Abstract: A device for providing 3D image registration includes: a collection unit acquiring 3D depth data of a part and an image of a registration body from a depth recognition camera and acquiring three-dimensional coordinates of a positioning tool on the registration body from a positioning device; a first registration unit performing surface registration of a pre-stored 3D medical image of patient and the 3D depth data; a second registration unit extracting camera reference three-dimensional coordinates of a landmark attached to the registration body from the image of the registration body and converting pre-stored relative position information of the landmark with reference to the three-dimensional coordinates of the positioning tool, to perform registration of camera reference three-dimensional coordinates of the landmark and the converted position information thereof; and a third registration unit performing final registration by using results of registration performed by the first registration unit and the seco

Abstract: Device 1 for fixation to the skull 2 of a patient that can serve as a fiducial marker in scan guided surgical operations using a surgical instrument. The device 1 comprises a material translucent for the applied electromagnetic waves of the scan and a fiducial marker and where the device 1 comprises means to fixate the device in a well-defined manner to the surgical instrument.

Abstract: In a robotic surgical system, an organ manipulation device such as a uterine manipulator with a colpotomy cup is positionable on a first robotic manipulator while a surgical instrument is positionable on a second robotic manipulator. During the course of surgery, a user inputs instructions to the robotic surgical system to cause movement of the organ manipulator and surgical instrument.

Abstract: A computer-assisted surgery system for obtaining a distance between at least two fixed points relative to a bone comprises a first accelerometer unit located at a first fixed location on the bone, and producing first acceleration data during a movement of the bone. A second accelerometer unit is located at a second fixed location on the bone, and simultaneously producing second acceleration data during the movement. A gyroscope unit is fixed to the bone and simultaneously producing angular rates of change of said movement. A processor unit obtains the acceleration data and the angular rates of change for calculating the distance between the first fixed position and the second fixed position on the bone using a distance value of a distance vector between the accelerometer units. An interface outputs the distance between the first fixed position and the second fixed position relative to the bone. A method for calculating a distance between at least two points on a bone is provided.

Abstract: A surgical system includes a detector that includes an array of pixels configured to detect light reflected by a surgical device and generate a first signal. The first signal includes a first dataset representative of a visible image of the surgical device. The surgical system also includes a processor configured to receive the first signal and a second signal representative of one or more operating parameters of the surgical device. The processor is also configured to generate a modified image of the surgical device that includes information related to one or more operating parameters.

Abstract: A hand controller apparatus for controlling a tool in a robotic surgery system has a body with a proximal end and a distally located interface end that can be coupled to an input apparatus for controlling a surgical tool. The hand controller apparatus includes a control lever attached to a pivot joint proximate a side surface of the body and extending along the body and away from the proximal end, the control lever being laterally moveable relative to the side surface of the body about the pivot joint. The control lever includes a tail region adjacent to the pivot joint and a paddle region connected to the tail region and extending toward the distally located interface end. The tail region includes an inner surface facing the body and an outer surface opposing the inner surface, and at least part of the outer surface of the tail region is outwardly curved.

Abstract: A laparoscopic surgical apparatus for performing a surgical procedure through a single incision in a patient's body includes a gross positioning arm supported on a moveable platform, the gross positioner including a head; at least one articulated tool positioning apparatus coupled via a tool controller to an underside of the head, the articulated tool positioning apparatus being configured to receive a tool for performing surgical operations, the tool controller being actuated by the head to cause movements of the articulated tool positioning apparatus for performing surgical operations; and wherein the gross positioner is configured to permit the head to be positioned to facilitate insertion of the articulated tool positioning apparatus through the incision into the patient's body.

Abstract: An eye tracking system may comprise an image display configured to display an image of a surgical field to a user. The eye tracking system may also comprise a right eye tracker configured to measure data about a first gaze point of a right eye of the user. The right eye tracker may include a right stereo imaging device. The eye tracking system may also comprise a left eye tracker configured to measure data about a second gaze point of a left eye of the user. The left eye tracker may include a left stereo imaging device. The eye tracking system may also comprise at least one processor configured to process the data about the first gaze point and the second gaze point to determine a viewing location in the displayed image at which a three-dimensional gaze point of the user is directed.

