Abstract: A bone anchor insertion device for delivering one or more bone anchor components into bone is provided. The insertion device improves surgical control in bone anchor location, placement and insertion into target bone. The bone anchor insertion device also improves efficiency in placing the bone anchor. The surgical instrument provides improved control of stylet location and orientation, including directional control for precise bone anchor component insertion. Methods to use the bone anchor insertion device in surgical procedures are also provided.

Abstract: A spinal fixation device is provided including a modular head assembly and a bone screw. The modular head assembly includes a housing, an anvil, an insert, and a snap ring. The housing defines a proximal surface and an opposite, distal surface, and the proximal and distal surfaces define a throughbore therethrough. The anvil is configured to be slidably received within a portion of the throughbore. The insert defines a proximal surface and an opposite, distal surface, and the distal surface defines a first counterbore therein that terminates at a first annular surface. The first annular surface defines a second counterbore that terminates at a second annular surface. The snap ring is configured to be disposed within the first counterbore of the insert when in a first configuration, and within the second counterbore of the insert when in a second configuration.

Abstract: The present disclosure provides a treatment tool cable of satisfactorily treating long tubular bone fractures, such as femoral trochanteric fractures and subtrochanteric fractures. The treatment tool comprises an elastic plate 2 that has a curved shape or that can be curved, the plate comprising at least one pressing portion 20 that is provided at one end in the width direction of the plate and that presses the trochanter 103 of the femur 100 from the posterior side by a restoring force that is generated by deformation of widening the curvature.

Abstract: A locking system can comprise a screw head without threads and a thread created only inside a bore of a bone plate. The machining of thread geometry can thus pertain to the screw body, while the screw head can be formed by curved surfaces and contact surfaces by simple machining process. A plurality of screws can be implemented, and each bone plate can have a larger number of bores for accepting the screws than the number of screws. The said locking screw can be used with other bone plates having continuous or partial threads created inside their bores.

Abstract: Implants, devices, systems, and methods for achieving ligament fixation are disclosed. An implant comprises a cap member comprising an internally threaded opening extending from a first end thereof, an anchor portion comprising a first end that defines a tip of the implant and external threads, and a coupling portion extending between the cap member and the anchor portion. The coupling portion of the implant includes an externally threaded portion threadably coupled within the internally threaded opening of the cap member. The cap member of the implant is longitudinally moveable along the coupling portion. Insertion instruments for inserting an implant for ligament fixation are also disclosed. Methods of using an implant for achieving ligament fixation are also disclosed.

Abstract: A system and method for installation of a k-wire through a scaphoid or other fractured bone can include a guide block for accurate trajectory of a k-wire. A support frame for a guide block can be casted and/or secured into place, and a CT scan is obtained, so the fractured bone and the location of the window can be known in the same three-dimensional space. An ideal k-wire trajectory can be plotted through the fractured bone, and a guide block with a lumen can be designed and printed using a three-dimensional printer. The guide block can be inserted into the frame so the lumen aligns with the ideal k-wire trajectory, and a k-wire can be inserted through the lumen into the fractured bone. The net effect would be ideal placement of the k-wire that would facilitate the ultimate insertion of a percutaneous screw to provide fixation of the fractured bone.

Abstract: This disclosure relates to surgical devices and methods for repairing bone defects. The defect indicators disclosed herein may be utilized to indicate a precise location of the defect associated with an articular surface of a joint.

Abstract: A cryoablation tool has a primary fluid circuit for cryogenically cooling or heating tissue surrounding the distal portion of the cryoablation tool. The primary fluid circuit has a primary-primary heat exchanger facilitating recuperative heat exchange between a high pressure stream of a primary fluid and a low pressure stream of the primary fluid. The cryoablation tool has a secondary fluid circuit having a secondary-secondary heat exchanger for permitting recuperative heat exchange between a high pressure stream of a secondary fluid and a low pressure stream of the secondary fluid. The secondary fluid circuit also has a primary-secondary heat exchanger permitting heat exchange between the high pressure stream of the primary fluid and the low pressure stream of the secondary fluid.

