Abstract: A medical robotic system includes a viewer for displaying an image of a work site, a gaze tracker for tracking a gaze point of a user on the viewer, and a processor. The processor is configured to: draw an area or volume defining shape, overlaid on the image of the work site, in a position determined by the gaze tracker; assign a fixed virtual constraint to the shape and constrain movement of a robotic tool according to the fixed virtual constraint; receive a user selected action command selecting an image of patient anatomy; and superimpose the selected image of the patient anatomy over the image of the work site within the shape. The selected image of the patient anatomy is registered to the image of the work site.

Abstract: An endoscope system comprises an endoscope and a display to display image content captured by the endoscope. The endoscope system also comprises one or more sensors located in a headrest and configured to detect an input at the headrest. The endoscope system also comprises a control module configured to receive one or more sensor signals from the one or more sensors. The one or more sensor signals indicate movement of the headrest with respect to a support on which the headrest is mounted or pressure applied to the headrest. The control module is also configured to adjust the image content displayed by the display in response to the one or more sensor signals.

Abstract: A control member for mounting to an end of an access tube includes a body that defines a proximal end and a distal end spaced from each other along a central axis. The control member defines a bore extending between the proximal and distal ends along the central axis, a handle portion that extends to the proximal end, and a mounting formation that extends to the distal end. The mounting formation includes an insertion portion that is insertable within the access tube and a lip that is opposed to the insertion portion so as to define a receptacle configured to receive an end portion of the access tube.

Abstract: The application relates to the problem of navigating a surgical instrument (at 301, 311) towards a region-of-interest (at 312) in endoscopic surgery when an image (300) provided by the endoscope is obscured at least partly by obscuring matter (at 303), wherein the obscuring matter is a leaking body fluid, debris or smoke caused by ablation. To address this problem, a computer-implemented method is proposed, wherein, upon detecting that the image from the endoscope is at least partly obscured, a second image is determined based on a sequence of historic images and based on the current position and orientation of the endoscope. Furthermore, a virtual image (310) is generated based on the determined second image.

Abstract: A method and system of enhancing facial or other body sites that are sagging, including incisionlessly inserting a lumen into a head or other areas of the body of a patient, the lumen having a first end configured to penetrate skin and a superficial musculoaponeurotic system (SMAS) of the patient, and having a first end with a suture attached thereto, a main control unit configured to translate, rotate, and flex the lumen, such that the lumen is steerable around an ear of the patient, and such that the suture remains under the skin of the face and passes through the SMAS, directing the lumen to exit the skin, detaching the lumen from the suture, and pulling taut the suture to elevate the SMAS.

Abstract: Methods and devices are provided for supporting an elongate shaft on a surgical tool during robotic surgery. For example, a tool holder is provided with an elongate carrier arm configured to couple to a distal end of a surgical robotic arm. The tool holder has a housing that is removably mounted on the carrier arm and that is configured to be positioned adjacent to a tissue surface without extending into tissue. The tool holder thus simulates a trocar. The housing has an opening formed therethrough for receiving an elongate shaft of a surgical tool, and the opening has an inner diameter that is configured to dynamically adjust in size to adapt to and resist movement of elongate shafts of varying diameters inserted therethrough.

Abstract: A retractor extension clip deployment system for use with a surgical retractor includes at least an extension clip adapted for engagement with the surgical retractor, the extension clip having proximal and distal ends, a deployment instrument, and a fluid transport assembly adapted to be affixed to the surgical retractor and comprising one or more tubes for transporting fluid including smoke removal.

Abstract: The present disclosure provides a treatment assistance apparatus, comprising: a base; a first joint of which one side is coupled to the base to relatively move; a first arm of which one end is rotatably coupled to the other side of the first joint; a second joint of which one side is rotatably coupled to the other end of the first arm; an adapter arm of which one end is coupled to a first adapter to relatively move, and the first adapter is rotatably coupled to the other side of the second joint; a first driving part disposed in the first joint and configured to rotate the first arm; a second driving part disposed in the second joint and configured to rotate the adapter arm; a pressure part configured to stop a relative motion of the first adapter; and a controller configured to control the first driving part, the second driving part and the pressure part.

