Abstract: An apparatus for use during robotic surgery, where the apparatus includes a robotic arm; a tool driver connected to the robotic arm; a cannula including a proximal portion and a distal portion wherein the proximal portion is coupled to the tool driver; and a damping element connected to one of the robotic arm, the tool driver and the cannula. Also, a method including guiding a surgical tool coupled to a robotic arm into a patient, wherein the surgical tool is disposed through a cannula and coupled to a tool driver coupled to a distal portion of the robotic arm; and maneuvering the tool driver by way of the robotic arm, wherein vibrations generated by the maneuvering are inhibited by a damping element coupled to one of the robotic arm, the tool driver and the cannula.

Abstract: An injection system for an intraocular lens (IOL) utilizes a folding device for the IOL. The folding device comprises a pair of co-acting winglets pivotable between an open position and a closed position, and together defining a hinge axis and a receptacle for the IOL. Each winglet has an outwardly extending, unitary leg portion defining a base plane that includes the hinge axis and a motion limiting protuberance on each said leg portion extending from the base plane. The base planes are situated at an angle relative to one another and the protuberances abut one another when the winglets are in the open position. The base planes merge into a single plane when the winglets are in the closed position.

Abstract: Provided are surgical instruments, and more particularly, surgical instruments that may be manually operated to perform laparoscopic operations or various surgical operations.

Abstract: A segmented skirted surgical mesh for use in reconstructing a soft tissue defect, the segmented skirted surgical mesh comprising: a base layer of surgical mesh, the base layer of surgical mesh comprising an outer edge; and a segmented continuous skirt of surgical mesh comprising an outer edge and an inner edge which defines a central opening, the segmented continuous skirt of surgical mesh being secured to the base layer of surgical mesh at the outer edge of the continuous skirt of surgical mesh, and the segmented continuous skirt of surgical mesh comprising a plurality of slits formed in the segmented continuous skirt of surgical mesh, wherein the plurality of slits extend outwardly from the inner edge of the segmented continuous skirt of surgical mesh, whereby to form a plurality of flaps of surgical mesh in the segmented continuous skirt of surgical mesh, such that at least one of the flaps of surgical mesh can be lifted away from the base layer of surgical mesh and secured to soft tissue without causin

Abstract: A locating system for a surgical suite includes optical markers coupled to a medical device. A sensor is configured to obtain an initial position data of the optical markers. A laser device is configured to obtain subsequent position data of the optical markers. A controller receives the initial position data from the sensor and the subsequent position data from the laser device. The controller is configured to determine a position of the medical device within the surgical suite and recognize a type of the medical device in response to the optical markers.

Abstract: A patient-side apparatus of a surgical system according to an embodiment may include: manipulator arms with multi-degree of freedom, each of which includes a distal end portion provided with a tool holding part configured to hold an elongated surgical tool; an arm base to which base end portions of the manipulator arms are attached; a base; and a positioner that includes links and joints to connect the base and the arm base such that the positioner movably holds the arm base. The links include a first link that is connected to a central portion of the arm base in a longitudinal direction of the arm base with a first roll joint arranged between the first link and the arm base. The positioner holds the arm base such that a first rotation axis of the first roll joint is inclined with respect to both a vertical direction and a horizontal plane.

Abstract: This disclosure provides an enhanced operating table and room, an insulated conductor, and a filtration system. The table includes an attachment, controlling parameters during surgery, a control, and a console. The attachment is moveable relative to at least one reference point. The console allows monitoring parameters during surgery. The room includes sensors integrated throughout and a data module in communication with the sensors. The data module receives data from the plurality of sensors, stores the received data in memory, and analyzes and processes the stored data. The insulated conductor includes an electrical conductor and an insulator. The insulator partially electrically or thermally insulates the electrical conductor. The filtration system removes particles within a fluid A transducer generates a pressure gradient to promote the particles to flow. Alternatively, the filtration system can include a robotic system. The robotic system charges particles such that the particles within the fluid adhere.

Abstract: Occlusive implants are provided with various embodiments of active and/or passive release structures. Systems for delivering the occlusive implants as well as methods for making and delivering the implants are also provided.