Abstract: Various surgical systems are disclosed. A surgical system comprises a robotic system. The robotic system comprises a control unit; a robotic arm comprising an attachment portion; a first sensor system in signal communication with the control unit; and a second sensor system. The first sensor system is configured to detect a position of the attachment portion. A surgical tool is removably attached to the attachment portion. The second sensor system is independent of the first sensor system and is configured to detect a position of the surgical tool.

Abstract: A teleoperational medical system for performing a medical procedure in a surgical field includes a teleoperational assembly having a plurality of motorized surgical arms configured to assist in a surgical procedure. The motorized surgical arms have a motion limit defining a boundary beyond which the surgical arm cannot pass when the surgical arm is attached to a patient. The teleoperational medical system also includes a control system having a surgical threshold limit stored therein. The surgical threshold limit is an edge of a boundary to be potentially travelled by the surgical arm to suitably perform a surgical procedure. The control system is configured to compare the motion limit to the surgical threshold limit and notify an operator via an output device when the threshold limit is outside a range of motion bounded by the motion limit.

Abstract: A surgical robot arm extending between a base and a terminal link, the terminal link connected to an adjacent link in the surgical robot arm by a joint which permits the terminal link to rotate about a longitudinal axis of the terminal link, the terminal link comprising: a drive assembly having a first drive assembly interface element for driving a first instrument interface element of a robotic surgical instrument when the surgical robot arm engages the robotic surgical instrument, the first drive assembly interface element engageable with the first instrument interface element on the longitudinal axis of the terminal link, and the first drive assembly interface element being linearly displaceable along the longitudinal axis of the terminal link so as to drive the first instrument interface element along the longitudinal axis of the terminal link.

Abstract: A telesurgical manipulator comprises a surgical instrument, an instrument holder adapted to releasably mount the surgical instrument, an electrically-isolating and sterile drape, an instrument interface included on the instrument holder, and a communication device disposed on the instrument holder. The instrument interface is operably couplable to the surgical instrument via a sterile adaptor that secures the electrically-isolating and sterile drape to the instrument interface. The electrically-isolating and sterile drape permits communication between the surgical instrument and the instrument holder while maintaining an electrically-isolating and sterile barrier therebetween. The communication device wirelessly communicates with the surgical instrument, with the electrically-isolating and sterile drape disposed therebetween, and wirelessly provides power to the surgical instrument, with the electrically-isolating and sterile drape disposed therebetween.

Abstract: A medical robotic system includes articulated instruments extending out of a distal end of an entry guide. Prior to pivoting the entry guide to re-orient it and the instruments, the instruments are moved in tandem back towards the entry guide after a delay. Haptic cues and velocity limits are provided to assist the operator in the retraction of the instruments. After retraction, the entry guide may then be pivoted without concern that the instruments will harm patient anatomy. The movement of the instruments in tandem back towards the entry guide may also occur through coupled control modes while the entry guide is held in a fixed position and orientation.

Abstract: Methods and systems for a virtual experience where a user moves physically to move his or her ‘agent’, a position in the virtual space that determines which virtual content the user may interact with. If the virtual space contains obstacles, and the user moves such that the agent would intersect with one, either (a) move the correlation vector between the virtual space and real space to counteract the user's physical movement, preventing the user from penetrating the obstacle, or (b) allow the user to proceed, but become separated from his or her agent. Also described are applying these methods if the real space is too small to fit the virtual space, if the agent has a speed limitation that the user violates, how to direct the agent when it is separated from the user, and how to handle three-dimensional obstacles, real-world obstacles, and multiple users.

Abstract: A tool for a bone implant includes a sleeve and a transmission rod including a transmission member disposed on an end of a shaft. Another end of the shaft is located outside of the sleeve. The transmission member is received in the sleeve and includes a first compartment and a plurality of first teeth surrounding the first compartment. A drilling rod includes a second compartment and a plurality of second teeth surrounding the second compartment. A coupling portion is disposed between the second compartment and a bit. The coupling portion is coupled with the sleeve. The bit is located outside of the sleeve. Two magnets are disposed in the first and second compartments, respectively. Two same poles respectively of the two magnets face each other.

Abstract: A method for adjusting the operation of a surgical instrument using machine learning in a surgical suite is disclosed.