Abstract: A kinematic model arithmetic portion calculates a coordinate value (ze1 (?e)) as distance information indicating the distance between a member that serves as a reference surface for the curve shape of a curvable portion and a member in the curvable portion that is closest to the reference surface. A switch determination unit determines based on the coordinate value whether to drive a wire for driving the curvable portion by a drive displacement calculated for the wire along with the coordinate value by the kinematic model arithmetic portion.

Abstract: Embodiments of a compliant orthopedic driver are disclosed herein. In some embodiments, compliant orthopedic driver includes a body extending from a proximal end to a distal end along a driver axis; a driver tip disposed at the distal end of the body, wherein the body includes at least one compliant portion configured to allow the driver flex about at least two axes transverse to the driver axis.

Abstract: A control system for a surgical robotic system, the surgical robotic system comprising a remote surgeon console and an articulated surgical robot arm comprising a series of joints extending from a base to a terminal end for attaching to an articulated surgical instrument. The control system comprises a central controller communicatively coupled to and remotely located from an arm controller of the surgical robot arm, the central controller also communicatively coupled to a surgeon input device of the surgeon console.

Abstract: A microscopy system includes a microscope, a stand configured to mount the microscope and including a drive device configured to move the microscope, a detection device configured to detect a spatial position of a target fastened to a body part or to an instrument, wherein the position detection device includes the target with at least one marker element and an image capture device configured to optically capture the target. The microscopy system further includes at least one control device configured to operate the microscopy system according to the detected position of the target, wherein the position detection device is configured to determine the position of the target by evaluating a two-dimensional image of the image capture device. In addition, a method for operating the microscopy system is provided.

Abstract: An apparatus for holding an endoscope is disclosed. The apparatus includes a vertical arm mounted on a platform, a gas spring arm unit moves up and down in a space when fitted on a movable horizontal arm, a connecting means configured to lock the position of gas spring arm unit and the horizontal arm in order to obtain a predetermined position of the endoscope using one or more screws, a rail slider configured to move the endoscope in forward and backward direction in the space, a clamping unit configured to hold the endoscope by one of a clamp and a holding tube, wherein the vertical arm is configured to support the apparatus for holding the endoscope.

Abstract: A method for engaging and disengaging a surgical instrument of a surgical robotic system comprising: receiving a plurality of interlock inputs from one or more interlock detection components of the surgical robotic system; determining, by one or more processors communicatively coupled to the interlock detection components, whether the plurality of interlock inputs indicate each of the following interlock requirements are satisfied: (1) a user is looking toward a display, (2) at least one or more user interface devices of the surgical robotic system are configured in a usable manner, and (3) a surgical workspace of the surgical robotic system is configured in a usable manner; in response to determining each of the interlock requirements are satisfied, transition the surgical robotic system into a teleoperation mode; and in response to determining less than all of the interlock requirements are satisfied, transition the surgical robotic system out of a teleoperation mode.

Abstract: An instrument driver comprises a base and a jaw assembly coupled to the base. The jaw assembly includes a first jaw having a gripping surface and a second jaw having a gripping surface. The instrument driver further comprises a driver assembly operably coupled to the jaw assembly to advance an elongated member relative to the base by translating the first and second jaws toward each other, thereby closing the jaw assembly and gripping the member between the respective gripping surfaces of the first and second jaws, translating the jaw assembly in a first axial direction when the jaw assembly is closed, translating the first and second jaws away from each other, thereby opening the jaw assembly and releasing the member from between the respective gripping surfaces of the first and second jaws, and translating the jaw assembly in a second axial direction when the jaw assembly is opened.

Abstract: A system and method for augmenting an endoscopic display during a medical procedure including capturing a real-time image of a working space within a body cavity during a medical procedure. A feature of interest in the image is identified to the system using a user input handle of a surgical robotic system, and a graphical tag is displayed on the image marking the feature.

Abstract: Embodiments of a compliant orthopedic driver are disclosed herein. In some embodiments, compliant orthopedic driver includes a body extending from a proximal end to a distal end along a driver axis; a driver tip disposed at the distal end of the body, wherein the body includes at least one compliant portion configured to allow the driver flex about at least two axes transverse to the driver axis.