Abstract: An articulating joint comprising a multi-cluster joint where every consecutive pair of links is interfaced by a gimbal, which offers rotation about two orthogonal axes within the same plane. Thus, the articulating joint comprises an alternating sequence of links and gimbals. Furthermore, there may be multiple cables attached to one or more of the links. As these cables are selectively pulled and released, one can achieve any desired articulation of the articulating joint. There may be a transmission member extending through the links and gimbals, parallel to the central longitudinal axis of the joint in its nominal non-articulated condition. This transmission member may be either a tension member that is pulled on (e.g. a cable or flexible pull rod) and that loads the articulating joint in compression, or the transmission member may be a flexible push rod that loads the articulating joint in tension.

Abstract: This application relates to a robot arm structure and a manipulator of a surgical robot including the robot arm structure. The robot arm structure includes a first robot arm unit and a second robot arm unit. The first robot arm unit includes a plurality of first link arms, a first joint unit mounted on one of the first link arms and rotating the one of the first link arms about a first axis and a second joint unit installed on at least one of the plurality of first link arms to adjust a length of the at least one link arm. The second robot arm unit includes a second link arm connected to one of the first link arms and a third joint unit using a lengthwise direction of the second link arm as a first rotary shaft and rotating the second link arm.

Abstract: A surgery assisting device holds a surgical instrument having an end to be inserted into a body cavity of a patient, and controls one or more of a position or an orientation of the surgical instrument. The surgery assisting device includes a first arm and second arms. The first arm has a first end supported by a base and includes a first movable part having movement with one or more degrees of freedom. The second arms are arranged at a second end of the first arm and hold the surgical instrument. Each of the second arms includes second movable parts having movement with five or more degrees of freedom.

Abstract: A method of controlling a medical tool includes determining an insertion path and pose for the tool based on a target and deploying first and second articulated arms of a computer-assisted medical device based on a size and shape of a tool guide. The arms include respective pluralities of moveable links actuated by at least one respective actuator and forming respective kinematic chains extending from a base. The method further includes receiving the tool guide for coupling with the arms using respective mounting arms of the tool guide such that the tool guide functions as a link in a closed kinematic loop formed by joining the kinematic chains, orienting a guide hole of the tool guide to align with the insertion path, positioning the guide hole a desired distance away from the target, receiving the tool in the guide hole, and advancing the tool along the insertion path.

Abstract: Systems, devices, and methods for controlling cooperative surgical instruments with variable surgical site access trajectories are provided. Various aspects of the present disclosure provide for coordinated operation of surgical instruments accessing a common surgical site from different approach and/or separate body cavities to achieve a common surgical purpose. For example, various methods, devices, and systems disclosed herein can enable the coordinated treatment of tissue by disparate minimally invasive surgical systems that approach the tissue from varying anatomical spaces and must operate differently, but in concert with one another, to effect a desired surgical treatment.

Abstract: A teleoperated manipulator system includes a manipulator assembly and a tool actuation assembly coupled to the manipulator assembly. The tool actuation assembly inserts a tool, such as a surgical instrument, along an insertion axis and also rotates the tool around the insertion axis. The manipulator assembly includes an arm that rotates with reference to a mounting base to rotate the tool around a yaw axis that intersects the insertion axis. A distal portion of the arm defines an arcuate pitch arc, and a center of the pitch arc is coincident with the intersection of the insertion axis and the yaw axis. The tool actuation assembly is driven along the pitch arc to pitch the tool. The manipulator system is optionally a telesurgical system, and the tool is optionally a therapeutic, diagnostic, or imaging surgical instrument.

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

Abstract: A medical device reduces the risk of operating room fires caused by light sources by shielding the illuminated light cable from directly interacting with surgical drapes or patient skin. The device includes a silicone housing that mates circumferentially over existing endoscopic light cables and a thermal insulator can be positioned over the light emitting tip of the cable.