Abstract: The present invention is directed to improved systems, devices, and methods for delivery of a cryogen to the skin of a patient for skin treatment. A cryospray device configured to deliver a cryogen to a patient's skin can include an applicator, a supply channel, and a nozzle assembly. The applicator can include a head portion, and the supply channel can extend through at least a portion of the head portion. The nozzle assembly can be coupled to the head portion and can be fluidly coupled to the supply channel. The nozzle assembly can include a linear array of orifices that are configured to direct a planar spray of the cryogen to cool an area of a skin tissue of the patient in a linear cooling treatment.

Abstract: A vapor delivery system and method is provided that is adapted for treating prostate tissue. The vapor delivery system includes a vapor delivery needle configured to deliver condensable vapor energy to tissue. In one method, the vapor delivery system is advanced transurethrally into the patient to access the prostate tissue. The vapor delivery system is properly positioned by measuring and advancing the system based on a field-of-view of an endoscope or camera disposed within the system.

Abstract: An electrically conductive plate of a treatment instrument includes a treating surface and a back surface facing an opposite side of the treating surface, and an electric component is arranged on the back surface of the electrically conductive plate. The electric component is electrically independent from the electrically conductive plate, and a holder supports the electrically conductive plate from the back surface side. A connector is made of a thermoplastic resin, and arranged on either side of and spaced from the electric component in a width direction intersecting with a longitudinal axis. The connector stationarily fixes each end of the electrically conductive plate in the width direction to the holder.

Abstract: An apparatus includes a body, a shaft assembly, and an end effector. The end effector includes an ultrasonic blade and a clamp arm assembly. The ultrasonic blade is in acoustic communication with an acoustic waveguide of the shaft assembly. The clamp arm assembly is pivotable toward and away from the ultrasonic blade. The clamp arm assembly includes a first electrode and a second electrode. The first and second electrodes are operable to cooperate to apply bipolar RF energy to tissue.

Abstract: Methods and apparatuses (e.g., devices, instruments and systems, including applicator handles for use with pulse generators) for automatically and/or mechanically setting impedance matching for connecting the applicator handle with different electrode tips. These methods and apparatuses may be useful for applying therapeutic energy, including but not limited to short, high field strength electric pulses, while avoiding the risk of arcing or otherwise harming the tissue.

Abstract: An end-effector is disclosed. The end-effector includes a clamp arm and an ultrasonic blade configured to acoustically couple to an ultrasonic transducer and electrically couple to a pole of an electrical generator. The clamp arm includes a clamp jaw, a clamp arm pad, and a cantilever electrode that is free to deflect. The cantilever electrode is configured to electrically couple to an opposite pole of the electrical generator. Also disclosed are configurations where the clamp arm includes a peripheral cantilever electrode and a clamp arm pad extending beyond the electrode, a floating cantilever electrode and a resilient clamp arm pad, an interlocked cantilever electrode plate and a clamp arm pad configured to receive the plate, a laterally deflectable cantilever electrode and a clamp arm pad extending beyond the electrode, and a flexible cantilever electrode and a clamp arm pad extending beyond the electrode.

Abstract: Systems and related methods for identifying and/or ablating targeted nerves are provided. A probe with stimulating electrodes and/or ablation members are provided. The probe may be inserted into a nasal cavity and current may be introduced through the electrodes to stimulate a targeted area. The response to stimulation may be used to identify the targeted nerve. Once identified, the ablation member may ablate the targeted nerve.

Abstract: A bipolar surgical instrument comprises a body first and second opposed jaws located at the distal end of a shaft, the first jaw being movable with respect to the second jaw between an open position in which the first and second jaws are spaced apart from one another, and a closed position in which the first and second jaws are adjacent one another. The first and second elongate jaw members have respective first and second electrodes. A controller is operable to determine a boiling point for tissue between the jaws using a measure of impedance therebetween.

