Abstract: A surgical navigation and planning system is disclosed. The system may include at least one processor, and a storage medium storing programming instructions. The programming instructions may cause the processor to receive patient-specific vertebrae information include at least one image which may be acquired by an X-ray. The system may perform segmentation of objects in the at least one image and automatically select a set of objects for planning an optimal trajectory to a location proximal the vertebrae level. The system may determine boundary dimensions of an interbody implant, a first entry incision location and a first path for the interbody implant from the first entry incision location to the location proximal the vertebrae level. The system may calculate a plurality of clearance distances between the boundary dimensions and the set of objects. The set of objects may include the psoas muscle, Aorta, and/or Vena Cava.

Abstract: A system for visualizing a surgical site is provided. The system includes a robotic mechanism for performing a procedure on a patient, an imaging device coupled to the robotic mechanism, the imaging device configured to provide image data of a site of interest, and a computing device coupled to the imaging device. The computing device includes one or more processors and at least one memory device configured to store executable instructions. The executable instructions, when executed by the processor, are configured to receive the image data of the site of interest, track motion patterns of the site of interest in the received image data, filter the received image data to remove line-of-sight restrictions therein and alter pixels therein based on the tracked motion patterns, and generate an output frame from the filtered image data. The system also includes a presentation interface device coupled to the computing device and configured to present the output frame for visualization of the site of interest.

Abstract: A patient tracking device for insertion into an oral cavity includes a sensor housing comprising a first surface shaped to correspond to a pallet within the oral cavity. At least a portion of the first surface affixes the sensor housing to the oral cavity. An electromagnetic sensor is coupled to the sensor housing.

Abstract: Mitigating a user interface display function of a modular energy system includes receiving formatted video data at a video data converter circuit, providing differential video signaling data to the display from the video data converter circuit, providing a copy of the differential video signaling data to a processor, and determining that the differential video signaling data is changing over time. Mitigating erroneous outputs from an isolated interface includes receiving a state of a first switch of a first footswitch coupled to a first comparator and a reference voltage coupled to the first comparator, receiving the state of the first switch coupled to the first duplicate comparator and the reference voltage coupled to the first duplicate comparator, comparing the output of the first comparator with the output of the first duplicate comparator, and determining activation or deactivation of a surgical instrument coupled to the controller based on the comparison.

Abstract: Surgical robotic systems may indicate locations of surgical tools. A surgical robotic system can include a robotic arm coupled to a surgical tool, a scope, and a viewer for displaying a field of view of a surgical site derived from the scope. The surgical robotic system may be configured to, in accordance with a determination that the surgical tool is not within the field of view, provide electrical signals for presenting a visual indicator on the viewer, indicating a location of the surgical tool.

Abstract: There is provided a robotic surgical instrument comprising an end effector, a shaft component, a supporting body connected to a distal end of the shaft component at a first end and to the end effector at a second end, and a pulley facing an outer surface of the first end of the supporting body. The pulley comprises a first section with a first diameter and a second section with a second diameter that is smaller than the first diameter. The first or second section of the pulley is configured to restrict movement of the supporting body.

Abstract: A surgical robotic manipulator includes a proximal assembly having a vertical column and a horizontal boom, and proximal joints in a prismatic-revolute-prismatic configuration allowing the horizontal boom to be raised, lowered and rotated about the vertical axis of the column. A distal assembly carries an instrument receiver configured to receive a surgical instrument. Joints of the distal assembly are configured to maneuver the surgical instrument in an additional four degrees of freedom.

Abstract: Disclosed is a system for assisting in guiding and performing a procedure on a subject. The subject may be any appropriate subject such as inanimate object and/or an animate object. An imaging system may be used to image the subject. A system may include various manipulable or movable members, such as robotic systems, and may be used to move and position the imaging system.

Abstract: A surgical robotic system including a surgical table, a surgical robotic manipulator coupled to the surgical table and comprising a plurality of links coupled together by a plurality of joints that are operable to move with respect to one another to move the surgical robotic manipulator, at least one of the plurality of links or the plurality of joints having a portion that faces another of the plurality of links or the plurality of joints, a proximity sensing assembly coupled to the portion of the at least one of the plurality of links or the plurality of joints, the proximity sensing assembly operable to detect an object prior to the surgical robotic manipulator colliding with the object and to output a corresponding detection signal, and a processor operable to receive the corresponding detecting signal and cause the manipulator or the object to engage in a collision avoidance operation.