Abstract: A surgical forceps comprises a first jaw (101) and a second jaw (102), the first jaw (101) and the second jaw (102) being configured to be rotated relative to each other around an axis of rotation (104). A position sensor (105) is capable of sensing a first orientation with respect to a first axis (106) and a second orientation with respect to a second axis (107) different from the first axis (106), wherein the first axis (106) and the second axis (107) are orthogonal to the axis of rotation (104). The surgical forceps comprises a stapler (108) for stapling a tissue grasped by the surgical forceps (100) and a cutter (103) for cutting the tissue grasped by the surgical forceps (100) along a line.

Abstract: An ablation system comprises: an ablation catheter and a console. The ablation catheter comprises: a shaft including a proximal end, a distal portion and a distal end; an ablation element configured to deliver energy to tissue; and a force maintenance assembly comprising a force maintenance element and configured to control and/or assess contact force between the ablation element and cardiac tissue. The console is configured to operably attach to the ablation catheter and comprises: an energy delivery assembly configured to provide energy to the ablation element. Methods of ablating tissue are also provided.

Abstract: Aspects of the present disclosure are directed toward systems and methods for detecting force applied to a distal tip of a medical catheter. In some embodiments, a medical catheter with a deformable body near a distal tip of the catheter deforms in response to a force applied at the distal tip, and a force sensor detects various components of the deformation. Processor circuitry may then, based on the detected components of the deformation, determine a force applied to the distal tip of the catheter.

Abstract: A system and method for performing an automated medical procedure is provided. The method may include positioning an effector unit over a patient, acquiring medical imagery of the patient, analyzing the medical imagery using at least one processor to determine a location, and positioning a subunit of the effector unit to perform the automated medical procedure at the location. The automated medical procedure may be performed using at least one of a plurality of subunits of the effector unit. The automated medical procedure may be a body fluid aspiration procedure and one of the plurality of subunits of the effector unit may include a fluid aspirating cannula. Multiple subunits may be sequentially used to perform the procedure.

Abstract: The systems and methods perform Bayesian anatomically-driven, artificial-intelligence based intracardiac echocardiography object detection and prediction. The system proposes hypotheses for what features and objects are in view based on prior knowledge informed by previously acquired or generated models. During a cardiac interventional procedure, the system uses a per-frame object identification artificial intelligence (AI); the gathered data is analyzed within a Bayesian framework to create updated posterior prediction(s) of what feature(s) may be predicted (with a computed confidence level) to be in view and their respective location(s). Inferences that pass an accept/reject threshold for object identification and meet minimum threshold settings for temporal stability and spatial location are used to display labels and boundaries. The system predicts what features and objects are in-frame, where out-of-frame objects/features may be located, and how to navigate to them.

Abstract: In general, data modules for surgical instruments and methods of using data modules for surgical instruments are provided. In an exemplary embodiment, a data module is configured to be removably attached to a powered surgical tool such as an electrosurgical tool. The data module is a standalone device including electronic components that are configured to, with the data module attached to the electrosurgical tool, interact with the electrosurgical tool.

Abstract: Provided is a surgical instrument for electrocautery, and in particular, a surgical instrument for electrocautery installed on a robot arm or manually operable in order to be used in laparoscopic surgery or other various surgeries.

Abstract: In a robotic surgical system, a controller is configured or programmed to change at least one of a level of an operation start assisting force, a level of an in-operation assisting force, or a level of a braking force based on a level change operation of an operator received by a level change receiver.

Abstract: Methods, apparatuses, and systems for performing a virtual reality based robotic telesurgical demonstration, training, and credentialing are disclosed. A user may select from a variety of procedure simulations and perform a surgical procedure in a virtual environment. A virtual reality surgical simulation allows the user to demonstrate, train, or earn credentials based upon the user's performance. The simulations may provide the user with points, rankings, rewards, or credentials, in which the user can track their performance and progression as well as practice or fine tune their skills in a safe environment.

Abstract: An end effector is provided for use and connection to a robot arm of a robotic surgical system including a proximal hub, a distal hub, and a support hub. The distal hub is coupled to two opposing upright supports of the proximal hub about a first pivot axis. The support hub is coupled to two opposing upright supports of the distal hub about a second pivot axis. First and second drive members are coupled to opposing sides of the support hub and a third drive member is coupled to the distal hub. Simultaneous proximal translation of the first drive member and the second drive member causes the distal hub to pivot about the first pivot axis and proximal translation of only one of the first drive member or the second drive member causes the support hub to pivot about the second pivot axis.