Abstract: A surgical instrument comprising a housing, a shaft assembly, a processor, and a memory is disclosed. The shaft assembly is replaceably connected to the housing. The shaft assembly comprises an end effector. The memory is configured to store program instructions which, when executed from the memory cause the processor to send an electrical interrogation signal to the attached shaft assembly, receive a response signal from the attached shaft assembly, cause a default function to be performed when a response signal is not received by the attached shaft assembly, determine an identifying characteristic of the attached shaft assembly as a result of the performance of the default function, and modify a control program based on the identifying characteristic of the attached shaft assembly.

Abstract: An electrosurgical device can be delivered to a tissue site to provide supplemental sealing of vessels and/or vascular tissue that include suturing, stapling, or the like. The electrosurgical device is generally in the form of forceps, and includes an end effector assembly including opposing movable jaws. Each jaw includes a deformable pad or cushion including an electrode array positioned thereon. Each deformable cushion is configured to deliver a fluid, such as saline, during activation of the electrode array, thereby creating a virtual electrode which couples radiofrequency (RF) energy emitted from the electrode array into tissue in which the RF energy is converted into thermal energy. The deformable cushion and electrode array provide a controlled degree of compression upon the target tissue or vessel to maintain integrity of a suture, staple, or clip, as well as controlled energy emission for sealing, cauterizing, coagulating, and/or desiccating the target tissue or vessel.

Abstract: A surgical instrument includes an elongate shaft having a proximal shaft portion and a malleable distal shaft portion. The elongate shaft is configured to be secured to a supporting surgical instrument. An ablation head is coupled to the malleable distal shaft portion and includes at least one electrode operable to deliver RF energy to tissue for ablating the tissue. The ablation head is sized to fit within the nasal cavity of a patient with a distal end of the supporting surgical instrument. The proximal shaft portion is configured to operatively couple with an RF energy source operable to energize the at least one electrode with RF energy. The malleable distal shaft portion is configured to bend relative to a longitudinal shaft axis defined by the proximal shaft portion for selectively orienting the ablation head relative to the longitudinal shaft axis.

Abstract: The present invention is a minimally invasive articulating configured to be advanced through tortuous anatomy, particularly within a lung, and subsequently deliver at least two separately deployable ablation devices to a target site located at a bifurcated section of the lung (i.e., at a bronchial airway bifurcation). The pair of ablation devices are separately steerable towards respective first and second pathways extending from the bifurcation, such that each of the ablation devices can be positioned on either side of a target tissue proximate the bifurcation. The first and second ablation devices include expandable distal tips configured to transition to a deployed configuration, in which each expands in diameter and is configured to apply a degree of compression and/or RF energy emission to target lung tissue (i.e., diseased tissue, such as cancer or emphysema-related damaged tissue) for subsequent ablation thereof.

Abstract: Disclosed herein is an epidural catheter with an RF generation function. More specifically, the epidural catheter with an RF generation function may include a main body, an inserting part being connected to the main body and being inserted inside a physical body, and a manipulating part being provided in the main body and being connected to the inserting part or an internal assembly part of the inserting part, so as to manipulate the inserting part or to perform a function of the inserting part, wherein two steering wires may be interpolated in the inserting part, the two steering wires being manipulated by the manipulating part so as to allow flexion of the inserting part to be controlled, and wherein, by allowing power status to be turned on/off using the main body as medium, the steering wires may act as electrodes.

Abstract: A catheter and tissue cutting system percutaneously permits the creation of an anastomosis between a first and second anatomical structure, such as a vein and an artery. The system comprises a catheter having a main body with a lumen and tapered distal tip, configured to be moved distally into the first anatomical structure over a primary guidewire. A cutting electrode is nested in the main body, with a lumen which tracks over a secondary guidewire, and is insertable into the secondary anatomical structure. An energy supply is operative to energize the cutting electrode in order to cut a tissue wall defining the first anatomical structure.