Abstract: A system for delivery of cardiac implants includes a catheter having a handle assembly including a cable control assembly. The handle assembly further includes a tubular body assembly extending distally from the handle assembly and deflectable by operation of the cable control assembly. The system also includes a robot having a linear displacement platform and a carriage coupled to the linear displacement platform. The carriage includes a drive motor assembly and is at least one of linearly displaceable along the linear displacement platform and rotatable relative to the linear displacement platform. The handle assembly is coupled to the carriage such that the cable control assembly interfaces with the drive motor assembly of the carriage to facilitate operation of the cable control assembly by the robot.

Abstract: Robotic intervention systems may be used to perform medical procedures on patients using percutaneous instruments. Percutaneous interventional techniques are typically short in duration, requiring quick set-up and tear down to ensure minimal impact to medical workflow or process while maintaining a sterile field. A sterile disposable interface provides an inexpensive sterile barrier between the interventional site and the robotic system.

Abstract: A system, method, and apparatus are provided for a robotic system effecting autonomous therapy or treatment of a body having soft and/or hard tissue. A system, method, and apparatus are provided for a robotic control system having a fused sensing stream for predicting the deformation of a robotic end effector and the tissue that the end effector is in contact with using, e.g., a Finite Element Analysis (FEA) model. The model updates provide adjustment parameters for the control system to compensate for changes in the mechanical nature of the robotic end effector and the characteristics and/or movement of the tissue being treated by the robotic end effector.

Abstract: A system comprises a medical instrument including a rotatable capstan. The rotatable capstan includes a first coupling feature and a drive system including a rotatable drive element. The rotatable drive element includes a second coupling feature. The first and second coupling features have an aligned engagement configuration in which rotation of the rotatable drive element induces rotation of the rotatable capstan and a non-aligned engagement configuration in which rotation of the rotatable drive element does not induce rotation of the rotatable capstan.

Abstract: Methods and systems for providing a safety mechanism for a robotically controlled surgical tool. Embodiments of the methods use sensors to detect parameters that vary by the tissue traversed by a surgical tool. The sensors detect signals arising from the interaction of the surgical tool with the tissue and provide this information to a robotic controller. For example, during drilling, the sensors may measure power, vibration, sound frequency, mechanical load, electrical impedance, and distance traversed according to preoperative measurements on a three-dimensional image set used for planning the tool trajectory. By comparing the detected output with that expected for the tool position based on the planned trajectory, identified discrepancies in output would indicate that the tool has veered from the planned trajectory. The robotic controller may then alter the tool trajectory, change the speed of the tool, or discontinue power to the tool, thereby preventing damage to underlying tissue.

Abstract: A mobile bilateral robotic surgery system is provided. The system may be optimized for robotic spinal surgery. The system comprises a mobile cart configured to be deployable under a surgical table, and particular a spinal surgery table. The mobile cart does not need to be affixed to the floor or the surgical table. The cart comprises multiple robotic arms that can be folded beside or into the cart so as to allow for deployment under the surgical table. The robotic arms may be relatively short and light compared to known systems and are deployed to either side of the patient. This allows for the highly accurate performance of a wide range of surgical procedures. The mobile cart further comprises a central control unit that facilitates the system knowing the position of the robotic arms. The system further optionally comprises a robotic navigation capability that augments the abilities of the system in locating features of a patient's anatomy and tools being used in a surgical procedure.

Abstract: A surgical robotic system includes: a plurality of movable carts oriented relative to the surgical table, each of which includes a robotic arm, and an orientation device for calculating an orientation angle of each robotic arm relative to the surgical table.

Abstract: In some embodiments, a robotic arm includes a first link, a second link, and a rotational joint. The rotational joint is coupled to the first link and the second link and permits the first link to move relative to the second link. The rotational joint includes a rotor, a harmonic drive mechanism, and a vibration damper. The rotor is coupled to the first link and configured to provide a rotor torque. The harmonic drive mechanism is coupled to the rotor and configured to multiply the rotor torque. The vibration damper is coupled to the harmonic drive mechanism and the second link.

Abstract: A method comprises accessing a three-dimensional (3D) model of an object with a visualization tool including a touchscreen. The 3D model comprises a plurality of components. The method further comprises displaying an image of a subset of the components. The subset of the components includes each one of the components of the 3D model with a transparency of less than 100%. The method further comprises detecting a first contact based input at the touchscreen and displaying a first icon on the touchscreen. The first icon represents a location on the touchscreen of the first contact based input. The method further comprises detecting movement of the first contact based input along the touchscreen with the first icon tracking the movement of the first contact based input. The method further comprises responsive to the detected movement, rotating the subset of the components about a center of rotation.

