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 eye tracking input, and a graphical tag is displayed on the image marking the feature.

Abstract: Various embodiments comprise endoscopes (e.g., arthroscopes) for viewing inside a cavity of a body. The endoscopes may include a tip, at least one solid-state emitter such as light emitting diode (LED), located at the distal end of the endoscope, an elongated member. The elongated member may include a plurality of lenses for transmitting light received from the tip member and an elongated conducting member for providing electric power to the solid-state emitter. The elongated conducting member may include conducting lines embedded in a flexible elongated insulating membrane. The tip member and the elongated member may be configured to dissipate heat generated by the solid-state emitter.

Abstract: A medical system may comprise an endoscope, including a handle and a sheath having a first illumination source, a second illumination source, and an imaging device at a distal tip of the sheath. The first illumination source may be configured to emit white light. The second illumination source may be configured to emit a non-white light. The system may also comprise a display device, a controller configured to interface with the endoscope and the display device, and a carrying case configured to contain the endoscope, the display device, and the controller.

Abstract: An endoscopic capsule system comprising: an endoscopic capsule having magnetic characteristics; an extracorporeal guiding and moving apparatus having a moveable multi-hinged cantilever arm which is pivotably mounted at a support stand at one end and at an effector having magnetic characteristics at the other end to move the endoscopic capsule in accordance with movement of the effector; a controller device to define the position and orientation of the endoscopic capsule relative to the effector, and a force and/or moment generation device or a braking device to generate counter forces and/or counter moments or braking forces against moving and/or guiding forces that are manually applied to the cantilever arm and/or effector in accordance with the actually defined position and/or orientation of the endoscopic capsule relative to the effector.

Abstract: Some implementations of the disclosure are directed to single portal surgical systems. In one implementation, an apparatus includes first, second, and third cannulas. Fluid flows through a proximal opening of the first cannula. The second cannula couples within the first cannula such that an outer wall of the second cannula contacts an inner wall of the first cannula. The second cannula includes a first distal opening and a first slot longitudinally extending along the second cannula. Fluid entering the proximal opening flows through the first slot and exits at a distal end of the. The third cannula couples within the second cannula such that an outer wall of the third cannula is in touching relation with an inner wall of the second cannula. The third cannula includes a second distal opening that rotationally interacts with the first distal opening during tissue debridement.

Abstract: Provided is a surgical tool that includes a shaft, a pitch unit that is connected to an end of the shaft and is able to turn about a first axis, a roll unit that is supported and is rotatable about a second axis with respect to the pitch unit, and a grip unit that is supported and is linearly movable in the second axis direction with respect to the roll unit. The surgical tool further includes a pair of jaws that are attached to the lower end of the roll unit in the second axis direction, and open and close in conjunction with linear motion of the grip unit in the second axis direction.

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: An ergonomic adjustment mechanism comprising a vertical adjustment mechanism to move master robotic arms along a vertical axis. An exemplary vertical adjustment mechanism includes a main shaft extended along a horizontal axis between a first end and a second end, where the horizontal axis may be perpendicular to the vertical axis. The vertical adjustment mechanism further includes a linear actuator coupled to the horizontal beam to actuate a translational movement of the horizontal beam along the vertical axis. The ergonomic adjustment mechanism further includes a horizontal adjustment mechanism to move exemplary master robotic arms along the horizontal axis. The horizontal adjustment mechanism includes a horizontal sliding rail that is mounted on the horizontal beam. Master robotic arms may be slidably mounted on the sliding rail, where the master robotic arms are slidable on the sliding rail along the horizontal axis.

Abstract: A surgical system for use in a surgical procedure is disclosed. The surgical system includes a surgical instrument including an end effector configured to treat tissue at a surgical field during the surgical procedure, a surgical visualization system configured to track the surgical instrument in the surgical field, and a control circuit configured to derive a first data set from the surgical visualization system indicative of a visual aspect of the surgical instrument relative to the surgical field, derive a second data set from the surgical instrument indicative of a functional aspect of the surgical instrument, and correlate the first data set with the second data set.