Abstract: A force transmission mechanism of a surgical instrument, the force transmission mechanism being configured to releasably engage with a drive interface device located at a patient side cart of a teleoperated surgical system may comprise a housing comprising a side wall surrounding an interior of the housing, one or more drive components in the interior of the housing, a releasable coupling mechanism configured to releasably engage the force transmission mechanism with the drive interface device, wherein the releasable coupling mechanism has a longitudinal axis and is pivotable about an axis oriented approximately perpendicular to the longitudinal axis.

Abstract: A medical system includes: a medical instrument; at least one arm including at least one joint and motor that drive the at least one joint, the at least one arm including an attachment portion for detachably attaching the medical instrument to a distal end; a first input device located remote from the arm and configured to perform an operation input for operating the medical instrument and the at least one arm; a second input device provided at a distal end of the arm and configured to perform an operation input for operating the medical instrument and the at least one arm; and a processor that controls the at least one arm and the medical instrument based on an operation input from the first or second input device. The medical system enables switching in order to selectively accept an operation input from the first or second input device.

Abstract: Provided is a robotic system that includes a surgical instrument with a wrist that allows N degrees of freedom of movement. The N degrees of freedom can be controlled by N+1 cable segments. The wrist can include a first set pulleys configured to rotate about a first axis and a second set of pulleys configured to rotate about a second axis. The wrist can further comprise one or more pulleys configured to engage two of the cable segments, wherein at least one of the pulleys is shared by a first cable segment and a second cable segment. The first cable segment and the second cable segment that share the pulley can be independent from one another. In some circumstances, the surgical instrument can be actuated in N+1 degrees of movement by advancing or retracting at least two of N+1 cable segments.

Abstract: A system for controlling a first robotic arm relative to a second robotic arm is disclosed. The system includes a two robotic arms each including a surgical tool and a tool driver. A central control circuit is configured to communicate with the robotic arms to determine a position of the robotic arms and modify a control algorithm for one of the robotic arms based on the relative position of the other robotic arm.

Abstract: A surgical instrument includes a shaft having a proximal end and a distal end. An end effector assembly includes an end effector body portion coupled to the distal end of the shaft. A cable having a distal end feature extending radially outwardly from the cable extends through the shaft between the proximal end of the shaft and the distal end of the shaft. A proximal surface of the distal end feature of the cable abuts a distal surface portion of the end effector body portion. A method of assembling a surgical instrument including an end effector body and a retaining member includes inserting a distal end feature of a cable within a recess in the end effector body and positioning a retaining member over the recess in the end effector body to retain the distal end feature of the cable within the retaining member.

Abstract: A stereotactic surgery robot according to the present disclosure may include: a rotating unit that is configured to have a surgical instrument that is able to be attached thereto, and is configured to rotate the surgical instrument on at least one of two rotational axes according to an entry posture of the surgical instrument; a moving unit that is configured to move the rotating unit in the direction of at least one of three linear axes according to the position of a surgical target; and a surgical portion support unit that is configured to be connected to the moving unit, and is configured to be detachable with respect to an operating table, wherein the moving unit may move the rotating unit such that an intersection point of the two rotational axes matches the surgical target.

Abstract: A surgical tool tracking array can include a first marker holder, a second marker holder, and a tool holder. The first marker holder is configured to couple a first marker to the surgical tracking array in a first plane. The second marker holder is configured to couple a second marker to the surgical tool tracking array in a second plane that is independent and substantially parallel to the first plane. The tool holder is configured to couple a portion of a surgical tool to the surgical tool tracking array in a third plane that is independent from the first plane and the second plane.

Abstract: A non-invasive method and system for using 2D angiographic images for radiosurgical target definition uses non-invasive calibration devices and methods to calibrate an angiographic imaging system and a six-parameter registration algorithm to register angiographic images with 3D scan data for radiation treatment planning.

Abstract: A medical system comprises a robotic manipulator arm and an imaging probe coupled to the robotic manipulator arm such that the imaging probe is movable in connection with the robotic manipulator arm. The system also comprises a control system in communication with the robotic manipulator arm and the imaging probe. The control system performs operations comprising extracting system information. The system information includes kinematic information from a robotic arm of a medical system, setup information, or a combination of the kinematic information and setup information associated with a medical procedure to be performed. The control system also generates, by a control system processor, a first registration between a first set of model points of a model of a patient anatomy of interest and a second set of intra-operatively collected captured points of a portion of the patient anatomy of interest, wherein the registration is based on the extracted system information.