Abstract: An ablation device and method for pulsed field ablation, the device comprising a catheter including an expandable basket, a set of electrodes formed on the expandable basket, and a pulse generator suitable for generating electric pulses wherein the pulse generator being in electrical connection with the set of electrodes. The expandable basket is formed of a braided mesh of filaments, wherein the filaments are made of nonconductive material, wherein at least portion of the filaments comprises a lumen, wherein the filaments further include electrodes and conductive wires. The conductive wires at least partially lead inside of the lumen of the filaments and are electrically connected to the electrodes.

Abstract: The present disclosure provides electroporation systems and methods of energizing a catheter for delivering electroporation. A catheter for delivering electroporation includes a distal section and an electrode assembly. The distal section is configured to be positioned in a vein within a body. The vein defines a central axis. The electrode assembly is coupled to the distal section and includes a structure and a plurality of electrodes distributed thereabout. The structure is configured to at least partially contact the vein. Each of the electrodes is configured to be selectively energized to form a circumferential ring of energized electrodes that is concentric with the central axis of the vein.

Abstract: A device and method is disclosed for creating a lesion in adventitia tissue of a renal artery and/or a region of tissue surrounding the adventitia tissue while protecting intima and media tissue of the renal artery from injury. A catheter carrying a microwave antenna is positioned within the renal artery. Cooling fluid is circulated around the microwave antenna in thermal contact with the intima of the renal artery. Power is supplied to the microwave antenna to cause microwave energy to be emitted omnidirectionally from the microwave antenna. The power supplied to the microwave antenna and the cooling fluid circulated around the microwave antenna are controlled to cause the adventitia tissue and/or the region of tissue surrounding the adventitia tissue to be heated to a temperature sufficient to cause thermal damage while the intima and media tissue are maintained at a temperature where thermal damage does not occur.

Abstract: Examples of a probe for microwave ablation are disclosed. The probe comprises a feed coaxial cable and an antenna that has a cylindrical outer housing with a predetermined diameter and a predetermined length defining a cavity therein and a radiating conductor positioned within the cavity with a matching stepped portion. The antenna further comprises a dielectric material placed in the cavity between the radiating conductor and the outer housing of the antenna to increase the mechanical strength of the probe as well as to improve the power coupling to the tissue to be ablated. The design of the coaxial cavity of the antenna with radiating conductor with a stepped portion fitted into dielectric materials increases antenna's mechanical strength to withstand higher temperatures and reduces an energy reflected back to the feed coaxial cable due to a good impedance match between the antenna and the feed cable such that antennas with smaller length can be used to fit curved paths.

Abstract: A medical instrument includes two jaw members, at least one of which creates conditions of frustrated total internal reflection at a tissue-contacting surface when tissue is grasped between the two jaw members. The first jaw member may include an optical element having a tissue-contacting surface. The medical instrument also includes a light source that provides a light beam for sealing tissue. The light source is positioned so that the light beam is totally internally reflected from an interface between the tissue-contacting surface and air when tissue is not grasped by the jaw members. When tissue is grasped by the jaw members, at least a portion of the light beam is transmitted through that portion of the tissue-contacting surface that is in contact with the tissue. The light source may be movably coupled to a jaw member to scan the light beam and/or to change the incident angle based on optical properties of the tissue.

Abstract: A light treatment system includes: a probe configured to be inserted into a bladder, the probe including an optical fiber, and a diffuser that is provided at a distal end of the optical fiber, the diffuser being configured to emit the light from a surface of the cylindrical shape in a diffused manner; a balloon catheter into which the probe is inserted, the balloon catheter being configured to be inserted into the bladder, the balloon catheter including a distal end portion that is to be spherically dilated in the bladder; and a liquid that includes light scattering particles and fills inside of the distal end portion when the distal end portion has been dilated, the liquid having an equivalent scattering coefficient ??s equal to or larger than 5/R, where R is a maximum radius of the distal end portion that has been dilated.