Abstract: The present invention discloses to surgical port add-on, an adaptor, modules and methods thereof for producing and using a surgical port especially adapted for cleaning surgical tools operable in a body cavity. The invention also discloses a surgical port add-on, an adaptor, modules and methods thereof an adaptor that can be pertaining to the attached in or on a trocar and for use of the same d for cleaning the lens and light source of an endoscope.

Abstract: A computer-assisted surgical system comprises a master grip input mechanism, a surgical instrument comprising an end effector configured to apply a gripping force, and a controller. The controller is configured to receive a first input signal in response to grip input at the master grip input mechanism. The controller is further configured to receive a second input signal after receiving the first input signal, wherein the second input signal is received in response to a procedure input at a master input device, with the procedure input being different from the grip input at the master grip input mechanism and further being indicative of a user's readiness to operate the surgical instrument to perform a first surgical procedure. The controller is further configured to, in response to receiving the first input signal and the second input signal, cause one or more degrees of freedom of the surgical instrument to be placed in a locked state.

Abstract: One example method for scene-adaptive image quality in surgical video includes receiving a first video frame from an endoscope, the first video frame generated from a first raw image captured by an image sensor of the endoscope and processed by an image signal processing (“ISP”) pipeline having a plurality of ISP parameters; recognizing, using a trained machine learning (“ML”) model, a first scene type or a first scene feature type based on the first video frame; determining a first set of ISP parameters based on the first scene type or the first scene feature type; applying the first set of ISP parameters to the ISP pipeline; and receiving a second video frame from the endoscope, the second video frame generated from a second raw image captured by the image sensor and processed by the ISP pipeline using the first set of ISP parameters.

Abstract: The present invention is directed to a system to improve the safety of robotically assisted minimally invasive surgery. The system includes an endoscope holder, an accelerometer, and a controller. The accelerometer is configured to track motion of the patient's head and transmit that information to the controller. The controller is configured to operate the endoscope holder. When the accelerometer detects patient head movement, the controller then retracts the endoscope, via the endoscope holder. The system of the present invention can be used for endoscopic surgery for otolaryngology and neurosurgery. It can also be used for other surgical situations with similar requirements and constraints.

Abstract: An eye surgery apparatus includes a model surgical tool, a robotic arm coupled with an eye surgery tool, a tracking-system, and a processor. The model surgical tool is configured to be maneuvered by a physician. The robotic arm is coupled with an eye surgery tool and configured to be placed in proximity to an eye of a patient. The tracking-system is configured to track movements of at least the model surgical tool. The processor is configured to (i) receive the tracked movements of the model surgical tool from the tracking system, while the physician moves the model surgical tool to perform a model eye surgery on an oversized model eye, and (ii) apply to the robotic arm movements that mirror and scale-down the movements applied by the physician to the model surgical tool, to perform a surgical procedure on the eye of the patient using the eye surgery tool.

Abstract: According to embodiments, a substantially coaxial arrangement of a camera, a light source, and an ultrasonic sensor can be positioned in an housing of a system that can be deployed from the tool port of a standard bronchoscope. Illumination from the light source facilitates positioning of the system by an operator using information from the camera. The ultrasonic system can determine when an object to be biopsied is adjacent to a biopsy needle.

Abstract: System and method for using processor-controlled actuators to drive multi-stage catheter devices configured to navigate through complex narrow tissue openings such as lung bronchi pathway openings. The device comprises a proximal catheter portion containing a hollow torque shaft, with a distal catheter portion connected to the proximal portion by a rotatable coupler connected to this hollow shaft. The distal position of the proximal catheter can be controlled by independently controlled proximal stage steering cables positioned outside of the shaft, and the shaft itself can be used to rotate the distal catheter about the rotatable coupler. The position of the distal end of the distal catheter can be further controlled by distal stage steering cables positioned inside of the hollow shaft. The device is tipped by a tool plate, which can be equipped with various sensors and other instruments, connected to the outside via other conduits.