Abstract: Systems and methods for generating decision support data for surgical videos are disclosed, the system may include at least on processor configured to implement a method. The method may include receiving video footage of a surgical procedure performed by a surgeon on a patient in an operating room and implementing a model on the received video footage to determine an existence of a surgical decision-making junction. The model may be trained to detect decision-making junctions using training data based on historical video footage depicting surgical situations. The method may include accessing, in a data structure, a correlation between an outcome and a specific action taken at the decision-making junction, and, based on the existence of the decision-making junction and the correlation, outputting a recommendation to at least one of a user device or a user interface related to the specific action.

Abstract: A laparoscopic surgical apparatus for performing a surgical procedure through a single incision in a patient's body includes a gross positioning arm supported on a moveable platform, the gross positioner including a head; at least one articulated tool positioning apparatus coupled via a tool controller to an underside of the head, the articulated tool positioning apparatus being configured to receive a tool for performing surgical operations, the tool controller being actuated by the head to cause movements of the articulated tool positioning apparatus for performing surgical operations; and wherein the gross positioner is configured to permit the head to be positioned to facilitate insertion of the articulated tool positioning apparatus through the incision into the patient's body.

Abstract: Systems, methods, and devices are provided for assisting or performing guided interventional procedures using custom templates. The system uses pre-procedure scans of a patient's anatomy to identify targets and critical structures. A template is then manufactured containing guide elements. During a procedure, the template may be aligned to the patient and instruments passed though the guide elements and into various targets. The template may be aligned using one or more of, for example, a position sensing system or a live imaging modality to register the patient to the template. The system makes optional use of devices designed to immobilize or track an organ during therapy.

Abstract: Navigation systems and methods used to track objects moving in space. One navigation system and method employs trackers each having a light emitting diode that emits a colored light when obstruction of line-of-sight between tracking elements on the trackers and sensors or other errors are absent. When obstruction of line-of-sight between tracking elements on the trackers and sensors or other errors are generated, the light emitting diode is deactivated. Another navigation system and method employs trackers each having a light emitting diode that emits a colored light when obstruction of line-of-sight between tracking elements on the trackers and sensors or other errors are generated. When obstruction of line-of-sight between tracking elements on the trackers and sensors or other errors are absent, the light emitting diode is deactivated.

Abstract: A trajectory guiding apparatus and one or more methods associated therewith for facilitating precision-guided alignment and implantation of a DBS therapy device in a patient. Orthogonally disposed first and second arcuate racks are independently actuatable by respective pinion drives, wherein the first arcuate rack is coupled to a base support and the second arcuate rack is operative to support a slider assembly arranged to accommodate an instrumentation column (IC) containing the therapy device. The first pinion drive is actuatable to cause a first curvilinear motion of the second arcuate rack including the slider assembly, the first curvilinear motion defined along a first arcuate path on a first perpendicular plane.

Abstract: A robotic microsurgery assembly (1) includes at least one master tool (2) to detect a manual command; at least one slave manipulator (3); and at least one surgical instrument (70) operated on by the one slave manipulator (3). At least one control unit (4) receives at least a first command signal including information about the manual command and sends a second command signal to at least one actuator to control the slave manipulator (3). The surgical instrument includes at least one jointed subassembly (5). The jointed subassembly (5) includes a first link (6), a second link (7), and a third link (8). The first link structural body (9) and the second link structural body (10) have at least one tendon contact surface (18), avoiding the at least one tendon contact surface (18) being a hole surface.

Abstract: Disclosed herein are gross positioning systems for use with robotic surgical devices to provide gross positioning of the robotic surgical devices. The gross positioning systems have a base, a first arm link operably coupled to the base, a second arm link operably coupled to the first arm link, a third arm link operably coupled to the second arm link, and a slidable coupling component slidably coupled to the third arm link.

