Abstract: A method, apparatus, and computer software product are provided for use with an x-ray image acquired in the course of a procedure performed with respect to a skeletal portion within a body of a subject. The method includes (A) acquiring 3D image data of at least the skeletal portion, (B) inserting a portion of a tool into the skeletal portion, and (C) while a portion of the tool is disposed at a location with respect to the skeletal portion: acquiring an x-ray image in which the portion of the tool and the skeletal portion are visible, generating from the 3D image data a Digitally Reconstructed Radiograph (DRR) corresponding to the x-ray image, and generating a combined image by combining the x-ray image with the DRR.

Abstract: This relates to a catheter robot including an automatic navigation system, for an elongate flexible medical instrument with a free distal end, implementing an automatic navigation method including successively: a step of creating a modeling: of the elongate flexible medical instrument, of a blood circulatory system, of the interaction thereof, a step of determining: a path to be followed, between the start point and the point of arrival, a step of planning a sequence of commands for moving the elongate flexible medical instrument, obtained by a tree search procedure, a step of implementing the planned sequence of commands, with compensation for any differences with respect to the determined path along the modeled system, by closed-loop regulation.

Abstract: An imaging system includes an endoscopic camera configured to acquire an intraoperative image of tissue and a blood vessel. The system also includes an image processing device coupled to the endoscopic camera. The image processing device includes a processor configured to: receive a perfusion zone model of the tissue and an operative plan including at least one clamp location; and generate an overlay of the perfusion zone model over and the at least one clamp location on the intraoperative image of the tissue and the blood vessel, respectively. The system also includes a screen configured to display the overlay and the intraoperative image.

Abstract: Provided is a method for tracking a medical tool inside a subject's body during a medical procedure including receiving one or more signals from an array of magnetic sensors detecting a change in magnetic field generated by a magnetic element coupled to the medical tool, applying the received one or more signals to a deep learning algorithm, and determining, using the deep learning algorithm, the spatial location and/or orientation of the medical tool in relation to the array of sensors and/or within the body of the subject.

Abstract: Systems and methods for accurately navigating tools through a luminal network to a target use fixed length tools to minimize use of radiographic imaging and thus exposure to radiation. The systems and methods involve receiving computed tomography (CT) image data, generating a three-dimensional (3D) model based on the CT image data, causing display of the 3D model, and receiving a location of the target in the 3D model. The systems and methods also involve receiving information of a tool to be guided through an extended working channel (EWC) including a location sensor, determining a location of the tool after the tool is guided through and fixed in place with respect to the EWC, causing display of a virtual tool in the 3D model based on location information from the location sensor and the tool information, and causing display of advancement of the tool to the target in the 3D model based on the location information and the tool information.

Abstract: A processing apparatus includes a processor. The processor acquires an image in which region marker information of a lesion is set with respect to an ultrasonic image of an ultrasonic endoscope with a biopsy needle, and calculates an angle of the biopsy needle for inserting the biopsy needle into the lesion based on a movable range of the biopsy needle and the region marker information.

Abstract: A guide wire that has an atraumatic and flexible loop that expands within a vessel, with indicators that indicate the degree of expansion. The indicators are used to determine the degree of expansion through the use of radio-opaque markers, hydraulic, and electrical signals. The guide wire enables safe passage into target vessels while providing user feedback on inadvertent passage into side branches and diseased segments.

Abstract: An apparatus (100), including: a stabilizing bridge (146) including: a C1 attachment (150) configured to be directly attached in a form-fit with a C1 vertebra (124); and a C2 attachment (152) configured to be directly attached in a form-fit with a C2 vertebra (126). The C1 attachment and the C2 attachment are fixed in position relative to each other.

Abstract: A method of improving an operational parameter of a surgical system using data analytics is disclosed. The method includes transmitting, from each of a plurality of surgical hubs of the surgical system, operational data of a plurality of surgical instruments communicatively coupled to the plurality of surgical hubs, to a cloud computing system of the surgical system; aggregating, by the cloud computing system, the operational data into aggregate medical resource data; analyzing, by the cloud computing system, the aggregate medical resource data to determine a recommendation to change the operational parameter based on the analyzed aggregate medical resource data, wherein the aggregate medical resource data comprises one or more of usage data, patient derived parameter data, surgical performance data, and surgical outcome data; receiving, by the plurality of surgical hubs, the recommendation from the cloud computing system; and displaying, by the plurality of surgical hubs, the recommendation.