Abstract: Disclosed is a system for assisting in guiding and performing a procedure on a subject. The subject may be any appropriate subject such as inanimate object and/or an animate object. An imaging system may be used to image the subject. A system may include various manipulable or movable members, such as robotic systems, and may be used to move and position the imaging system.

Abstract: Disclosed is a system for assisting in guiding and performing a procedure on a subject. The subject may be any appropriate subject such as inanimate object and/or an animate object. An imaging system may be used to image the subject. A system may include various manipulable or movable members, such as robotic systems, and may be used to move and position the imaging system.

Abstract: A process for setting up a surgical robotic system having a plurality of mobile carts, each supporting a setup arm coupled to a robotic arm includes configuring the setup and robotic arms into desired configurations. In addition, an alignment module projecting an alignment pattern is rotated to a desired bedside angle. Thereafter, the mobile cart is moved to a surgical table until the alignment pattern is parallel to the surgical table with the setup and robotic arms locked into their configuration to couple to a corresponding access port.

Abstract: A master-side device for remotely manipulating a slave-side device includes a manipulator having a range of movement and used to manipulate a movable part of the slave-side device, and control processing circuitry that performs processing of determining a correspondence relationship between an amount of a manipulation of the manipulator and an amount of movement of the movable part, and controls the movable part in response to the manipulation of the manipulator, based on the correspondence relationship.

Abstract: A master-side device for remotely manipulating a slave-side device, the master-side device comprising a first manipulator having a range of movement and used to manipulate a movable part of the slave-side device, a second manipulator provided corresponding to the first manipulator, and control processing circuitry that controls the movable part in response to a manipulation of the first manipulator, and based on a manipulation being performed on the second manipulator, moves a current position of the first manipulator to a position within the range of movement.

Abstract: A surgical instrument is configured for coupling with an instrument drive unit that drives an actuation of the surgical instrument and operatively supports the surgical instrument. The surgical instrument includes a housing, an elongate body extending distally from the housing, an end effector extending distally from the elongate body, and a plurality of cables for performing a plurality of functions of the end effector. The elongate body is rotatable relative to the housing to adjust a rotational orientation of the end effector. The elongate body is also coupled to the housing such that a rotation of the elongate body relative to the housing results in a translation of the elongate body to adjust a tension in the cables.

Abstract: A low-friction medical device is provided having roller-assisted tension members and a friction-reducing curved guide path. The device includes a first link, a second link, and a tension member. A proximal end portion of the first link is coupled to an instrument shaft. A proximal end portion of the second link is rotatably coupled to a distal end portion of first link about a first axis. The second link defines a curved guide path and a cable extends from the first link through the curved guide path to a distal end of the second link and couples with a tool member. A roller having a roller surface is coupled to the second link such that the roller surface is aligned with a portion of the curved path and contacts the cable therein. The curved guide surface has a small fleet angle.

Abstract: A surgeon input tool is configured to generate input to a surgical robotic system to actuate jaw open-close of a surgical instrument. The tool comprises a grip and an elongate member extending from the grip such that when the grip is positioned against a palm of a human hand, the elongate member is positionable in contact with a finger of the hand, such as the index finger. The member includes a flexible bend sensor which generates signals in response to bending of the member by the user.

Abstract: A master-side device for remotely manipulating a slave-side device includes a first manipulator used to manipulate a movable part of the slave-side device, and control processing circuitry that performs determining processing of determining whether or not to turn the movable part in a roll direction, and based on determining to turn the movable part in the roll direction, control the movable part to turn in the roll direction in response to a specific manipulation of the first manipulator.

Abstract: A disposable glove apparatus. A cartridge of disposable gloves can be configured and mounted for presentation to a user. A user's hands in proximity to an open portion of a glove causes a gas flow to inflate a pair of gloves. A user can insert hands into the open gloves and remove them, thereby donning gloves in an easy and sanitary manner.

Abstract: Disclosed is a system for assisting in guiding and performing a procedure on a subject. The subject may be any appropriate subject such as inanimate object and/or an animate object. An imaging system may be used to image the subject. A system may include various manipulable or movable members, such as robotic systems, and may be used to move and position the imaging system.

Abstract: A system comprises a substrate having a plurality of apertures, and a clip. The clip is removably coupled to one of the plurality of apertures. The clip has a body, a plurality of fingers, a first leg, a second leg, a first notch, and a second notch. The fingers extend from the body to collectively form at least two tube-engaging regions. The first leg is adjacent to a first end of the body and extends from the body opposite the fingers. The second leg is adjacent to a second end of the body and extends from the body opposite the fingers. The first notch is adjacent to the first end of the body and is configured to receive a first portion of the substrate. The second notch is adjacent to the second end of the body and is configured to receive a second portion of the substrate.

