a medical imaging device.

Abstract: A drape for an input control console of an elongate device may comprise a main drape section configured to fit over the input control console via a main opening at one end of the main drape section. The drape may also comprise a plurality of pockets. Each of the plurality of pockets may include a pocket opening that is attached to a respective secondary opening in the main drape section. Each of the plurality of pockets may be configured to be anchored, at the pocket opening, to a side surface of a respective raised ring or bezel on the input control console using a respective tightening element.

Abstract: A centralized controller includes a recording unit, a judgement unit, a processing unit and an execution unit. The judgement unit reads out information on a plurality of kinds of operation from the recording unit and performs scene correspondence judgement as to whether or not each of the plurality of kinds of operation is operation corresponding to the scene for each of scenes of a surgery defined in advance. The processing unit generates at least part of setting values of a plurality of pieces of controlled equipment from a plurality of kinds of operation which are respectively judged as the operation corresponding to the scene through the scene correspondence judgement and records the setting values in the recording unit. The execution unit collectively sets the setting values for one or more pieces of controlled equipment for each of the scenes of the surgery.

Abstract: A miniature bone mounted robot configured to perform minimally invasive orthopedic surgery coupled with regenerative three-dimensional bio-printing technology to restore cartilage and affected bone. The robot uses a sensor device attached to a holder affixed to the robot activated arm, to map the three-dimensional surface of the bone surface to be treated. The sensor may be a touch sensor, an optical imaging device, or another tool for mapping the bone surface. The robot shapes and prepares the bone surface and subsequently deposits a bio-ink implant in a three-dimensional pattern mimicking the original shape and depth of the articular cartilage. Because the entire procedure is conducted through the robotic platform rigidly mounted on the patients bone, there is no need for registration to preoperative three dimensional images, or for intraoperative tracking. Cell deposition based on mapping of the actual three dimensional anatomy, ensures an optimal outcome.

Abstract: An energy source is coupled to a probe mounted on a robotic arm, and a processor configured with instructions to release energy to resect tissue in coordination with movement of the robotic arm and probe. The tissue can be resected in accordance with a defined tissue resection volume that can be determined based on images of the patient. The probe can be moved to a plurality of positions with movement of a distal end of the robotic arm and tissue resected in accordance with the treatment plan. The distal end of the robotic arm can be configured to move to a plurality of locations and orientations to provide an appropriate position and orientation of the probe tip and energy source. The processor can be configured with instructions to pivot the probe at a location to decrease tissue movement near the pivot such as an internal location of the patient.

Abstract: Disclosed herein is a robotic tele-surgery system for performing laparoscopic surgeries. The system may include: a patient-side unit, a surgeon-side unit, and a controller that may be configured for establishing a master-slave relationship between the surgeon-side unit and the patient-side unit. The patient side unit may include a patient support assembly, at least two passive mounting mechanisms that may be slidably coupled to the patient support assembly and at least two slave robotic arms, coupled with a surgical instrument via a tool adapting mechanism from their distal end, and mounted on an associated passive support assembly from their base end. The surgeon-side unit may including at least two master robotic arms, and an ergonomic adjustment mechanism that may be configured for housing and adjusting the position and orientation of the master robotic arms.

Abstract: A virtual representation of an operating room is generated based on robot information and sensing of the OR with depth cameras. One of the depth cameras is integrated with a portable electronic device, operated by a local user in the operating room. The virtual representation of the OR is communicated to the virtual reality headset, with three-dimensional point cloud data. A virtual reality environment is rendered to a display of the virtual reality headset, operated by a remote user. A virtual representation of the remote user is rendered in augmented reality to a display of the portable electronic device.

Abstract: Various approaches to solve for inverse kinematics may be used for teleoperation of a surgical robotic system. In one approach, an iterative solver solves for the linear component of motion independently from solving for the angular component of motion. One solver may be used to solve for both together. In another approach, all limits (e.g., position, velocity, and acceleration) are handled in one solution. Where a limit is reached, the limit is used as a bound in the intermediate solution, allowing solution even where a bound is reached. In another approach, a ratio of limits of position are used to create a slow-down region near the bounds to more naturally control motion. In yet another approach, the medical-based teleoperation uses a bounded Gauss-Siedel solver, such as with successive-over-relaxation.