Abstract: An example medical device configured for use with a teleoperated surgical system may include a control system, a movable manipulator arm, and a handle coupled to the manipulator arm, wherein in a first pose of the movable manipulator arm, the handle is oriented at a first convenient hold angle to a clinical user, wherein in a second pose of the movable manipulator arm different from the first pose, the handle is oriented at a second convenient hold angle to the clinical user, different from the first convenient hold angle, and wherein the control system includes programmed instructions to automatically move the handle from the first orientation to the second orientation as the movable manipulator arm moves from the first pose to the second pose.

Abstract: Methods, apparatus, and computer readable media applicable to balancing robots. Some implementations are directed to maintaining a given end effector pose (relative to a world frame) of an end effector of a balancing robot when there is a disturbance to a balancing base of the balancing robot. Some implementations are additionally or alternatively directed to transitioning a balancing robot from a fallen configuration to a balanced configuration. Some implementations are additionally or alternatively directed to mitigating the risk that a balancing robot will fall when interacting with actuable environmental objects (e.g., doors) and/or to lessen the disturbance to a balancing base when interacting with actuable environmental objects.

Abstract: A medical robotic system includes a viewer, a gaze tracker, and a processor programmed to: draw an area or volume defining shape overlaid on an image based on the tracked gaze point after the user has gazed on the tracked gaze point for a programmed period of time; in response to receiving a user-selected action command, assign a fixed virtual constraint to the area or volume defining shape and constrain movement of a robotic tool; map points of the robotic tool in a tool reference frame to a viewer reference frame; determine a closest object to the tracked gaze point is the robotic tool based at least in part on the mapped points; display an object including text identifying the robotic tool, overlaid on the image, proximate to the robotic tool based on determining the robotic tool is the closest object; and perform an action indicated by the object.

Abstract: A mechanical interface for a robotic medical instrument permits engagement of the instrument and a drive system without causing movement of an actuated portion of the instrument. An instrument interface can include a symmetrical, tapered or cylindrical projection on one of a medical instrument or a drive system and a complementary bore in the other of the drive system or the medical instrument. Symmetry of the projection and the bore allows the projection to be compression fit to the bore regardless of the rotation angle of the drive system relative to the medical instrument.

Abstract: A cannula system with a proximally mounted camera assembly, sensors or sensor pair component(s), radially fixed to the camera assembly and an image control system operable to rotate image data obtained from the camera for display on a display screen, to maintain an image in an orientation preferred by a surgeon even as the camera assembly is rotated radially about the axis of the cannula.

Abstract: Provided is a scope that can comprise a tubular casing, a proximal end, a distal end, an internal volume, a longitudinal axis of extension extending from the distal end to the proximal end, a vertical axis extending perpendicularly to the longitudinal axis of extension and one or more apertures along a length L of the longitudinal axis of extension; a handle having a proximal end and a distal end; and image capture devices each located within the internal volume of the tubular casing.

Abstract: A laparoscopic tool has a semicircular mid-portion with a center point and coinciding remote center of the robotic arm, to which the tool is mounted on a common axis located between straight proximal and straight distal sections. The straight proximal of the laparoscopic tool is rotatably mounted on a fixed side mount on surgical robotic arm. The robotic arm is disengaged from the surgical robot to allow manual location of the robotic arm to position the semicircular mid-portion through a percutaneous port and the center point of semi-circular mid-portion and coinciding remote center of the robotic arm, to which the tool is mounted at a target virtual insertion point on the patient's body. Visual aids are provided to assist in the positioning of the center point.

Abstract: An access device for accessing an intervertebral disc having an outer shield comprising an access shield with a larger diameter (˜16-30 mm) that reaches from the skin down to the facet line, with an inner shield having a second smaller diameter (˜5-12 mm) extending past the access shield and reaches down to the disc level. This combines the benefits of the direct visual microsurgical/mini open approaches and the percutaneous, “ultra-MIS” techniques.