Abstract: Registering a robotic coordinate system defined by a robotic system and a navigation coordinate system defined by a tracking system localizer. The registration includes: determining a robotic coordinate system between a first portion of the robotic system and a subject separate from the first portion of the robotic system; connecting a fiducial marker at a first known position relative to the robotic coordinate system and relative to the first portion of the robotic system; acquiring a fiducial image at an initial time with an imaging system of the fiducial marker; detecting the acquisition of the fiducial image with the imaging system at the initial time with a detector; and sending a command to determine or record an initial position of at least one of the first portion of the robotic system or the robotic coordinate system at the initial time.

Abstract: Apparatus and methods are described for performing a procedure on a portion of a patient's body. A robotic unit holds a tool at a given orientation with respect to the portion of the patient's body. A display displays a virtual tool overlaid upon the image of the portion of the patient's body, such that at least a portion of the virtual tool coincides with a corresponding portion of the tool. In response to an input from an operator indicating that the portion of the virtual tool should be moved in a given manner, the tool is driven to move such that the corresponding portion of the tool moves with respect to the portion of the patient's body in a corresponding manner to the movement of the portion of the virtual tool. Other applications are also described.

Abstract: In a robotic or even manually controlled catheter, more direct connection of the force application (e.g., actuators) is provided from the handle to the tendons. The actuators are part of the handle. To avoid discarding the actuators after each use, the handle with the actuators is separable from a housing for the tendons. The housing for the tendons includes a clamp to hold the tendons in place prior to connecting with the handle and actuators.

Abstract: Embodiments of the present disclosure provide a microrobotic device. The microrobotic device being coupled to a steering system configured to steer the microrobotic device along X, Y, and Z axes.

Abstract: A delivery apparatus for elongated medical instruments includes a first driving mechanism, a second driving mechanism, and a third driving mechanism. A rotating and delivering assembly configured to clamp a medical instrument is not arranged on the second driving mechanism, whereas a third rotating and delivering assembly is arranged on the third driving mechanism. Under different intervention modes, the third rotating and delivering assembly may be configured to clamp, rotate and deliver a third medical instrument, or the third rotating and delivering assembly, upon manipulating the third medical instrument, clamp, rotates and delivers a fourth medical instrument. A third delivering assembly is configured to clamp the third medical instrument when the third rotating and delivering assembly manipulates the fourth medical instrument, such that the volume and weight of the entire slave-end apparatus are reduced and the costs are lowered.

Abstract: A system for providing assistance to a user of a surgical robot system, the system comprising: a surgical robot system comprising at least one surgical robot having a base, and an arm extending from the base to an attachment for an instrument, the arm comprising a plurality of joints whereby the configuration of the arm can be altered; and an assistance module comprising a list of steps of a task for which procedural assistance can be provided, the assistance module being configured to: receive, while the surgical robot system is being used to perform the task, status data indicating a status of the surgical robot system; determine, from the status data, whether the surgical robot system is in a procedural assistance state, the surgical robot system being in a procedural assistance state when the surgical robot system is being, or, is about to be, used to perform one of the steps of the task for which procedural assistance can be provided; and in response to determining that the surgical robot system is in a

Abstract: A surgical instrument may comprise an actuation component and a memory. The memory may be configured to store a remaining usable life value of the surgical instrument and receive an updated usable life value of the surgical instrument after a use of the actuation component. The updated usable life value may be based at least on an amount of use of the surgical instrument. The memory may also be configured to store the updated usable life value.

Abstract: For teleoperation of a surgical robotic system, the user command for the pose of the end effector is projected into a subspace reachable by the end effector. For example, a user command with six DOF is projected to a five DOF subspace. The six DOF user interface device may be used to more intuitively control, based on the projection, the end effector with the limited DOF relative to the user interface device.