Abstract: A surgical laser system (100) includes a first laser source (140A), a second laser source (140B), a beam combiner (142) and a laser probe (108). The first laser source is configured to output a first laser pulse train (144, 104A) comprising first laser pulses (146). The second laser source is configured to output a second laser pulse train (148, 104B) comprising second laser pulses (150). The beam combiner is configured to combine the first and second laser pulse trains and output a combined laser pulse train (152, 104) comprising the first and second laser pulses. The laser probe is optically coupled to an output of the beam combiner and is configured to discharge the combined laser pulse train.

Abstract: One or more devices, systems, methods and storage mediums for performing medical procedure (e.g., needle guidance, ablation, biopsy, etc.) planning and/or performance, and/or for performing visualization and manipulation of registration result(s), are provided. Examples of applications for such devices, systems, methods and storage mediums include imaging, evaluating and diagnosing biological objects, such as, but not limited to, lesions and tumors, and such devices, systems, methods and storage mediums may be used for radiotherapy applications (e.g., to determine whether to place seed(s) for radiotherapy).

Abstract: A surgical planning computing system and related surgical method include identifying an anatomical landmark of a patient's bony anatomy in a three-dimensional anatomical image and determining positioning criteria for an orthopedic prosthesis to be implanted into the patient's bony anatomy. The positioning criteria may define an alignment between the anatomical landmark and a feature of the orthopaedic prosthesis. A three-dimensional model of the orthopaedic prosthesis is positioned in the three-dimensional model based on the positioning criteria to provide a surgical plan for the implantation of the orthopaedic prosthesis.

Abstract: A system and method for facilitating DBS electrode trajectory planning using a machine learning (ML)-based feature identification scheme configured to identify and distinguish between various regions of interest (ROIs) and regions of avoidance (ROAs) in a patient's brain scan image. In one arrangement, standard orientation image slices as well as re-sliced images in non-standard orientations are provided in a labeled input dataset for training a CNN/ANN for distinguishing between ROIs and ROAs. Upon identification of the ROIs and ROAs in the patient's brain scan image, an optimal trajectory for implanting a DBS lead may be determined relative to a particular ROI while avoiding any ROAs.

Abstract: Systems and methods are provided in which local tissue diagnostic measurements are correlated with archival local tissue diagnostic data from prior tissue analyses to supplement diagnostic measurements with tissue analysis data from prior tissue analyses having similar local tissue diagnostic data. The tissue analysis data may include information such as pathology data, outcome data, and diagnosis data. The archived local tissue diagnostic data and the tissue analysis data may be stored in a database, and employed for a wide variety of methods, involving preoperative, intraoperative, and/or postoperative phases of a medical procedure. Methods and systems are also provided for displaying, on a medical image shown in a user interface, hyperlinked reference markers associated with tissue analyses, where the reference markers are shown at locations corresponding to local tissue analyses, and where associated diagnostic data and/or tissue analysis may be viewed by selecting a given reference marker.

Abstract: A system comprises one or more processors. The system further comprises memory having computer readable instructions stored thereon that, when executed by the one or more processors, cause the system to: obtain a reference tree of nodes and linkages for a reference three dimensional volumetric representation of a branched anatomical formation in a reference state; based on the reference tree, generate a reference three dimensional geometric model; based on measurements from a sensor system, detect deformation of the branched anatomical formation; based on the detected deformation, obtain a deformed tree of nodes and linkages; and generate a three dimensional deformation field that represents the detected deformation of the branched anatomical formation.