Abstract: A tool guide may be used with a computer-assisted medical device. The tool guide comprises an elongated body comprising a first end and a second end opposite the first end. The tool guide also comprises a joint attached to the first end of the elongated body and a mounting arm coupled to the elongated body via the joint. The tool guide also comprises a tool sleeve attached to the second end of the elongated body. The mounting arm is configured to be attached to a first articulated arm of the computer-assisted medical device, and the tool sleeve is adapted to receive an end effector attached to a second articulated arm of the computer-assisted medical device.

Abstract: A method for evaluating a gastrointestinal tract may include characterizing one or more disease parameters using objective measures obtained from imaging data of a gastrointestinal tract. The one or more disease parameters reflect a measure of at least one of lesions, ulcers, bleeding, stenosis, and vasculature. The method may also include using the one or more characterized disease parameters to classify a disease state.

Abstract: This application describes a novel approach of wireless charging or powering of a sensor-based device used for in vivo diagnosis and monitoring. In addition to implantable or subcutaneous devices, this approach can also be used for wireless charging of wearable and handheld devices. Specifically, this application describes charging of diagnostic and monitoring devices used for disease detection and management. More specifically, this application describes a method to wirelessly power integrated devices designed to detect or monitor analytes (e.g. biological or chemical species) and release drugs into the body in response to a specific change in the body's vitals, detected by the device.

Abstract: An ingestible electronic capsule for the collection of samples along a gastric intestinal tract and methods relating thereto are provided. The ingestible electronic capsule includes a housing and a cap that form an interior chamber. The cap includes a sampling port and one or more sample collection chambers are disposed within the interior chamber. A motor is also disposed within the interior chamber and is configured to rotate one of the cap and the one or more sample collection chambers so to align one or the one or more sample collection chambers and the sampling port of the cap so to allow for sample collection. A microcontroller is also disposed within the interior chamber and is in communication with at least the motor. The microcontroller is configured to control the selective alignment of the sampling port and one of the one or more sample collection chambers and induce gastric intestinal fluid sampling.

Abstract: A method for verifying surgical tool placement includes attaching a guide sleeve to a surgical robot, the guide sleeve defining a guide sleeve axis; aligning the surgical robot such that the guide sleeve axis is directed at a predetermined target location; and attaching an aiming rod to the guide sleeve such that the aiming rod can rotate around the guide sleeve axis, the aiming rod having apertures along its length. The aiming rod is attached to the guide sleeve at an angle and position such that when the surgical robot is adjusted to align the guide sleeve axis with the predetermined target location, a center of each aperture of the apertures of the aiming rod and a center of the predetermined target location are collinear, independent of a rotational position of the aiming rod around the guide sleeve axis.

Abstract: Catheter steering handles that are ergonomically designed to enable an operator to reduce hand fatigue. Various ergonomic aspects of the disclosed steering handles include geometries that more naturally conform to the palm of the hand and that enable the hand to be held in a natural, low stress posture during operation of the steering handle. In another aspect of the disclosure, the catheter steering handle is configured so that the operator can release or partially release the grip on the handle, thereby enabling the operator to relax and flex the hand, thereby reducing fatigue.

Abstract: A robotic surgical system for treating a patient comprises a first robotic arm configured to remotely control a surgical instrument that is positionable within a cavity of the patient; a second robotic arm configured to remotely control a device that is passable through an orifice of the patient; and a control circuit communicatively couplable to the first and second robotic arm. The first and second robotic are each attached to a surgical platform. The control circuit is configured to determine a position of the arms; cause each of the first and second robotic arm to change their respective position and orientation based on an adjustment of a platform position of the surgical platform; and control the first robotic arm and the second robotic arm to cooperatively interact to perform a surgical operation.

Abstract: An endoscopic portal protective shield assembly has an elongate portal shaft and an elongated protective shield. The elongate portal shaft has a viewing portal. The shaft has a slotted tubular body with interior surfaces. The shaft has a distal end and a proximal end and a slotted opening at the distal end extending partially along the slotted tubular body toward the proximal end. The elongated protective shield has a longitudinal shield body, a proximal end and a distal end. The protective shield is configured to be slid into the slotted opening of the tubular body with an interior portion of the longitudinal shield body being inserted inside the tubular body while maintaining the viewing portal open.