Abstract: A surgical robotic system may comprise a manipulator assembly including a manipulator arm having a distal portion. The surgical robotic system may also comprise a registration device mounted to a surgical table. The table mounted registration device includes a registration element shaped to contact with the distal portion of the manipulator arm by receiving the distal portion of the manipulator arm to define a spatial relationship between the manipulator assembly and the table mounted registration device. The distal portion of the manipulator arm moves in a plurality of degrees of freedom. The plurality of degrees of freedom is reduced by the table mounted registration device when the table mounted registration device is in contact with the distal portion of the manipulator arm. The surgical robotic system may also comprise a control system that determines the spatial relationship between the manipulator assembly and the table mounted registration device.

Abstract: A manipulator for a surgical instrument may comprise an instrument holder coupled with the surgical instrument and rotatable in a plane that passes through a remote center. The manipulator may also comprise a linkage assembly coupled to the instrument holder to limit motion of the instrument holder to rotation about an axis that intersects the remote center. The linkage assembly may comprise a first linkage arm comprising first and second pulleys. Each pulley may comprise first and second drive tracks which are substantially co-planar. The first linkage arm may also comprise a first drive member section extending between the first drive tracks of the pulleys and a second drive member section extending between the second drive tracks of the pulleys. The first drive member section may be wound around the first pulley in a first direction and the second drive member section may be wound around the first pulley in an opposite direction.

Abstract: A surgical instrument apparatus for performing a surgical procedure within a body cavity of a patient is disclosed and includes an elongate manipulator having a distal end for receiving an end effector and including a plurality of control links extending through the manipulator operable to cause movement of the distal end in response to movement of the control links in a longitudinal direction. An actuator chassis is disposed at a proximal end of the manipulator and includes a plurality of actuators slidingly mounted within the actuator chassis for linear movement in the longitudinal direction. Each actuator is coupled to a control link and adjacently disposed about a curved periphery of the actuator chassis. An outwardly oriented portion couples a drive force to the actuator to cause movement of the control link.

Abstract: A sterile interface assembly configured to operably engage a robotic surgical instrument includes an adapter, a surgical drape, and a clip. The adapter includes a body having a first end portion and a second end portion, inputs disposed at the first end portion of the body, outputs disposed at the second end portion of the body, connectors coupling each of the inputs with a corresponding one of the outputs, and a seal disposed within the body and configured to establish a fluid-tight seal with an interior surface of the body and about the connectors. The surgical drape defines a sleeve of material having a proximal end portion and a distal end portion. The proximal end portion is attached to an exterior of the body of the adapter. The clip is configured to engage the distal end portion of the surgical drape to a shaft.

Abstract: A tissue protector has a body structure having a longitudinal extending thin web. The body structure has an unconstrained first shape configured to form a nerve shield and is configured to shrink about a longitudinal axis to a smaller constrained second shape sized to fit into a lumen of a cannula. Preferably, the second constrained shape is oval or round having a maximum diameter equal or less than an inside diameter of the lumen. The body structure is configured to return to the first shape when the cannula is withdrawn or returned to this shape as the implant advances.

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: To provide a packaged medical device in which a medical device in a container is stably fixed and which can be easily opened. Specifically, provided is a packaged medical device comprising a container having an opening portion and a flange portion formed to extend outward in a peripheral portion of the opening portion, a medical device housed inside the container, and a lid member having a gas impermeable film and peelably heat-sealed to the flange portion, in which the inside of the container is set to a negative pressure to the atmospheric pressure so that the medical device is pressed by the lid member and the peel strength to the flange portion of the lid member is 2 to 50 N/in.

Abstract: A portable patient-care kit is disclosed. The kit includes a housing, a plurality of compartments and a touch-screen user interface device. The housing forms a container space. The plurality of compartments is disposed within the container space such that each compartment is configured to retain at least one medical apparatus. The touch-screen user interface device has a transceiver that can communicate via a mobile data network.

Abstract: A system for reducing aerosols emitted from a patient on which a medical procedure is being performed. The system comprises a transparent dome and an adapter assembly configured to releasably support the dome. The system additionally comprises a support assembly configured to support the adapter assembly and the dome. The support assembly is adjustable such that the dome can be selectively positioned over an intended body area of the patient and block aerosols emitted from the intended body area.