Abstract: Technologies for providing assistance to a surgeon during a surgical procedure are disclosed. An example method includes identifying a medical condition of a patient and recommending surgical procedures for treatment. An optimal surgical procedure is then determined based on correlations between the medical condition of the patient and outcomes of previous surgical procedures for other patients previously suffering from the medical condition. A 3D model of the patient may be created using current images of an affected area of the patient. Successively, a surgeon is trained using a Virtual Reality simulation. During the training, the surgeon may be allowed to provide annotations. Further, the recommended surgical procedures are based on medical data of the patient, including medical images. Surgical paths are retrieved for addressing the surgical need of the patient, and the surgical paths may be overlaid on image segments, for display for the surgeon.

Abstract: Methods, apparatuses, and systems for performing robotic joint arthroscopic surgery are disclosed. The disclosed systems use a surgical robot to perform robotic joint arthroscopic surgery for soft tissue. The disclosed systems enable a surgeon or physician to perform a virtual surgical procedure in a virtual environment, storing robotic movements, workflow objects, user inputs, or a description of tools used. The surgical robot filters the stored data to determine a surgical workflow from the stored data. The surgical robot displays information describing a surgical step in the surgical workflow, enabling the surgeon or physician to optionally adjust the surgical workflow. The surgical robot stores the optional adjustments and performs the surgical procedure on a patient by executing surgical actions of the surgical workflow.

Abstract: A system for calibrating an electromagnetic navigation system is provided. The system includes an antenna assembly having a substrate, multiple pairs of transmit coils, multiple receive coils, multiple input terminals, and multiple output terminals. The substrate includes multiple layers, and each of the transmit coils is deposited on a respective one of the layers and each of the receive coils is deposited on another respective one of the layers. Each of the pairs of transmit coils corresponds to a respective one of the receive coils. Each of the transmit coils is coupled to a respective one of the input terminals, and each of the receive coils is coupled to a respective one of the output terminals.

Abstract: Surgical robotic systems, and methods of controlling such systems based on a user's grip on a user interface device, are described. During a surgical procedure, a surgical robotic system generates control commands to actuate a component of the surgical robotic system. The component can be a surgical tool that is actuated to move based on tracking data from the user interface device. The component can be the user interface device, which is actuated to render haptic feedback to the user's hand based on load data from a surgical robotic arm holding the surgical tool. In either case, the actuation is based on a center of rotation of the user interface device that corresponds to the user's grip on the user interface device. Other embodiments are described and claimed.

Abstract: Certain aspects relate to a medical system that includes a robotically controllable field generator and an instrument guide. The instrument guide may guide a percutaneously insertable instrument along an insertion axis. The instrument guide may also be positioned on an electromagnetic (EM) field generator, where the EM field generator can generate an EM field. A first robotic arm may be coupled to the EM field generator and it may move the EM field generator and the instrument guide. The system then determines: an EM target positioned within a patient, and a registration that maps positions within an EM coordinate frame associated with the EM field to positions within a robotic coordinate frame. The system may also determine, based on the registration, a position of the EM target within the robotic coordinate frame. Based on the position of the EM target within the robotic coordinate frame, move the first robotic arm may move to align the insertion axis of the instrument guide with the EM target.

Abstract: A system and method for navigating to a target site in a patient is provided. The system includes an extended working channel and a tool usable with an electromagnetic navigation system. In particular, the extended working channel and the tool contain an electromagnetic sensor configured to provide location information within a patient of the extended working channel and the tool to the electromagnetic navigation system. The distance from the tool and the target site can then be determined and displayed to a clinician on a display device.

Abstract: A system for tracking an instrument includes two or more sensors (22) disposed along a length of an instrument and being spaced apart from adjacent sensors. An interpretation module (45) is configured to select and update an image slice from a three-dimensional image volume in accordance with positions of the two or more sensors. The three-dimensional image volume includes the positions two or more sensors with respect to a target in the volume. An image processing module (48) is configured to generate an overlay (80) indicating reference positions in the image slice. The reference positions include the positions of the two or more sensors and relative offsets from the image slice in a display to provide feedback for positioning and orienting the instrument.