Abstract: A robotic surgical system or simulator includes an input device, a display device, and a processing unit. The display device includes a representation of a surgical tool that is operably associated with the input device. The processing unit is in communication with the input device and is associated with the representation of a surgical tool to rotate the representation about a first axis of movement based on a scaled rotation of the input device about a first axis of rotation. In an aligned configuration, the input device is aligned with the representation about the first axis of rotation. When the input device is misaligned with the representation, the processing unit varies the scaled rotation of the input device to return the input device to the first aligned configuration until the input device is misaligned about the first axis of rotation a first predetermined offset from the aligned configuration.

Abstract: A method for disengagement detection of a surgical instrument of a surgical robotic system, the method comprising: determining whether a user's head is unstable prior to disengagement of a teleoperation mode; determining whether a pressure release has occurred relative to at least one of a first user input device or a second user input device for controlling a surgical instrument of the surgical robotic system during the teleoperation mode; and in response to determining the user's head is unstable or determining the pressure release has occurred, determining whether a distance change between the first user input device and the second user input device indicates the user is performing an unintended action prior to disengagement of the teleoperation mode.

Abstract: A crimping device includes a housing and a crimping band. The housing has a lumen for receiving a prosthetic valve. The crimping band is adjustably coupled to the housing and has a first end portion, a second end portion, and a loop. The loop of the crimping band is disposed within the lumen and move between first and second configurations. In the first configuration, the loop has a first diameter and is configured such that the prosthetic valve in a radially expanded configuration can be positioned radially within the loop. In the second configuration, the loop has a second diameter and is configured to apply a radial force on the prosthetic valve to move the prosthetic valve to a radially compressed configuration. The loop of the crimping band is configured to contact less than half of an axial length of the prosthetic valve.

Abstract: A surgical instrument. The surgical instrument includes an elongated channel configured to support a staple cartridge, an anvil pivotably connected to the elongated channel, a knife mechanically coupled to the staple cartridge, an electric motor and a control circuit electrically connected to the electric motor. The control circuit is configured to change a firing motion a first way based on a first value of a projected peak firing force and a second way based on a second value of the projected peak firing force value.

Abstract: An instrument access device of a teleoperated surgical system includes an envelope, a clamp, and a plurality of ports. The envelope includes a distal opening and a cavity. The clamp is in the distal opening of the envelope. The plurality of ports are coupled to the envelope. The plurality of ports are proximal to the clamp and the distal opening of the envelope. Each of the plurality of ports includes a seal, which is sized and shaped to seal an outer surface of a cannula and to fix a position of the cannula relative to the port and the envelope.

Abstract: A surgical device includes a handle assembly having a controller; a first motor; and a second motor. The surgical device also includes an adapter assembly having: a tubular housing defining a longitudinal axis having a proximal end portion configured to couple to the handle assembly, and a distal end portion; a first actuation assembly disposed within the tubular housing and coupled to the first motor; and a second actuation assembly disposed within the tubular housing and coupled to the second motor. The surgical device further includes an end effector configured to couple to the distal end portion of the adapter assembly. The end effector is coupled to the first actuation assembly that articulates the end effector about an articulation axis that is perpendicular to the longitudinal axis. The end effector also includes a flexible drive beam coupled to the second actuation assembly and movable axially by the second actuation assembly.

Abstract: An interface structure for detachably interfacing a surgical robot arm to a surgical instrument, the interface structure comprising: a base portion comprising a first surface for facing the surgical instrument and a second surface for facing the surgical robot arm; and a plurality of first fasteners supported by the base portion and protruding from the first surface, the plurality of first fasteners configured to engage the surgical instrument so as to retain the interface structure to the surgical instrument. The interface structure engages the surgical robot arm so as to retain the interface structure to the surgical robot arm, wherein the plurality of first fasteners and the remainder of the interface structure are shaped such that when the surgical instrument is detached from the surgical robot arm the interface structure is retained to the surgical robot arm.

