A computer-assisted system includes a repositionable structure configured to support an instrument and a control unit. The control unit is configured to: while a remote center of motion (RCM) is set at a first position, receive a command to move the repositionable structure with a commanded motion; determine whether driving the plurality of joints to move the repositionable structure in accordance with the commanded motion while maintaining the remote center of motion RCM at the first position would violate a limit of the repositionable structure; and, in response: determine an alternative motion of the plurality of joints based on the commanded motion and the first position, wherein driving the plurality of joints in accordance with the alternative motion would not violate the limit, and would move the RCM to a second position different from the first position, and drive the plurality of joints in accordance with the alternative motion.
Systems and methods are provided for control of a surgical system. Haptic feedback is provided to an input device of the surgical system. A moment at a reference location of a distal end portion of an instrument of the surgical system is determined. A deflection of the reference location is then determined based on the moment. On a first condition in which the deflection is greater than a deflection threshold, an indication is provided to an operator of the input device that a restriction of the haptic feedback is provided to, or is available to be provided to, the input device.
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
3.
SYSTEMS AND METHODS FOR CONTROL OF A SURGICAL SYSTEM
Systems and methods are provided for control of a surgical system. Accordingly, a first output signal is received from a force sensor unit in response to a first commanded movement of a distal end portion of a medical instrument within a cannula. A force sensor bias value is determined based on a difference between a portion of the first output signal and a baseline output signal for the force sensor. The validity of the force sensor bias value is determined based on a deviation magnitude between the second output signal, which is modified by the force sensor bias value, and the baseline output signal. On a condition that the force sensor bias value is valid, haptic feedback is provided to the user control unit based on a load indication from the force sensor unit as modified by the force sensor bias value.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
4.
SURGICAL INSTRUMENT KINEMATICS PROCESSING, NAVIGATION, AND FEEDBACK
Various of the disclosed embodiments provide systems and methods for determining precise surgical instrument kinematics data, such as the pose of a colonoscope when examining a large intestine. The pose may then be used when constructing of a model of the patient interior from which reference geometries, such as a centerline, and navigational feedback, such as lacunae in the operator's review, may be produced. Some embodiments may also determine a data frame's suitability for downstream processing based upon the intraoperative field of view (e.g., downstream localization and mapping operations), such as whether the frame is undesirably blurred or depicts an obstruction. The operating surgeon, or reviewers of the surgical procedure, may then be presented, e.g., with metrics or graphical feedback related to one or more of: surgical instrument movement relative to the centerline, comprehensiveness of the operator's examination, and the amount of undesirable frames encountered during the examination.
A system may comprise a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, may cause the system to receive three-dimensional primary image data from an imaging system with a field of view and generate a surface representation for a tissue surface in the field of view. The instructions may also cause the system to identify an area in the field of view with a fiducial marker, associate the fiducial marker with the surface representation, and move the surface representation and the fiducial marker in response to motion of the tissue surface in the field of view.
A system includes proximal and distal structures and a processor system. The processor system determines a first commanded motion of the proximal structure; determine a second commanded motion for joint(s) of the distal structure or an imaging device, wherein when the first and second commanded motions are performed in conjunction, a field of view of the imaging device is maintained relative to a workspace; and in response to determining that driving the joint(s) in accordance with the second commanded motion would cause the distal structure or the imaging device to violate a constraint: determines an alternate commanded motion for the joint(s) to maintain a defined geometric relationship between a first geometric feature fixed relative to the imaging device and a second geometric feature fixed relative to the workspace, drives the proximal structure in accordance with the first commanded motion, and drives the joint(s) in accordance with the alternate commanded motion.
A computer-assisted system comprises a manipulator arm. The manipulator arm is configured to rotate the instrument mounting portion about a first rotational axis. Additionally, the manipulator arm or the instrument is configured to rotate the instrument about a second rotational axis relative to the instrument mounting portion. A control system is configured to receive an indication for instrument coupling or decoupling. In response to receiving the indication, the control system is further configured to determine one or more movements of the instrument and the manipulator arm to orient the instrument mounting portion for the instrument coupling or decoupling while limiting a change in position or orientation of a distal portion of the instrument within a change tolerance.
An illustrative force determination system may be configured to detect an amount of deformation of a deformable 3D model of a scene that occurs when an anatomical object located in the scene is deformed and determine, based on the amount of deformation of the deformable 3D model, a force value representative of a force that caused the deformation of the anatomical object. The force determination system may further be configured to provide haptic feedback to a user based on the force value.
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
9.
IMAGING ORIENTATION PLANNING FOR EXTERNAL IMAGING DEVICES
Methods and systems for forming one or more projected two-dimensional images based on Computed Tomography (CT) data of a subject, a planned pose of a flexible elongated device, and one or more parameters of an external imaging device are disclosed. In some examples, the one or more projected two-dimensional images may be used to determine appropriate imaging orientations of an external imaging device for use during a medical procedure.