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 medical tool kit is provided for packaging, storing, and transporting medical instruments and tools of various types. The medical tool kit is capable of providing continuing sterilization to the medical instruments and tools kept inside the medical tool kit after the tool case is opened during its normal use in a medical procedure, The medical tool kit is further capable of emitting a GPS tracking signal to identify the location of an opened medical tool kit during an emergency as well as creating hands free communication between the user of the medical tool kit and local emergency institutions.

Abstract: Many variations of systems, methods and apparatus for counting medical procedure objects, reconciling same, estimating patient blood loss during and/or after a procedure, and/or communicating between medical equipment used in a medical procedure setting are disclosed and/or illustrated herein. More particularly, many systems, methods and apparatus for counting and/or reconciling medical sponges with passive or active tracking devices, properly detecting/estimating blood loss during and/or after a medical procedure to assist with transfusion decision-making and identifying or at least alerting as to post-procedure patient risks, and/or for communicating between devices used during procedures to provide a smart/connected medical procedure environment are disclosed and/or illustrated herein.

Abstract: A brace for retaining an organ in an expanded state configured to adhere and substantially conform to an external surface of the organ includes an inner layer, an outer layer, and at least one sheet of thin malleable material forming a middle layer between the inner layer and outer layer, the at least one sheet being enclosed and configured to rigidify and maintain the organ in an expanded state upon application of a vacuum. The brace can be incorporated into a brassiere.

Abstract: The present disclosure relates generally to systems and methods to limit the torque of tools and devices, and specifically, to single-use or disposable, low-cost slip clutch systems and methods with modular disks that limit the output torque of manual or power-driven medical drivers.

Abstract: A surgical system includes a protective cover, an ultrasound device, and a surgical device. The protective cover includes a body configured to receive at least a portion of an ultrasound device through an open proximal end and into the interior volume of the body. A coupling assembly includes an inner coupler disposed within the interior volume of the body on an interior surface of the body and an outer coupler disposed on an exterior surface of the body. The inner coupler is configured to couple to the ultrasound device and the outer coupler is configured to couple to the surgical device to thereby constrain the ultrasound device and the surgical device in at least one degree of freedom while permitting movement of the surgical device relative to the ultrasound device in at least one other degree of freedom.

Abstract: The system and methods described herein are directed to a system for detecting deficiencies in surgical instruments that would justify removing them from service. Traditional visible lighting imaging for detection of small defects is complicated because most instruments are constructed of highly reflective stainless steel and specular reflections can obscure small details such as cracks and pits. Imaging in the infrared spectrum uses the direct emission from the object as opposed to reflected light required for visible imaging and can therefore avoid the issue of specular reflections. Depending on the lighting and orientation of the instrument, small features such as cracks and other damage may be completely obscured and not seen by traditional visible light imaging. Cracks and other damage, such as corrosion and pitting, have been demonstrated to be easily detected using a lab grade camera, although lower cost cameras could be used in a production facility.

Abstract: A method for operating a microscopy system is provided. The microscopy system includes a microscope and a stand supporting the microscope. The microscope is arranged on the stand. The stand includes at least one drive device configured to move the microscope. The method includes determining a specified value or a specified change of a modulable inertia of the microscopy system based on a state variable and/or based on user information and/or based on a force acting on the microscopy system and/or based on a current instance of application. The at least one drive device is controlled such that a divergence between the specified value and an actual value of the modulable inertia is reduced or the modulable inertia is varied in accordance with the specified change.

Abstract: Systems and methods for projecting a visual indicator onto a breast are disclosed. To better estimate an incision location or a location to apply an anesthetic, a visual indicator may be shown on the breast to indicate an intersection point of an interventional element and a surface of the breast. The visual indicator may be projected from a light source. The source may be positioned on a guidance system for an element near the element itself. The visual indicator may be moved based on a distance between the light and the surface of the breast (e.g., to counteract a parallax effect).

Abstract: Embodiments disclosed herein provide devices, systems, and methods for illuminating inside an eye globe. More particularly, the present disclosure relates to ergonomic chandelier illumination systems for illumination of a surgical site during ophthalmic surgery, the chandelier illumination systems having improved flexibility, profile, and light coupling efficiency. In certain embodiments, a malleable chandelier illumination probe, which is bendable by a surgeon to any desired angle, is disclosed. In certain other embodiments, a preformed chandelier illumination probe, which is preset to a desired angle using a heating method, is disclosed. In certain other embodiments, a method for belling and binding two optical fibers to create a dual chandelier output with improved light coupling efficiency, which is capable of being used with a single connector, is disclosed.