Abstract: A teleoperated surgical system is provided that includes a surgical instrument that includes an end effector mounted for rotation about a slave pivot axis; a master control input includes a mount member, first and second master grip rotatably secured at the mount member for rotation about a master pivot axis; sensor to produce a sensor signal indicative of a slave grip counter-force about the slave pivot axis; one or more motors to impart a shear force to the mount member, perpendicular to the master pivot axis; one or more processors to convert the sensor signal to motor control signals to cause the motors to impart the feedback shear force to the first and second master grip members.

Abstract: Described herein is a robotic surgery assembly for robotic-aided microsurgery including a macro-positioning passive arm having a plurality of arm links connected one another in series and articulated through rotational joints. The assembly also includes two motorized manipulators both attached to a same link of the macro-positioning passive arm. The macro-positioning passive arm includes at least one handle for the hand manipulation of the macro-positioning arm by an operator.

Abstract: A robotic surgical assembly includes a slave manipulator with an actuator, a pushing device connected to the actuator, a sensor detecting a contact force on the pushing device, a position sensing system, and a control unit. A surgical instrument is detachable to the slave manipulator and separated from the slave manipulator by a sterile barrier. The surgical instrument includes a frame; an articulated link; a tendon associated with the actuator, having proximal and distal portions secured to the link. A transmission device in contact with the tendon proximal portion exerts a traction action. The transmission device has one degree of freedom of motion relative to the frame. The pushing device releasably and selectively connects with the transmission device to transmit a pushing action to the transmission device through the sterile barrier. An elastic device biases the transmission device to exert a traction action on the tendon.

Abstract: A computer-assisted surgical system is configured to activate a first mode of operation in which movement of a user control mechanism is translated to movement of a surgical instrument coupled to a manipulator arm; receive, during the first mode of operation, a first user input by way of a user input mechanism associated with the user control mechanism; activate, based on the first user input, a second mode of operation in which the user control mechanism is repositionable without causing the surgical instrument to move; receive, during the first mode of operation, a second user input by way of the user input mechanism, wherein the second user input is different from the first user input; and activate, based on the second user input, a function associated with a third mode of operation different from the first and second modes of operation.

Abstract: User input device (UID) disengagement-detection techniques based on real-time time-series data processing and deep learning. A long short-term memory (LSTM) network-based classifier is trained based on the acquired time-series data of UID motions including both surgical motions and docking motions. The classifier is then used during teleoperation sessions to monitor the movements of UIDs, and continuously classify the real-time UID motions as either teleoperation motions or docking motions. The disclosed disengagement-detection techniques can immediately disengage the UIDs from the surgical tools as soon as the monitored UID motions are classified as docking motions, thereby preventing unintended surgical tool motions. The disclosed disengagement-detection techniques allow the UIDs and the surgical tools to become disengaged naturally by simply having the user place the UIDs back to their docking positions without having to take any additional actions. Other aspects are also described and claimed.

Abstract: Thrombectomy systems including a console having loading bay doors. An illustrative console may comprise a plurality of removable panels enclosing the internal structure of the console, at least one door assembly, a carriage assembly configured to receive a pump/catheter assembly and disposed within the interior of the console and accessible via the at least one door assembly, and at least one linear actuator coupled to the at least one door assembly. The at least one door assembly may be movable between an open configuration configured to expose an interior of the console and a closed configuration configured to enclose the interior of the console. Linear movement of the at least one linear actuator may be translated to rotational movement of the at least one door assembly.

Abstract: A surgical kit includes a plurality of trays. Each of the plurality of trays includes plurality of surgical instruments made of a disposable material, with each of the plurality of surgical instruments being preassembled in the plurality of trays. The plurality of surgical instruments are arranged in the plurality of trays in an order in which the plurality of surgical instruments are to be used in a surgical procedure, and the plurality of trays are arranged in the surgical kit in the order in which the plurality of trays are to be used in the surgical procedure.

Abstract: A method of calibrating a frontal 2D image of a pelvis of a patient is disclosed. Frontal and lateral 2D images are received, where a fiducial marker is positioned on the patient's suprapubic region during image capture. A first distance of the fiducial marker from the imaging detector is determined based on the fiducial marker's measured diameter in the frontal image. A second distance of the fiducial marker from a coronal plane of the pelvis is determined based on the fiducial marker's measured diameter in the lateral image. The second distance is corrected based on a rotational offset of the patient in the lateral image. A third distance of the coronal plane from the imaging detector in the frontal image is determined from the first distance and corrected second distance. A calibration factor for the frontal image is calculated from the third distance and used to scale the frontal image.