Abstract: Provided is a laparoscope-holding robot system for laparoscopic surgery, which belongs to the technical field of robot control and is used to solve the technical problem in the prior art of the operations of a laparoscope-holding robot for laparoscopic surgery being inflexible and same further requiring a doctor to assist in operations. The laparoscope-holding robot system for laparoscopic surgery of the present invention comprises a trolley rack, a surgical tool and a mechanical arm. Since the mechanical arm has at least six degrees of freedom, the mechanical arm can completely simulate the range of motion of a human arm and is no different from the human arm in terms of flexibility, so as to precisely locate the position of a lesion that actually needs to be operated without requiring a doctor to assist in operations.

Abstract: A compact, intuitively-operable input device for manipulating a robot is provided. Provided is an input device for manipulating a robot. The input device includes: a base; a movable section supported in a three-dimensionally movable manner relative to the base; and a detector that performs detection by resolving an operation amount of the movable section relative to the base into parallel movement amounts along a first axis and a second axis, which extend parallel to a predetermined surface of the base and are orthogonal to each other, and a parallel movement amount along a third axis that is orthogonal to the first axis and the second axis.

Abstract: The invention concerns an X-ray imaging apparatus for imaging a skull or a partial area of the skull, which apparatus comprises between the X-ray source and detector a patient support means (17). The patient support means (17) comprise a rear rest structure (170) containing a support part (171) arranged to get positioned at occipital area and whose connection to the X-ray apparatus is realized such that the support part (171) of the rear rest structure moves, when adjusting its position, on a line or on a plane whose angle with respect to the horizontal plane is between 15-25 degrees.

Abstract: A surgical instrument comprising an RFID system is disclosed. A staple cartridge of the surgical instrument comprises one or more RFID tags which are detectable by one or more RFID readers in the surgical instrument.

Abstract: A mechanically ungrounded master control device comprises a rigid chassis for engagement with one or more fingers of a user's hand and at least one pivotable finger engagement device for controlling movement of a tool end effector. The control device also includes at least one sensor for detecting a position and orientation of the rigid chassis in a surgical environment and a switch coupled to the rigid chassis and manipulatable by a finger of the user's hand while another finger of the user's hand is engaged with the at least one pivotable finger engagement device.

Abstract: Provided is an instrument for surgery and, more specifically, to an instrument for surgery which can be manually operated in order to be used for laparoscopic surgery or various types of surgery.

Abstract: A motion dependency surgical robotic system (100) employs an independent robotic arm (20) including a first surgical instrument, a dependent robotic arm (21) including a second surgical instrument, and a motion dependency robot controller (104). In operation, the motion dependency robot controller (104) controls an independent motion of the independent robotic arm (20) within a coordinate space responsive to an input signal indicative of the motion of the independent robotic arm (20) within the coordinate space, and further controls a motion of the dependent robotic arm (21) within the coordinate space as a function of a spatial geometric relationship between the independent robotic arm (20) and the dependent robotic arm (21) within the coordinate space. The spatial geometric relationship defines a procedural synchronization between the independent robotic arm (20) and the dependent robotic arm (21) in a synchronized execution of a surgical task by the surgical instruments.

Abstract: An automated positioning system and methods of controlling the same. The positioning system includes a multi-joint positioning arm, an end effector coupled to a distal end of the positioning arm, a force-moment sensor (FMS) coupled to the end effector and a controller coupled to communicate with the positioning arm and the FMS. Using signals from the FMS, at least one external force or torque applied to the end effector is determined. A drive velocity for moving the end effector is determined, based on the at least one external force or torque. One or more joint movements of the positioning arm for moving the end effector is calculated, according to the drive velocity. The positioning arm is moved according to the one or more calculated joint movements.

Abstract: Generally, a sterile adapter for use in robotic surgery may include a frame configured to be interposed between a tool driver and a surgical tool, a plate assembly coupled to the frame, and at least one rotatable coupler supported by the plate assembly and configured to communicate torque from an output drive of the tool driver to an input drive of the surgical tool.

Abstract: The invention concerns a cassette comprising a sterile barrier. The sterile barrier comprises attachment brackets each attached to a drive member for driving an elongate flexible medical device, and flexible portions between two adjacent attachment brackets. The flexible portions are connected to the attachment brackets. The drive surfaces of the attachment brackets come into contact with the elongate flexible medical device.