Abstract: An object or person in a medical environment may be identified based on images of the medical environment. The identification may include determining an identifier associated with the object or the person, a position of the object or the person in the medical environment, and a three-dimensional (3D) shape/pose of the object or the person. Representation information that indicates at least the determined identifier, position in the medical environment, and 3D shape/pose of the object or the person may be generated and then used (e.g., by a visualization device) together with one or more predetermined 3D models to determine a 3D model for the object or the person identified in the medical environment and generate a visual depiction of at least the object or the person in the medical environment based on the determined 3D model and the position of the object or the person in the medical environment.

Abstract: A mediated-reality system for surgical applications incorporates pre-operative images and real-time captured images of a surgical site into a visualization presented on a head-mounted display worn by a surgeon during a surgical procedure. The mediated-reality system tracks the surgeon's head position and generates real-time images of the surgical site from a virtual camera perspective corresponding to the surgeon's head position to mimic the natural viewpoint of the surgeon. The mediated-reality system furthermore aligns the pre-operative images with the real-time images from the virtual camera perspective and presents a mediated-reality visualization of the surgical site with the aligned pre-operative three-dimensional images or a selected portion thereof overlaid on the real-time images representing the virtual camera perspective.

Abstract: A surgical image capture and display system includes a handheld image capture and pointing device and a display assembly. An image is captured by an image sensor of the handheld device and displayed on the display assembly. The image sensor detects light emitted by one or more beacons of the display assembly. The system determines, based on the light emitted by the one or more beacons, a position or orientation of the handheld device relative to the display assembly. The system updates display of a graphical user interface comprising the image on the display assembly in accordance with the determined position or orientation of the handheld device.

Abstract: Certain embodiments provide a pneumatic dual port connector (PDPC) configured to be coupled to an interface component of a surgical console. The PDPC comprises a shaft, having a first connector channel having a first distal end and a first proximal end, a second connector channel having a second distal end and a second proximal end, and one or more first features configured to couple the PDPC to the interface component.

Abstract: A surgical fiducial marker positioner can include a rigid frame and a positioner coupling component. The rigid frame can support a plurality of surgical fiducial markers at fixed positions relative to each other along the rigid frame to form a fixed positional arrangement of surgical fiducial markers. The rigid frame can define a polygon arranged along a plane and the fixed positional arrangement of surgical fiducial markers can be asymmetrical. The positioner coupling component can be coupled to the rigid frame and can be configured to couple the surgical fiducial marker positioner to a separate surgical component at fixed position(s) relative to the separate surgical component, which can be a spinous process clamp. The surgical fiducial marker positioner can also include the surgical fiducial markers and fiducial marker couplers that removably couple the surgical fiducial markers to the rigid frame at the fixed positions.

Abstract: A multi-part medical marker (1) comprising a marker core consisting of at least two corresponding parts (2a, 2b) and comprising a detectable surface, wherein the surface is substantially formed from a detectable coating (4) which is applied to the surface (3) of the parts (2a, 2b) of the marker core (2). An apparatus for producing a medical marker comprising a marker core (?2) and a detectable surface, comprises:—a first feeding device (16) for providing the marker core (2);—an application device (17) for applying a detectable layer to the surface (3) of the marker core (2); and—a transport device (18) for transporting the marker core (2) within the apparatus.

Abstract: According to one embodiment, a marking system is disclosed. The marking system includes a specimen marker to be inserted within mass tissue and a first set of specimen markers be inserted within the mass tissue to provide a mapping for removing the mass tissue.

Abstract: A medical marking device, consisting of a radiotransparent plate having a plurality of radiopaque elements embedded therein in a predefined pattern. The device also has a sigmoid mounting arm having a first end connected to the radiotransparent plate and a second end containing one or more fastening receptacles.

Abstract: A registration marker comprising a radiotransparent substrate and a pattern formed in at least two dimensions, which is disposed on the substrate and is optically visible. The registration marker also has a multiplicity of radiopaque elements, which are disposed in the substrate and are spatially arranged in at least two dimensions to provide a unique pattern.

Abstract: A clamp with mount for a surgical retractor is disclosed that is adapted to couple one or more surgical retractors to a base plate. The clamp is configured to allow the surgeon to secure, adjust, and/or remove the retractor system with one hand, and without the need for an assistant to perform such manipulation. The clamp for a base plate also holding the body portion of the patient advantageously reduces the complexity and disadvantages of conventional surgical retractor systems by locating the mount for a surgical retractor below the surgical site in a manner that keeps the body portion and OR table as free as possible from associated obstruction by the retractor system.