Abstract: A tool includes a working end determining device arranged in a shaft region or gripping region thereof for determining and/or detecting a working end of the tool. The working end determining device includes a writable and/or readable data storage device that stores data relating to the working end of the tool. The working end determining device provides data externally with reference to the working end of the tool for detecting the working end of the tool. The working end determining device can be a communication device that includes the data storage device and an antenna device. Alternatively, the working end determining device can be a unit integrated into the tool that is connected to an external control device via an electrical contacting. The integrated unit includes a resistor determining the working end of the tool and/or a storage device storing data with respect to the working end.

Abstract: A surgical apparatus including a body having at least one port; and at least one item of surgical equipment; in which each item of surgical equipment includes an engagement member arranged to engage a port of the body, and in which the apparatus further includes a control circuit for determining for each port whether the engagement member of one of the items of surgical equipment is engaged to the port; and an indicator controlled by the control circuit and arranged to indicate whether each engagement member is engaged with the at least one port.

Abstract: A surgical system can include a master controller for controlling one or more surgical tools. The system can also include an input on the master controller configured to change the master controller from a first mode into a second mode. The first mode can be a teleoperation mode and the second mode can be a virtual marking mode. In the virtual marking mode, a user is capable of communicating a virtual marker to other staff.

Abstract: A holder for use in combination with an external object is provided, in particular a holder for which the external object moves around a remote center of motion. The external object may be a medical instrument such as a cannula or trocar whereby the remote center of motion is the patient's abdomen. The holder includes two members, generating motion in both a longitudinal and rotational manner. The holder can be used to support another object, in a particular embodiment a camera, convenient for performing endoscopic (laparoscopic) surgery and is equipped with means for generating motion, both in a longitudinal and rotational manner following XYZ coordinates. The holder is particularly useful for working in small areas as it occupies only a small bedside space, without scarifying on functional work area of the instrument mounted in the holder.

Abstract: Methods and systems for performing computer-assisted image-guided surgery, including robotically-assisted surgery. A method of displaying image data includes displaying image data of a patient on a handheld display device, tracking the handheld display device using a motion tracking system, and modifying the image data displayed in response to changes in the position and orientation of the handheld display device. Further embodiments include a sterile case for a handheld display device, display devices on a robotic arm, and methods and systems for performing image-guided surgery using multiple reference marker devices fixed to a patient.

Abstract: A transurethral system for delivering and depositing fiducial markers usable to delineate the prostate during radiation therapy.

Abstract: A hydrogel marker is placed under stress during its curing stage, in one embodiment, by application of an externally applied force. The stress may also be induced during or after the dehydration process. The direction of the externally applied force increases the length, width, depth, or radial extent of the marker. The elastic limit of the marker is exceeded when the external force is applied so that the marker substantially retains its stressed size and shape when the externally applied force is removed. When the stretched or otherwise deformed dehydrated marker is hydrated, it substantially returns to the configuration it had prior to its dehydration and prior to the application of the externally applied force.

Abstract: A dental implant instrument set for vertically displacing sinus mucosa to form a space for bone augmentation comprises a bone drill and a sinus curette. The bone drill includes a drill bit for drilling upwardly a hole at a site of the alveolar bone where a tooth is lost, so as to expose sinus mucosa. The sinus curette includes a holding portion and a curette head portion. The curette head portion has one end provided with a turning part for separating from the alveolar bone and displacing the exposed sinus mucosa inward through the hole drilled by the drill bit, so as to form a space for bone augmentation above the site of the alveolar bone where the tooth is lost. The turning part is arranged to be at a first angle between 45 to 135 degrees with the curette head portion.

Abstract: The invention concerns a set with a bone anchor (2) for an upper or lower jaw (1,17) and a corresponding drilling template (10) for making drill holes in the jaw (1,17), wherein the drilling template (10) contains an anchor plate (3?) of which the shape and dimensions are virtually the same as those of at least the bone side (8) of the bone anchor's (2) anchor plate (3), wherein the drilling template (10) has a connecting element (6?) which is rigidly connected to the anchor plate (3) and whose shape and dimensions are virtually the same as those of the connecting element (6) of the bone anchor (2), wherein a drill guide (12) is provided adjacent to each of said recesses (11) on the drilling template (10) that allows a drill to be appropriately guided in order to make drill holes in the jaw (1,17).