Abstract: A method for a robotic surgical system includes displaying a graphical user interface on a display to a user, wherein the graphical user interface includes a plurality of reconfigurable display panels, receiving a user input at one or more user input devices, wherein the user input indicates a selection of at least one software application relating to the robotic surgical system, and rendering content from the at least one selected software application among the plurality of reconfigurable display panels.

Abstract: A foot pedal assembly for controlling a robotic surgical system. The foot pedal assembly including a foot pedal base, a foot pedal and a sensor. The foot pedal moves relative to the foot pedal base and has a contact surface extending from a distal end to a proximal end of the foot pedal. The contact surface is to come into contact with a foot of a user during use of the foot pedal assembly for controlling the robotic surgical system and the distal end is farther away from a heel of the foot than the proximal end during use of the assembly for controlling the robotic surgical system. The sensor is coupled to the contact surface of the foot pedal at a position closer to the proximal end than the distal end, and the sensor is operable to sense a target object positioned a distance over the contact surface.

Abstract: A robotic surgical system includes a robotic manipulator that includes a mounting fixture defining a longitudinal channel, and a surgical tool removably coupleable to the mounting fixture. The surgical tool including a tool housing matable with the mounting fixture, an elongate shaft extending from the tool housing and receivable within the channel, and a latching mechanism provided on the elongate shaft and comprising one or more retention tabs biased radially outward with one or more biasing members. The one or more retention tabs are movable between a deployed state, where the one or more retention tabs protrude radially outward through a corresponding one or more slots to engage the mounting fixture, and a retracted state, where the one or more retention tabs are urged radially inward through the one or more slots to disengage the mounting fixture.

Abstract: The disclosure provides a diagnosis and treatment integrated soft medical robot for gastrointestinal endoscopy, including a robot body, a camera, illumination devices, a flexible dielectric elastomer actuator, air cylinders, linear motors, a controller and external hoses. The robot body is a multichannel hose, and includes a central channel and circumferential channels, the central channel is configured to accommodate conducting wires and signal wires, the circumferential channels include at least three microfluid channels. The linear motors control fluid pressures in the microfluid channels by driving piston rods of the air cylinders so that the robot body steers through being driven by fluid. The camera performs real-time image acquisition. The controller controls the flexible dielectric elastomer actuator to capture a target. The disclosure realizes the real-time image acquisition on a digestive tract, particularly a lesion, and can integrally and fast complete diagnosis and treatment.

Abstract: Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.

Abstract: Devices, Systems, and Methods for detecting a 3-dimensional position of an object, and surgical automation involving the same. The surgical robot system may include a robot having a robot base, a robot arm coupled to the robot base, and an end-effector coupled to the robot arm. The end-effector, surgical instruments, the patient, and/or other objects to be tracked include active and/or passive tracking markers. Cameras, such as stereophotogrammetric infrared cameras, are able to detect the tracking markers, and the robot determines a 3-dimensional position of the object from the tracking markers.

Abstract: Systems and methods for remotely controlling a system using video are provided. A method in accordance the present disclosure includes detecting a video signal of an auxiliary system at a video input, wherein the video signal including images encoded with control information. The method also includes determining that the images included in the video signal include the control information. The method further includes extracting the control information from the images. Additionally, the method includes modifying operations of the system based on the control information.

Abstract: A controller changes a position and/or orientation of a treatment head by controlling an operation of a robot arm according to an external input. A probe driver changes a projection amount of a diagnostic probe with respect to an irradiator. Further, the controller performs synchronous control to synchronize the probe driver and the robot arm with each other so that the relative position between the irradiator and the distal end of the diagnostic probe changes while holding the distal end position of the diagnostic probe.

Abstract: Provided is a tele-operated forceps-driver variable stiffness master device including a master member to generate an input displacement signal generated by pressing with a user's finger, and a slave member to operate based on the input displacement signal, measure operation information, calculate a gripping force based on the operation information, and provide the master member with at least one of a stiffness change command signal or a force feedback based on the calculated gripping force.