Abstract: An operation device for a surgical manipulator includes an input device that operates the surgical manipulator. The input device includes a plurality of joints and a plurality of motors that drives the plurality of joints, and reduction ratios in power transmission paths from the plurality of motors to the plurality of joints, respectively, are 0.5 or more and 30 or less.

Abstract: Certain embodiments provide an adjustable length infusion cannula having a cannula including a first proximal end and a first distal end, and a hub having a second proximal end, a second distal end, and a central aperture that extends between the second proximal end and the second distal end. The central aperture is configured to accept the first distal end of the cannula and allow the cannula upward movement and downward movement through the hub. The adjustable length infusion cannula also includes a locking mechanism configured to lock the cannula within the hub such that the first distal end extends a first distance past the second distal end of the hub.

Abstract: The present invention provides a device for supporting and positioning an endoscope maneuvering system, the device connectable to a fixed support, the device comprising: a. a support mechanism releasably connectable to said endoscope maneuvering system; b. at least one movable arm comprising at least one first jointed connection to said support mechanism, said at least one movable arm adapted to position and orient said endoscope maneuvering system; and c. a base connector comprising at least one second jointed connection to said at least one movable arm, said base connector fixedly connectable to said fixed support; wherein said device is adapted to maintain said endoscope maneuvering system in a state of quasi-static dynamic equilibrium.

Abstract: A surgical system includes a surgical assist robot including a robot main body and a slave controller, and a console. The robot main body has an entry guide, an entry guide support device, and at least one manipulator having an end effector provided at a distal end. The entry guide includes an inner cylinder, an outer cylinder into which the inner cylinder is inserted in an insertion axial direction, and a guide advancing device that displaces the inner cylinder in the insertion axial direction with respect to the outer cylinder. While a position and a posture of the end effector that has advanced from the entry guide are maintained, the inner cylinder is caused to advance toward the end effector within a predetermined movable range along the insertion axial direction with respect to the outer cylinder.

Abstract: The present technology relates to a control device, a control method, and a surgical system that enable an operator to implement operation without a burden. A control unit controls a plurality of patterns of operations of a surgical instrument, and an acquisition unit obtains motion information indicating a motion of a user. Furthermore, the control unit controls the operations of the respective patterns corresponding to the motion information obtained by the acquisition unit in parallel using only a single operation performed by the user as a trigger. The present technology can be applied to a control device of a surgical system.

Abstract: A surgical system for performing a surgical procedure includes an ex-vivo positioning mechanism and an in-vivo instrument magnetically attracted to the ex-vivo positioning mechanism. The in-vivo instrument can be positioned within a patient by moving the ex-vivo positioning mechanism. In addition, the surgical system includes a percutaneous member introducible into the patient independent from the ex-vivo positioning mechanism, the percutaneous member comprising a connector at a distal end thereof, wherein the connector is selectively couplable to the in-vivo instrument within the patient.

Abstract: A medical observation system includes a multi-link structure in which a plurality of links is mutually coupled by joint parts, a medical observation apparatus attached on the multi-link structure, a control part configured to control the multi-link structure or the medical observation apparatus, and a user interface part by which a user inputs an instruction to change a visual field of the medical observation apparatus. When a user instructs to move a visual field of the medical observation apparatus vertically or horizontally, to rotate an oblique-viewing endoscope, or to change a magnification of the visual field via the user interface part, the control part controls the multi-link structure or the medical observation apparatus.

Abstract: A robotic surgical system is disclosed including an end effector movable relative to a tissue of a patient. The robotic surgical system further includes a control circuit configured to determine a distance between the end effector and the tissue and cause the end effector to be transitioned between a locked configuration and an unlocked configuration based on the distance.