Abstract: A method of marking lesions is disclosed herein. The disclosed method may assist surgeons localize small nodules by marking the nodules with a fiducial coil soaked with a fluorescent dye. In some preferred embodiments, the fiducial coil is placed at the time of biopsy using a robotic surgery system. In alternate embodiments, non-robotic peripheral navigation platforms may also be used effectively as an adjunct to surgical resection. The dye marks the location of a nodule, making it visible and palpable at the time of surgery. A surgeon may then target cancerous tissue with greater precision. The disclosed method allows a fiducial coil to be placed several days prior to surgery.

Abstract: A device including a handpiece connector to which a filter is coupled can be combined with the handpiece and has a connector accommodating therein a filter with an increased cross-sectional area, which can be replaced in a detachable manner, so that it can prevent saliva, blood, bacteria, and foreign substances that may be mixed with the air flowing along inside the handpiece from being exposed to the inside of the patient's oral cavity, causing contamination or infection, and prevent performance degradation and a fault of the handpiece caused by foreign substances accumulating inside the handpiece.

Abstract: A dental preparation cuff is used to expose a transition region (preparation margin) between a tooth neck of a prepared tooth and surrounding gums. The preparation cuff has a tooth opening to place on the tooth, having a peripheral wall with a cross-sectionally wedge-shaped, radially inwardly tapering edge region. The preparation cuff is manufactured from a material with a Shore hardness in the range between 70A and 95A. This results in a preparation cuff providing improved patient tolerability.

Abstract: This invention relates to devices aimed at effective separation and stabilization of upper and lower dental arches during dental treatment. A device configured to be used to stabilize mouth prop intra-orally by using operator's finger as the stabilizing aid. The proposed device is a polygonal bite block having flat wide proximal sides with upper and lower platforms to allow patient's upper and lower teeth to bite on the respective platforms.

Abstract: A method of manufacturing pre-formed, customized, ceramic, labial/lingual orthodontic clear aligner attachments (CCAA) by additive manufacturing (AM) may comprise measuring dentition data of a profile of teeth of a patient, based on the dentition data, creating a three dimensional computer-assisted design (3D CAD) model of the patient's teeth using reverse engineering, and saving the 3D CAD model, designing a 3D CAD structure model for one or more CCAA on various parts of each tooth, importing data related to the 3D CAD CCAA structure model into an AM machine, directly producing the CCAA in the ceramic slurry-based AM machine by layer manufacturing, enabling the provider to deliver patient-specific CCAA's by an indirect bonding method to the patient's teeth to improve the efficacy and retention of the clear aligners.

Abstract: A method of forming a system of aligners may include generating a first digital model of a first mold for a first orthodontic aligner including a first geometry for forming teeth receiving cavities to receive and reposition a first set of teeth, a first digital model of a first witness object for a first integral hook portion of the aligner on at least one of the tooth receiving cavities may be generated. A first mold with the first witness object based on the first digital model of the first mold with the first digital model of the first witness object may be fabricated. The first orthodontic aligner may fabricated by thermoforming polymeric material over the first mold. A material removal operation may be performed on the first integral hook portion to form a first u-shaped aperture to receive an elastic therein.

Abstract: An orthodontic separator including a substrate including at least one resilient material configured to produce and maintain an outward force for a predetermined time period between adjacent teeth, wherein the substrate includes a plurality of layers including polymer fibers having a fluoride compound incorporated therein or that coats a surface thereof. The plurality of layers is arranged concentrically and configured such that the plurality of layers of the substrate successively dissolve or disintegrate within the predetermined time period when disposed between those adjacent teeth, whereby the separator dissolves or disintegrates.