Abstract: A device for the relative positioning of the lower and upper jaws of a subject that includes splints intended to be disposed on the dental arches of the lower and upper jaws of the subject and linked by link members disposed in an occlusal position, between the splints, each link member includes posterior and anterior end parts made secure and articulated on a respective occlusal face of the upper and lower splints, so as to stress said lower splint in a forward direction. Each link member is composed of a rigid link rod of fixed length whose posterior end part is on the upper splint and in that the position of the posterior end part of each rigid link rod is longitudinally adjustable in the occlusal plane so as to adjust the position of the lower splint.

Abstract: A tool for forming a dental restoration includes a mold body configured to provide a customized fit with at least one tooth of a patient. In some examples, the mold body defines an aperture configured to align with a portion of a surface of a tooth. The aperture is sufficiently large to allow placement and flow of restorative material over the desired portion of the surface of the tooth to be restored. The mold body is configured to combine with the at least one tooth of the patient to define a mold cavity encompassing at least a portion of desired tooth structure of the tooth to be restored.

Abstract: In particular embodiments, method, apparatus and system for receiving digital representations of the initial parameters of a dentition; simulating a first orthodontic treatment process on the digital representations of the initial parameters, displaying a set of output results from the simulation of the first orthodontic treatment process, simulating a second orthodontic treatment process on the output results from the simulation of the first orthodontic treatment process, and displaying a set of output results from the simulation of the second orthodontic treatment process are provided.

Abstract: Methods and systems for generating a three-dimensional occlusogram are disclosed. One method includes determining a virtual three dimensional (3D) mesh model object of at least one tooth of a patient and displaying the determined virtual 3D mesh model object of at least one tooth of a patient wherein the 3D mesh model object includes a plurality of data sets associated with a set of occlusal information for the at least one tooth of the patient.

Abstract: Orthodontic and/or dental treatment planning methods and apparatuses. In particular, described herein are methods of generating a plurality of potential treatment plan variations for the concurrent and interactive review of the treatment plan variations. Each variation may be optimized to best address the user's treatment goals, as well as approximating as closely as possible an ideal or target final position. Also described herein are orthodontic and/or dental treatment planning methods and apparatuses that allow a user to form, modify, and select a treatment plan from a plurality of different treatment plans, in real time.

Abstract: Orthodontic and/or dental treatment planning methods and apparatuses. In particular, described herein are methods of generating a plurality of orthodontic treatment plans digitally using a hierarchy of bounding boxes enclosing the plurality of 3D shapes to avoid collisions during treatment.

Abstract: A virtual filler is inserted in a virtual model of a dental site between a first tooth and a second tooth in the virtual model. One or more of the first tooth or the second tooth represent a natural tooth of a patient. Points of the first tooth, the second tooth and the virtual filler are transformed into a voxel volume. A geometry of an updated virtual filler is determined by transforming a surface of the voxel volume into a polygonal mesh.

Abstract: Embodiments are provided for forming a patterned dental positioning appliance. One method includes forming a virtual shell shaped to receive one or more teeth of a virtual model of a patient's dentition, and digitally applying a pattern on an inner surface within cavities of the virtual shell, where the pattern contacts at least a portion of the one or more teeth and modifies repositioning forces exerted on the one or more teeth. In some cases the pattern is a raised pattern, such as a raised mesh pattern. In forming the dental appliance, in some cases, the shell and the pattern are formed of the same material to form a unitary piece of the polymer material.

Abstract: The present invention provides orthodontic appliances and systems, and related methods, for applying a force to a target tooth as an appliance is worn by the patient. One positioning appliance includes a tooth positioning appliance having teeth receiving cavities shaped to apply a positioning force to the patient's teeth. The appliance includes a spring-loaded tooth movement device disposed in the appliance so as to engage an attachment mounted on a surface of a patient's tooth and apply a force to the tooth.

Abstract: Orthodontic brackets and methods for the manufacture of orthodontic brackets including identification marks indicating placement, thickness, or torque.