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 high-frequency electrotome control system and a control method thereof are disclosed. The high-frequency electrotome control system includes an electrotome activation pedal, a master-slave control system, and a high-frequency electrotome activation hardware arbitration module. The high-frequency electrotome activation hardware arbitration module is connected with the electrotome activation pedal and configured to detect the state of the electrotome activation pedal. The high-frequency electrotome activation hardware arbitration module is connected with the master-slave control system and configured to activate an electrotome control output based on the state of the electrotome activation pedal and an electrotome control signal from the master-slave control system.

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: A surgical tool comprises a dilator, a cutter, a retractable brush, and at least one retractable drill. The dilator is configured to dilate tissue of a patient and can be positioned in an undilated configuration or a dilated configuration. The cutter is configured to cut the tissue and is disposed at a distal end of the dilator. The cutter is configured to move between a cutting position when the dilator is in the undilated configuration and a non-cutting position when the dilator is in the dilated configuration. The retractable brush is configured to brush a surface of an anatomical element of the patient to remove matter from the surface. The at least one retractable drill is configured to drill into the anatomical element.

Abstract: An endoscopic sheath holding tip and stabilization system is configured to be connected to a table mounted flexible or rigid arm or other surgical support device used over the patient during a surgical procedure. The sheath holder includes a hook structure configured to engage the underside of the scope sheath (e.g., inflow and outflow ports), while a plunger mechanism engages the top surface of the sheath. The downward pressure of the plunger mechanism working against the upward forces of the hook structure operate to stabilize the scope sheath without requiring user intervention. In this manner, the scope and other instruments can be introduced into the stabilized scope sheath without requiring user assistance to hold the scope once positioned in the stabilized sheath.

Abstract: The present disclosure provides a method for controlling a surgical instrument. The method includes connecting a power assembly to a control circuit, wherein the power assembly is configured to provide a source voltage, energizing, by the power assembly, a voltage boost convertor circuit configured to provide a set voltage greater than the source voltage, and energizing, by the voltage boost convertor, one or more voltage convertors configured to provide one or more operating voltages to one or more circuit components.

Abstract: A surgical drape for a patient side cart of a teleoperated surgical system may comprise a body sized and shaped to cover at least a portion of an arm or main column of the patient side cart, and an attachment device feature connected to the body, the attachment device feature being configured to install the surgical drape to the arm or main column so as to cover at least a portion of the arm or main column with the surgical drape. In an installed position of the surgical drape on the arm or the main column, the attachment device feature is positioned at a location in sensing proximity of a sensor of the patient side cart.

Abstract: A hardware platform includes adapters to interface with medical provisioning equipment involved in a remote robotic medical procedure at a patient site and a software system component, potentially cloud-based, to process real-time incoming data streams and a database to store the data streams for later use or archival. Each data stream can itself contain different types of sensory data. The software system component provides overall control and overrideable supervision over the remote robotic operations includes a state manager that synergistically processes the incoming data streams possibly of varying transmission rates, times of receipt or transmission, resolution, and quality. The state manager forms a near- or real-time virtual representation of the operative field. The software system component includes a data broker that can parse the RTVR into subsets data tailored to the needs of the medical provisioning and monitoring equipment, which may also be deployed and co-located at the patient site.

Abstract: A medical handling device comprises an instrument holder for holding an observation instrument that is equipped with an image capturing unit for capturing an image section. The handling device further comprises a robotic handling unit that supports the instrument holder and a control device that comprises a handling control unit for controlling the robotic handling unit and an instrument control unit for controlling the observation instrument. An input device is coupled to the control device for selecting an image section to be reproduced. The control device is adapted to control the robotic handling unit in response to user inputs at the input device to change the captured image section. The control device is adapted to convert operating commands at the input device into movement instructions, depending on a present orientation of the image capturing unit.

Abstract: A method comprises measuring, with a sensor, a shape of a section of an elongated flexible instrument and comparing the measured shape of the section of the elongated flexible instrument to an expected shape. The method also comprises determining whether the measured shape of the section of the elongated flexible instrument differs from the expected shape by a predefined threshold.

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: 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 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: 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: 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: 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 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: 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: 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 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: 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 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: 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: 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.