A flexible elongate device comprises an articulable distal section and a non-articulable proximal section. The non-articulable proximal section is proximal to the articulable distal section. A distal portion of the non-articulable proximal section has a first bending stiffness, and a proximal portion of the non-articulable proximal section has a second bending stiffness. The first bending stiffness is less than the second bending stiffness.
An illustrative dynamic measurement system may be configured to generate, based on imagery of a scene, a deformable 3D model of the scene, identify a first point on an anatomical object located in the scene, and determine, based on the deformable 3D model, a dynamic measurement value representative of a contour physical distance between the first point and a second point in the scene. The dynamic measurement value may dynamically update with movement of one or more objects within the scene.
An apparatus may comprise an imaging probe including a channel extending through the imaging probe and terminating at an opening and an imaging device configured to generate image data having a field of view. The apparatus may also comprise a tool configured to slidably extend within the channel. A portion of the tool may be flexible and may bend away from the imaging device when the portion of the tool is extended distally of the opening.
Techniques for updating the registration of an extended reality (XR) system with a computer-assisted device include the following. A control system communicably coupled to the computer-assisted device and to a sensor system is configured to: determine, based on sensor data, pose information of an operator portion of an operator during one or more interactions between the operator portion and a device portion of the computer-assisted device, determine pose information of the device portion during the one or more interactions, update a registration transform between the XR system and the computer-assisted device based on the pose information of the operator portion and the pose information of the device portion, and cause the XR system to render an image viewable by the operator using the updated registration transform.
An extraneous light detection system may obtain first light images of a scene illuminated with first light in a first waveband and captured over a time period. The first light images depict a subject located at the scene. The extraneous light detection system may track, in the first light images over the time period, pixel values of a target region of the subject. The extraneous light detection system may determine, based on a comparison of signal levels of pixels that depict the target region of the subject with a background model representative of reflectivity of the target region, whether the target region is illuminated with extraneous first light.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
15.
SYSTEMS AND METHODS FOR ENDOSCOPIC TISSUE GRASPING
A system may comprise an elongate flexible instrument, a tissue grasping device including a helical needle extending from a distal end of the elongate flexible instrument, and a grasper drive system coupled to the tissue grasping device to drive motion of the tissue grasping device. The system may also include a sensor system coupled to the tissue grasping device and a control system configured to receive sensor information from the sensor system and control the grasper drive system in response to the received sensor information.
A61B 90/30 - Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 17/04 - Surgical instruments, devices or methods, e.g. tourniquets for closing wounds, or holding wounds closed, e.g. surgical staples; Accessories for use therewith for suturing wounds; Holders or packages for needles or suture materials
A61B 17/02 - Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
16.
ADAPTER FOR MANUAL ACTUATION OF SURGICAL INSTRUMENT
A manual drive adapter for a robotic instrument includes an adapter housing configured to be releasably coupled to a force transmission mechanism of the robotic instrument. The force transmission mechanism includes a drive member interface and an input drive member configured to engage with a robotic drive output of a teleoperated surgical system. The adapter includes an output drive interface that includes an output drive member and is coupled to the adapter housing. The output drive interface is configured to be releasably coupled to the drive member interface of the robotic instrument such that the output drive member is engageable with the input drive member of the robotic instrument. A manual actuator of the adapter is operably coupled to the output drive member such that movement of the manual actuator by a user causes the output drive member to operate one or more degrees of freedom of the robotic instrument.
A medical tracking system may include a flexible elongate device, a shape sensor configured to measure a shape of the flexible elongate device, and a controller including at least one processor. The controller may be configured to register a reference shape of the flexible elongate device to an anatomical reference frame, identify, using the shape sensor, the reference shape at a first portion of the flexible elongate device, determine, using the shape sensor, a spatial relationship between a second portion of the flexible elongate device and the first portion and determine a position of the second portion of the flexible elongate device in the anatomical reference frame based on the registration of the reference shape to the anatomical reference frame and the spatial relationship between the first portion and the second portion of the flexible elongate device.
A61B 1/267 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the respiratory tract, e.g. laryngoscopes, bronchoscopes
Systems and methods for changing a mode of operation of an instrument includes a computer-assisted device configured to obtain vision data associated with an instrument; obtain kinematic data associated with at least one of the instrument or an structure supporting the instrument; obtain event data associated with at least one of the structure or the instrument; based on the vision data, the kinematic data, and the event data, recognize a gesture performed via the instrument; and in response to recognizing the gesture, cause the computer-assisted device to change from a first mode of operation to a second mode of operation.