Abstract: A dental implant system has a dental implant (1) provided with an implant frustoconical cavity (2); an abutment (19) having an abutment post (20) of size and shape such as to be permanently retained in the implant frustoconical cavity (2) and an abutment head (22) suitable for supporting a dental crown (13); a dental transfer (4) having a transfer post (5) intended to be inserted into the implant frustoconical cavity (2) before an impression taking, and a transfer head (7) identical to the abutment head (22) of the abutment (19); and an implant analog (11) having an analog internal cavity (16) suitable for receiving the transfer post (5), and an outer surface (14) provided with undercuts (15) to be retained inside a plaster model (12) in casting a dental model into said impression. The implant frustoconical cavity (2) of the dental implant (1) is a through hole.

Abstract: A system for scanning a dental arch of a patient includes a reference element having a reference pattern thereon; a holding mechanism configured to hold the reference element in a fixed position inside the patient's oral cavity adjacent to and spaced from the dental arch, wherein the holding mechanism is configured to be installed on the patient without contacting an occlusal surface of the dental arch; and an intra-oral scanner configured to scan the dental arch and an adjacent portion of the reference element to obtain a scanned image comprising the scanned portion of the dental arch and the scanned adjacent portion of the reference pattern.

Abstract: According to a combined intraoral and impression scanning system and method of the present invention, intraoral scan data of an intraoral object can be obtained and stored, and impression scan data of the oral object can be selectively stored from an intraoral scan data area that satisfies a preset determination condition. By applying the intraoral scan data area corresponding to the preset determination condition as the impression scan data, highly reliable final scan data can be obtained and a precise prosthesis can be manufactured.

Abstract: The present inventive concept relates to a method of manufacturing dentures by using a jig, the method including: planting false teeth in a soft jig to expose roots of the false teeth to outside of the soft jig; inserting the soft jig into a hole provided in a hard jig; cutting exposed portions of the false teeth to a depth set by a controller of a milling machine; and inserting the cut false teeth into a false teeth groove of a gum structure.

Abstract: An article of manufacture for providing a dental droplet extraction device is disclosed. The device is created around a large collection basin having a funnel-like opening at its top. An exit port is located at the bottom of the large collection basin. The exit port is connected to a high-volume dental line to provide negative pressure that suctions all of the aerosolized droplets created within the patient's mouth while receiving treatment. The removed particles may be trapped in a filter located in the dental suction lines.

Abstract: The present disclosure is directed to improved multi-suction dental devices, assemblies, systems and methods and of using the same. The multi-suction dental devices can be configured to suction both liquids and aerosols during dental procedures. Each multi-suction dental device can comprise at least one low-volume evacuation (LVE) suction pathway and at least one high-volume evacuation (HVE) suction pathway.

Abstract: A lip retractor includes a first curved portion having a recess running along an outer surface, a second curved portion having a recess running along an outer surface, the second curved portion opposing the first curved portion, an arm connecting the first curved portion to the second curved portion, an interior suction chamber configured at least partially through the first and second curved portions and the arm, and a first port on an inner surface of the first curved portion, a second port on an inner surface of the second curved portion, and an evacuation connection port connected to the arm, wherein the first port, the second port and the evacuation connection port are in fluid communication with the interior suction chamber.

Abstract: Animal retaining device embodiments for positioning an animal are provided. The device embodiments include a frame, multiple legs extending from the frame, and a substrate extending across the frame, wherein the substrate includes an opening for receiving a head of an animal such that its neck is maintained within the opening of the substrate during an examination, and each of said multiple legs connecting to the frame via a joint component. The retaining device decreasing potential for radiation exposure to medical professionals.

Abstract: A protective cover device for an animal's head includes a first portion for securement around the animal's neck, behind the occiput and at or near the smallest diameter of the neck, and a second portion for covering the animal's ears that is fastened forward of said first portion and at or near the throat or jaw of the animal. The device may be a flexible/generally-flexible panel with supplemental shaping, stiffening, and/or adjustment systems to cup/fit the ears, to prevent the ears from sliding out of the device, and/or to prevent foreign objects such as cheat-grass or fox-tail, ticks, or insects from reaching the ears. Stiffeners may be added along or beside the central axis, around the front edge, and/or near the animal's ears, to shape and hold the second portion in a configuration protective of the animal ears and not easily rolled-up or pushed off by a paw/foot.