Abstract: Various surgical systems are disclosed. A surgical system comprises a robotic tool, a robot control system, a surgical instrument, and a surgical hub. The robot control system comprises a control console and a control unit in signal communication with the control console and the robotic tool. The surgical hub comprises a display. The surgical hub is in signal communication with the robot control system. The surgical hub is configured to detect the surgical instrument and represent the surgical instrument on the display.

Abstract: The invention concerns a multi-sensor brain detecting apparatus, the detecting apparatus being adapted to obtain two different physical values of a brain of a subject, the detecting apparatus comprising: a set of sensors comprising an ultrasound transducer adapted to produce ultrasound waves, a frame with a position with relation to the brain known with a stereotaxic precision, the frame being adapted to hold a sensor that can be positioned at a specific location by a user of the detecting apparatus without using a tool.

Abstract: A method, a surgical registration device, a sensor device, a system, a computer program, a computer-readable medium and a data carrier signal are disclosed. The surgical registration device comprises a surface, an optical pattern on the surface, and an interface unit to attach to a tracking system. The method comprises obtaining an image of the surgical registration device, detecting the at least one optical pattern in the image, obtaining surface model data describing the surface, obtaining a location of the optical pattern with respect to the surface, determining, based on the detected optical pattern, the surface model data and the location of the optical pattern, a second pose of the surface, obtaining depth information describing three-dimensional coordinates of the surface and determining, based on the second pose, the surface model data and the depth information, a third pose of the surface of the surgical registration device.

Abstract: A robotic surgical system and method of selectively binding articulation limits to a surgical instrument includes detecting a proximal or a distal linear movement of the surgical instrument, calculating a distance between a tool center point of the surgical instrument after the proximal or the distal linear movement and a remote center of motion, assigning and binding an articulation limit to the surgical instrument based on the calculated distance when the detected linear movement is distal linear movement, and assigning a non-binding articulation limit to the surgical instrument based on the calculated distance when the detected linear movement is proximal a linear movement.

Abstract: The invention relates to a support arm articulation device (50) for movably holding a medical device, comprising a first and a second fastening element (52, 54), which are connected to each other in a pivotable way by means of a spring arm (56), wherein the spring arm (56) comprises a supporting arm (58) and a lever arm (60), which are mounted in a pivotable way on the first fastening element (52) with an associated supporting arm pivot axis (64) and lever arm pivot axis (66), wherein the two pivot axes (64, 66) are spaced apart from one another, wherein the supporting arm (58) is mounted on the second fastening element (44) in a pivotable way, and the lever arm (60) is mounted on the supporting arm (58) by means of a spring device (78) such that a weight of the held medical device is supported in different pivot positions, wherein the spring device (78) comprises an adjustment device, by means of which a position of the mounting (68, 70) of the lever arm (60) on the supporting arm (58) is adjustable along a

Abstract: An exemplary method of performing an annuloplasty procedure includes introducing a catheter into a left atrium of a heart, deploying a first member from the catheter, anchoring the first member to a posterior side of a mitral valve annulus in the left atrium, deploying a second member from the catheter, anchoring the second member to an anterior side of the mitral valve annulus in the left atrium, deploying a flexible tensile member from the catheter, attaching the tensile member to both the first member and the second member and applying tension to the tensile member to draw the first member and the second member toward one another and bring the posterior side and the anterior side of the mitral valve annulus into closer approximation. Annuloplasty systems and components are also disclosed.

Abstract: A medical device includes a first link, a second link, and a band. A proximal end portion of the first link is coupled to a 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 distal end portion of the second link includes a connector coupled to a tool member that is rotatable relative to the second link about a second axis that is non-parallel to the first axis. The first link defines a first guide channel and the second link defines a second guide channel. A distal end of the band is disposed within the first guide channel and the second guide channel, and is coupled to the tool member. The second link is rotatable relative to the first link about the first axis when the distal end of the band is moved.