Abstract: A ventricular catheter assembly including a proximal catheter and a cooperating cranial cover. The cranial cover includes a base plate having an opening aligned with a burr hole in the skull of a person. A guide extends upwardly from the base plate and receives the proximal catheter.

Abstract: A surgical system includes a link of a manipulator arm and a telescoping cannula mount assembly. The link includes a curved end. The telescoping cannula mount assembly is positioned in the curved end of the link. The telescoping cannula mount assembly includes a curved cannula mount arm. In a first state, the curved cannula mount arm is parked within the curved end of the link. In a second state, the curved cannula mount arm extends from the curved end of the link and is locked in an extended position. The telescoping cannula mount assembly also includes a mechanical arm retraction system. The mechanical arm retraction system couples the curved cannula mount arm to the curved end of the link. The mechanical arm retraction system is configured to automatically move the curved cannula mount arm from the second state to the first state.

Abstract: A robotic surgical system includes a linkage, an input handle, and a processing unit. The linkage moveably supports a surgical tool relative to a base. The input handle is moveable in a plurality of directions. The processing unit is in communication with the input handle and is operatively associated with the linkage to move the surgical tool based on a scaled movement of the input handle. The scaling varies depending on whether the input handle is moved towards a center of a workspace or away from the center of the workspace. The workspace represents a movement range of the input handle.

Abstract: Devices for guiding an instrument into a body of a patient, at a targeted point of entry and along an insertion path at a targeted insertion angle, are described herein, such as a guide for an access needle in a PCNL procedure for accessing the kidney to remove kidney stones, the devices comprising a base component, a guide assembly, and optionally an insertion mechanism. The base component is aligned in use with the point of entry and the guide assembly cooperates with the base component to allow for the instrument to be aligned and fixed at any circumferential angle around an axis perpendicular to the point of entry and at any vertical angle ranging from 0 to 45 degrees away from the axis in a direction toward the body. The optional mechanism allows for mechanical insertion once the instrument is aligned and fixed.

Abstract: Various systems and methods for controlling surgical devices are disclosed. A computer system, such as a surgical hub, can be configured to be communicably coupled to a surgical device and a camera configured to view an operating room. The computer system can be programmed to receive images of surgical staff members and surgical devices within the operating room during a surgical procedure. The computer system can further determine conditions or characteristics associated with the surgical staff members and surgical devices, such as whether a surgical staff member is performing a particular gesture or the pose of a surgical device, such as a surgical instrument, during a surgical procedure. The computer system can then control the paired surgical devices accordingly.

Abstract: The present invention relates to a heart tissue ablation device comprising a charged particle emitting system 1, a control system 2 for instructing the accelerator and beamline when to create the beam and what its required properties should be, a patient positioning and verification system, an ultrasound cardiac imaging system 3 performed on the patient, able to track the target movement, a computer program to determine and record the safe motion margins, the treatment plans for one or more motion phases and a computer program to regulate the control system 2 to load the correct irradiation plan according to the motion phase and if the position of the target is inside of the position margin, the irradiation is enabled and if the position of the target is outside of the position margin, the irradiation is disabled.

Abstract: A method of operating a robotic system to efficiently remove material from a workpiece based on a density distribution of the material of the workpiece. The density distribution of the material of the workpiece is determined from a three-dimensional representation and evaluated by classifying the plurality of points or voxels into a first density classification and a second density classification. A navigation computer generates a first tool path and a second tool path for the tool based on the evaluated density distribution. The first tool path is associated with the first density classification, and the second tool path is associated with the second density classification. The position of the tool relative to the workpiece is tracked with a navigation computer and controlled with a manipulator controller based on the generated tool path to remove material along the first tool path, and remove material along the second tool path.

Abstract: The navigation systems and methods facilitate aligning a tool in relation to a trajectory in real-time to receive input data from a pre-operative plan image, at least one multi-modal image, and at least one real-time multi-modal image; interactively track at least one neural fiber, whereby interactively tracked fiber data is obtainable; automatically generate output data by way of data transformation using the input data and the interactively tracked neural fiber data; and transmit the output data to at least one of: at least one display device for rendering at least one real-time interactive navigation display for facilitating neural navigation, and at least one drive device for positioning at least one tracking device in relation to the tool in real-time, whereby real-time alignment data is achievable, and whereby at least one neurological structure is preservable.