Abstract: A series of appliances including a first shell and a second shell can be designed to incrementally implement a treatment plan. The first and second shells can have cavities designed to receive teeth of a jaw. A first number of bite adjustment structures can be formed of a same material as the first shell, extending therefrom and designed to interface with teeth of a second jaw. The first number of bite adjustment structures can have a first shape and location specific to a first stage of the treatment plan. A second number of bite adjustment structures can be formed of a same material as the second shell, extending therefrom and designed to interface with teeth of the second jaw. The second number of bite adjustment structures can have a second shape and location, different than the first shape and location, specific to a second stage of the treatment plan.

Abstract: An intraoral scanning body having an inner piece, a middle piece encasing the inner piece, and an outer piece encasing the middle piece and the inner piece. Each of the inner piece and the middle piece defines three rectangular cuts on respective outer surfaces thereof. The middle piece and the outer piece are hollow cylinders, where a rectangular projection protrudes from inner surface of each of the middle piece and the outer piece. The rectangular projection of the middle piece engages with one of the rectangular cuts of the inner piece and the rectangular projection of the outer piece engages with one of the rectangular cuts of the middle piece. With such engagement, the intraoral scanning body achieves five different heights, each different height being able to be recognized by an intraoral scanner.

Abstract: An abutment assembly (1) for connecting a dental restoration (6) to a dental implant (5), comprising a post body (2), a coupling sleeve (4) and a screw arrangement (3). The post body (2) has an apical aperture (21), an occlusal aperture (22) and an axial passage (23) extending between the apical aperture (21) and the occlusal aperture (22). The screw arrangement (3) has an occlusal head portion (311) and an apical fastening thread portion (321). The coupling sleeve (4) has an apical opening (41), an occlusal opening (42), an axial bore (43) extending between the apical aperture (21) and the occlusal aperture (22), and a clip structure (44) configured to elastically deform from a liaising position to an intermediate position. The axial bore (43) of the coupling sleeve (4) is equipped with a head socket section (431) configured to receive the occlusal head portion (311) of the screw arrangement (3).

Abstract: A method includes sending a dental impression kit to a patient including dental trays of different sizes. The method includes receiving one or more dental impressions created using one or more dental trays having been selected by the patient from the plurality of dental trays, providing treatment plan data and a size indication to a provider computing device, receiving a communication approving the treatment plan, and manufacturing a plurality of dental aligners specific to the patient and being configured to reposition one or more teeth of the patient.

Abstract: Embodiments relate to techniques for selecting images from a plurality of images generated by an intraoral scanner. A method includes receiving a plurality of images of a dental site generated by an intraoral scanner, identifying a subset of images from the plurality of images that satisfy one or more selection criteria, selecting the subset of images that satisfy the one or more selection criteria, and discarding or ignoring a remainder of images of the plurality of images that are not included in the subset of images.

Abstract: A method includes positioning projectors in a frame of an intraoral scanner and, responsive to the positioning of the projectors, soldering the projectors to the printed circuit board (PCB) of the intraoral scanner.

Abstract: Celluloses are taken from industrial trees by means of chemical pulp processing method which does not give damage to environment, and turned into fiber form, and fibers of industrial trees are turned into dental floss form. As said industrial tree; a kind of tree selected from beech tree, birch tree, poplar tree, elm and oak tree is used.

Abstract: A composition for reducing/eliminating aerosolization during dental/surgical irrigation procedures comprising at least one liquid or solid carrier and at least one polymer, wherein the at least one polymer comprises at least hydroxyalkyl cellulose polymer, at least one poly(ethylene oxide) polymer or a mixture thereof and wherein the at least one polymer is not soluble in the liquid carrier.

Abstract: Systems and methods for removing aerosolized particles from a treatment zone may be employed with dental, medical or veterinarian procedures. An exemplary system may include a hood and corresponding evacuation system that creates a negative-pressure current that draws aerosolized particles away from a treatment zone and into the evacuation system. Such an exemplary system may also include an air curtain generator that creates a “curtain” comprising streams of pressurized air around the treatment site that may help to direct aerosolized particles into the hood and evacuation system and prevent many such aerosolized particles from escaping the curtain.

Abstract: The present disclosure provides methods, devices, and systems that utilize dental appliance etch templates prior to or during dental treatment. One dental appliance etch template includes a removable shell having one or more cavities formed therein, where the one or more cavities are shaped to receive teeth of a patient, and the shell includes a well, the well including a wafer, where the wafer includes etch material to etch a tooth of the patient.