A medical system comprises a control system configured to receive first imaging data of a patient anatomy and identify an anatomical target in the patient anatomy. The control system is further configured to generate a treatment zone having a first axis. The treatment zone includes the anatomical target. The control system is further configured to determine a deployment position of an elongate device configured to receive a medical instrument for treatment of the anatomical target. The deployment position is aligned with the first axis of the treatment zone.
An instrument comprises a shaft and an end effector coupled to the shaft. The end effector comprises a first jaw member and a second jaw member opposing each other, each of the first and second jaw members extending distally relative to the shaft and movable relative to one another between an open configuration and a closed configuration. Each of the first and second jaw members comprises a jaw base and an electrode coupled to the jaw base. A distal portion of the electrode extend distally beyond the jaw base, and each jaw member comprises a support feature configured to support the distal portion of the electrode.
An instrument includes a shaft comprising a distal end portion, a proximal end portion, and a longitudinal axis extending between the distal end portion and the proximal end portion, and a moveable component coupled to the distal end portion of the shaft. A drive assembly is coupled to the proximal end portion of the shaft, the drive assembly comprising a gimbal assembly rotatable about a first axis and a second axis. A first actuation member is coupled to the gimbal assembly and extends from the drive assembly along the shaft and coupled to the moveable component, and a second actuation member is coupled to the gimbal assembly and extends along the drive assembly along the shaft and coupled to the moveable component. Devices, systems, and methods relate to gimbal assemblies and related drive assemblies.
An illustrative system may access a first image sequence comprising first images, the first images based on illumination, using visible-spectrum light, of a scene associated with a medical procedure; access a second image sequence comprising second images, the second images based on illumination of the scene using non-visible spectrum light; detect an object in the second image sequence; and perform, based on the detected object, an operation with respect to the first image sequence.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 1/04 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
A61B 1/06 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
Techniques for displaying an extended reality (XR) indication of a potential collision between a portion of an object and a portion of a computer-assisted system include the following. The computer-assisted system comprises a sensor system configured to capture sensor data of an environment, and a control system communicably coupled to the sensor system. The control system is configured to: determine a pose of a portion of an object in the environment based on the sensor data, determine a pose of a portion of the computer-assisted system, determine at least one characteristic associated with a potential collision between the portion of the object and the portion of the computer-assisted system, select the potential collision for display based on the at least one characteristic, and cause an XR indication of the potential collision to be displayed to an operator via a display system.
An illustrative system may access a first image sequence captured by an imaging device during a medical procedure, the first image sequence comprising first images, the first images based on illumination of a scene associated with the medical procedure using visible-spectrum light; access a second image sequence captured by the imaging device during the medical procedure, the second image sequence comprising second images, the second images based on illumination of the scene using non-visible spectrum light; and provide the first image sequence and the second image sequence to a machine learning module.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 1/04 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
A61B 1/06 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
A computer-assisted system may include a manipulator arm configured to support an instrument, an input device configured to accept user commands to move the instrument, and a damping system coupled to the input device. A controller of the computer assisted system may be configured to determine an instrument power metric and an input device power metric. The controller may also determine a damping to be applied to the input device based on the instrument power metric and the input device power metric and cause the damping system to adjust the damping applied to the input device.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
26.
MEDICAL PROCEDURES AND SYSTEMS USING ACTIVE IMPLANTS
Medical procedures, systems and related methods are disclosed. In some examples, a system may include an instrument for delivery of an active implant and at least one processor configured to receive information describing a pose of the active implant, determine a location of the active implant within an anatomical model based on the information describing a location of the active implant, and establish the location of the active implant as a reference within the anatomical model. In some examples, a method may include obtaining an anatomical model of a subject anatomy, determining a pose of the active implant, and registering the anatomical model to a reference frame of an instrument based on the pose of the active implant.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61F 2/82 - Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
27.
SYSTEMS AND METHODS FOR CONTENT AWARE USER INTERFACE OVERLAYS
A medical system may comprise a display system for displaying a display area and a control system. The control system may include a processing unit including one or more processors. The processing unit may be configured to generate an image of a field of view for display in the display area, generate a user interface component for display in the display area, determine a priority record for an element in the image of the field of view, determine a display characteristic for the user interface component based on the priority record of the element in the field of view, and display the user interface component in accordance with the display characteristic in the display area overlayed on a displayed image of the field of view.
G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
A61B 90/20 - Surgical microscopes characterised by non-optical aspects
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 6/00 - Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
G16H 30/40 - ICT specially adapted for the handling or processing of medical images for processing medical images, e.g. editing
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
G16H 40/67 - ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
28.