Abstract: A computer-assisted medical system includes a manipulator arm and a controller. The controller includes a computer processor and is configured to determine a kinematic configuration, the kinematic configuration being prior to an installation of a replacement tool on the manipulator arm. The kinematic configuration is of the manipulator arm and a previous tool attached to the manipulator arm and with an end effector of the previous tool located at an insertion location. The controller is further configured to determine a reference geometry of the previous tool in the kinematic configuration, determine an insertion trajectory for the replacement tool based on the reference geometry, and facilitate an insertion of the replacement tool toward a target location of the insertion trajectory by controlling the replacement tool to move in accordance with the insertion trajectory.

Abstract: The present disclosure is directed to managing device authorization through the use of digital signature thresholds. Individual components of a device, or individual devices in a network environment, are associated with separate secret shares from which a digital signature can be derived. The digital signature may be used to authorize performance of a function. A threshold number of such secret shares are used in order to derive the digital signature. Therefore, an authorization process that relies on digital signature verification to determine that a function is authorized will do so if a threshold number of secret shares are available at authorization time.

Abstract: A method of determining hysteresis according to an example embodiment may include capturing a real-time image of the surgical robot driven according to a drive input, and measuring a drive angle of the surgical robot by comparing the real-time image to a previously rendered image data set of the surgical robot, and calculating a difference between the drive input and the measured drive angle.

Abstract: Anchors for securing a medical device relative to a body portal, wherein the anchors may accommodate most any implantation trajectory through the portal. Such anchors may further secure the device along any such trajectory without imparting undesirable biasing forces that may shift the device from its intended implanted location. In some embodiments, the anchor is configured as a burr hole anchor including a spherical member contained in a socket of the anchor such that orientation of the spherical member is permitted about three mutually perpendicular axes.

Abstract: The present application disclosed a cutting device and a cutting balloon, the cutting device includes a connection tube, at least one cutting component and a collapsible tube; the collapsible tube is made of elastic material and configured to be sleeved on the connection tube; the at least one cutting component includes a cutter body and cutting connection segments connected to the cutter body, the cutting connection segments are connected to a peripheral side of the connection tube (100) and are located in the collapsible tube; and the collapsible tube is in elastic contact against the cutting connection segments.

Abstract: Methods of articulating and actuating an end effector of a surgical tool include equal rate rotation of an input shaft of the end effector via a drive shaft. A method includes supporting an end effector base of the end effector by an elongate shaft of the surgical tool via a wrist assembly of the surgical tool. Orientation of the end effector base relative to the elongate shaft is controlled via four tension members. An input shaft of a shaft driven mechanism of the end effector is rotated around an input shaft axis by rotating a drive shaft of the surgical tool around a drive shaft axis. A rate of rotation of the drive shaft and a rate of rotation of the input shaft are equal when the end effector base is pivoted relative to the elongate shaft.

Abstract: A medical device includes a handle, a shaft extending from the handle, and an articulation member integral with or attached to a distal end of the shaft. The articulation member includes a first portion coupled to a second portion, the second portion is receivable in a slot defined by the first portion, and the handle is coupled to each of the first portion and the second portion and to articulate the first portion independently of articulating the second portion.

Abstract: A patient warming system includes a control unit coupled to one or more warming devices. The control unit may control application of power to the heating elements of the warming devices. The control unit may provide hardware and/or software approaches to monitor and detect an overtemperature situation and/or fault of a given warming device.

Abstract: A treatment tool includes: an elongated shaft; a probe that protrudes from a distal end of the shaft; a movable jaw that is mounted in a rotatable manner; and a swing arm that is mounted on the movable jaw. The swing arm is capable of gripping living tissue with the probe and swinging with respect to the movable jaw. The movable jaw includes a first regulating surface that can contact a proximal end portion of the swing arm to regulate swinging of the swing arm in one direction, and a second regulating surface that can contact another region in the proximal end portion of the swing arm to regulate swinging of the swing arm in another direction.

Abstract: A surgical robot includes a first indicator configured to indicate a state of a system, and a plurality of second indicators configured to individually indicate states of a plurality of arms, and the state of the system includes a state of the surgical robot excluding the states of the plurality of arms and a state of a doctor-side operation device.