Abstract: A method of reducing counterfeit medicaments or reducing medicament abuse is provided, the method comprising making an oral appliance for delivering a medicament to teeth and/or soft tissue areas inside an oral cavity, the oral appliance comprising an interior surface having a medicament disposed in or on at least a portion of and/or all of the interior surface of the oral appliance, the interior surface being formed to fit contours of at least the portion of the teeth and/or soft tissue areas inside the oral cavity and being configured for holding the medicament in contact with at least the portion of the teeth and/or soft tissue areas inside the oral cavity to deliver the medicament thereto. In some embodiments, the oral appliance is used in a blockchain system.

Abstract: A holder for a prosthetic valve includes a base, claw locks and a holding handle. The base has opposite bottom and top sides. The prosthetic valve assembly area is defined on the bottom side. The claw locks are connected to the base and located on the bottom side of the base. The claw locks are arranged around the prosthetic valve assembly area. The holding handle is connected to the base and is located on the top side of the base. In this solution, the claw locks are in a clearance fit with the connecting ears or mesh gaps to facilitate the connection or disconnection between the holder and the prosthetic valve.

Abstract: Systems and methods for the intravascular treatment of clot material within a blood vessel of a human patient are disclosed herein. A method in accordance with embodiments of the present technology can include, for example, positioning a distal portion of a catheter proximate to the clot material within the blood vessel. The method can further include coupling a pressure source to the catheter via a tubing subsystem including a valve or other fluid control device and, while the valve is closed, activating the pressure source to charge a vacuum. The valve can then be opened to apply the vacuum to the catheter to thereby aspirate at least a portion of the clot material from the blood vessel and into the catheter.

Abstract: A catheter device for transvascular delivery of a medical device to a cardiac valve region of a patient comprises an elongate sheath with a first lumen, a distal end for positioning at a heart valve, a second lumen that extends parallel to or in the sheath, and an expandable embolic protection filter. The filter is arranged to extend from an orifice of the second lumen and, in the expanded, covers ostia of the side branch vessels in the aortic arch.

Abstract: A prophylactically implantable medical device for use for hemodialysis is disclosed. The device includes a tube graft and a removable plug, or obturator, that is co-extensive with the graft. The tube graft can be formed of a thermoplastic polymer while the obturator may be composed of a biologically inert, flexible, non-absorbable, and non-absorbent, material. The obturator is used to prevent proteinaceous body fluid from filling the entire lumen of the tube graft which has otherwise shown to eventually result in irreversible occlusion of the lumen as the proteinaceous fluid becomes organized into dense fibrous tissue.

Abstract: A composite scaffold having a highly porous interior with increased surface area and void volume is surrounded by a flexible support structure that substantially maintains its three-dimensional shape under tension and provides mechanical reinforcement during repair or reconstruction of soft tissue while simultaneously facilitating regeneration of functional tissue.

Abstract: An ophthalmic multifocal lens providing far, intermediate, and near vision having a light transmissive body with an optical axis and a refractive baseline extending over part of the lens body: further having a first portion coinciding with a central area of said lens body and a multifocal second portion extending concentrically radially: said second portion further comprising a symmetric multifocal diffractive grating superpositioned onto said baseline, covering a portion of the lens, its shape and resulting light intensity distribution changing with distance to optical axis, said first portion being substantially concave, connected to the ridge of said grating that is closest to the optical axis and provides a dominant optical power between intended far and intermediate powers; configured to have an energy ratio intended for far vision to energy intended for near vision being lower for predetermined aperture(s).

Abstract: This application discloses an intraocular lens (IOL) clip for fixing an IOL to the sclera of an eye. The IOL clip comprises a first arm, a second arm opposing the first arm and a portion joining the first arm and the second arm. The IOL clip has an open state in which an IOL haptic can be introduced into a gap between the first arm and the second arm and a closed state for gripping the IOL haptic between the first arm and the second arm. The IOL clip comprise a scleral fixator for attaching the IOL clip to the sclera. The scleral fixator comprises a shaft and a flange.