Abstract: Provided is an endoscope holder capable of turning or swinging an endoscope inserted into a body with the endoscope fixed at a predetermined insertion position. An endoscope holder (1) includes a holder main body (3) having an insertion hole (2), gripping members (7a) and (7b) configured to pinch an endoscope E inserted into the insertion hole (2), first elastic members (12a) and (12b) configured to urge in a direction in which the gripping members (7a) and (7b) are separated from each other, a pressing member (13) configure to press the gripping member (7a) toward the gripping member (7b), a switching mechanism (17) configured to hold or release a pressing state, rollers (10) provided in gripping members (7a) and (7b), and a second elastic member (15) configured to swingably support the gripping member (7b).

Abstract: Configuration of a communication module based on determination of an idle time metric is described. In one embodiment, signal strength data representative of composite signal strength indicators of a group of frequency channels utilized by the communication module is determined. A composite indicator of the composite signal strength indicators can be employed that comprises multiple signal strength indicators, sampled over time, of a first channel of the group of frequency channels. Respective values for the composite indicator can be assigned in response to comparisons of the multiple signal strength indicators to one or more defined threshold(s). An idle time metric of the first channel can be determined based on a combination of the respective values and a best channel from among the group of frequency channels can be determined based on the idle time metric. The communication module can be updated to communicate via the best channel.

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

Abstract: In a coupled control mode, the surgeon directly controls movement of an associated slave manipulator with an input device while indirectly controlling movement of one or more non-associated slave manipulators, in response to commanded motion of the directly controlled slave manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system's usability is enhanced by reducing the surgeon's need to switch to another direct mode to manually achieve the desired secondary objective. Thus, coupled control modes allow the surgeon to better focus on performing medical procedures and to pay less attention to managing the system.

Abstract: A device for engaging tissue includes a body disposable around the distal end of a medical instrument, such as an endoscope, and a handpiece. The body includes a primary channel for receiving the medical instrument and at least one arm channel for receiving an arm therethrough. At least one arm extends through the arm channel of the body and proximally to the handpiece. The arm includes an engagement member distally of the body, and may further include a bend between the body and engagement member. The engagement member is movable between a first position not contacting tissue and a second position contacting tissue. With multiple engagement members, the engagement members are farther apart from one another in the first position and closer together in the second position. Movement of the engagement members is controlled by selective and independent movement of the corresponding arms by rotational and/or translational motion.

Abstract: Systems, methods, and workflows for concomitant procedures are disclosed. In one aspect, the method includes manipulating a flexible instrument using a first robotic arm of a robotic system, manipulating a rigid instrument using a second robotic arm of the robotic system, displaying feedback from the flexible instrument, and displaying feedback from the rigid instrument.

Abstract: A method for engaging and disengaging a surgical instrument of a surgical robotic system comprising: receiving a plurality of interlock inputs from one or more interlock detection components of the surgical robotic system; determining, by one or more processors communicatively coupled to the interlock detection components, whether the plurality of interlock inputs indicate each of the following interlock requirements are satisfied: (1) a user is looking toward a display, (2) at least one or more user interface devices of the surgical robotic system are configured in a usable manner, and (3) a surgical workspace of the surgical robotic system is configured in a usable manner; in response to determining each of the interlock requirements are satisfied, transition the surgical robotic system into a teleoperation mode; and in response to determining less than all of the interlock requirements are satisfied, transition the surgical robotic system out of a teleoperation mode.

Abstract: A medical system includes a medical device, an over-tube, and a console. The medical device includes an insertion portion. The over-tube is configured to receive the insertion portion. A console having a first connector is attached to the medical device and a second connector is attached to the over-tube. The over-tube has a tubular main body and a proximal-end portion. The proximal-end portion comprises a tubular member having an insertion port for receiving the insertion portion of the medical device therethrough. A base portion is coupled to the second connector and a moving mechanism is coupled to both the tubular member and the base portion. The moving mechanism is configured to cause the tubular member to move with respect to the second connector such that the tubular member has two or more degrees of freedom with respect to the second connector.

Abstract: A robotic system includes a processor that is programmed to determine and cause work site measurements for user specified points in the work site to be graphically displayed in order to provide geometrically appropriate tool selection assistance to the user. The processor is also programmed to determine an optimal one of a plurality of tools of varying geometries for use at the work site and to cause graphical representations of at least the optimal tool to be displayed along with the work site measurements.