TECHNIQUES FOR CONTROLLING A COMPUTER-ASSISTED SYSTEM
A computer-assisted system includes a manipulator arm configured to support an instrument, an input device configured to accept user commands to move the instrument, and an actuator system coupled to the input device. A controller of the computer-assisted system is configured to determine a component of a change in force at the instrument, the component correlating with a direction of motion of the input device. The controller also determines a feedback force based at least in part on the environmental stiffness and the component of the change in force if the environmental stiffness experienced by the instrument exceeds a threshold stiffness. The controller causes the actuator system to drive the input device to apply the feedback force.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A system for providing navigational guidance for a medical procedure may comprise a processor and a memory operably coupled to the processor for storing instructions that, when executed by the processor, cause the system to perform operations. The operations may comprise receiving an anatomic model of an anatomic region, performing an analysis of the anatomic model to facilitate selection a plurality of nodal sites for analysis, generating a procedure sequence for the plurality of nodal sites, providing navigational guidance to direct a medical instrument to a nodal site of the plurality of nodal sites in the procedure sequence, and gathering local image data from the medical instrument at the nodal site.
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A teleoperable manipulator system comprises a table assembly, a rail coupled to the table assembly, and one or more manipulators coupled to the rail. The table assembly comprises a support column and a platform assembly coupled to the support column and configured to support a body. The platform assembly comprises lateral and longitudinal dimensions defining outer lateral and longitudinal boundaries of the platform assembly. The rail is translatable relative to the support column along a longitudinal dimension of the rail. The manipulators are translatable relative to the rail along the longitudinal dimension of the rail. The rail is configured to remain within at least the outer lateral boundaries of the platform assembly throughout all motion of the rail relative to the support column.
B25J 5/04 - Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A teleoperable manipulator system can comprise a table assembly, a rail coupled to the table assembly, and a manipulator coupled to the rail. The table assembly comprises a platform configured to support a body, the platform having lateral and longitudinal dimensions. The manipulator is translatable relative to the rail along a longitudinal dimension of the rail. The manipulator comprises a proximal link assembly comprising a proximal arm coupled to the rail by one or more proximal joints. The proximal arm is extendable in length.
A medical procedure visualization system may be configured to access depth data captured by one or more depth capture devices during a medical procedure. The depth data may be representative of practitioner activity associated with the medical procedure. As such, the medical procedure visualization system may be further configured to render, based on the depth data, extended reality content for presentation to a user. The extended reality content may include a 3D point cloud depicting the practitioner activity associated with the medical procedure. Corresponding methods and systems are also disclosed.
A teleoperable manipulator system includes a table assembly, a rail coupled to the table assembly, and first and second manipulators coupled to the rail. The table assembly includes a platform configured to support a body. The first and second manipulators include respective proximal arms coupled to the rail and respective distal portions coupled to the proximal arms and configured to support an instrument mounted thereon. The proximal arms of the first and second manipulators are translatable relative to the rail along a longitudinal dimension of the rail and are rotatable relative to the rail about a first axis perpendicular to the longitudinal dimension of the rail. The proximal arms of the first and second manipulators are positionable in a nested configuration relative to one another.
Apparatuses, systems, and methods are disclosed for providing controlled delivery of electrolysis products and cellular permeabilization treatment to a site in tissue. A minimally invasive regenerative surgery of subjecting a target area in living tissue to an electric input composed of a combination of electric fields of a magnitude that permeabilizes the cell membrane and to an electrolytic reaction that generates products of electrolysis of a magnitude that, by themselves, do not cause damage to cells or the extracellular matrix, but induces cell death in combination with electric field of the magnitude that permeabilizes the cell membrane. It is shown that the apparatuses, systems, and methods generate a region of tissue in which complete regeneration of the ablated tissue occurs without massive inflammation, ulceration, coagulative necrosis, fibrotic tissue, or scar tissue.
A61B 18/12 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
A backend mechanism of a control system for an elongated medical instrument includes a tool holder to retain and move a tool relative to the elongated medical instrument.
A medical system comprises a display system, an input system including a first control device, and a control system. The control system includes a processing unit configured to display an image of a field of view of a surgical environment, determine a first keypoint on a first tool in the surgical environment, determine a selection region associated with the first keypoint of the first tool, determine a position of a cursor relative to the field of view that corresponds to a position of the first control device, and determine if the position of the cursor overlaps the selection region. The processing unit may also be configured to provide a directional cue if the position of the cursor overlaps the selection region to direct the cursor toward the first keypoint and engage the first control device with the first tool when the cursor reaches the first keypoint.
Three-dimensional structure reconstruction systems and related methods are disclosed. In some examples, a three‑dimensional structure reconstruction system may include at least one processor configured to: receive a time-ordered plurality of X-ray images of an object, where the plurality of X-ray images are taken at a plurality of poses relative to the object, where at least one of the plurality of X-ray images depicts at least one object of known shape and/or location; determine an initial estimate of at least one pose of at least one of the plurality of X-ray images; and refine the at least one pose based on at least one comparison with the plurality of X-ray images. In some examples, a method may include receiving time-ordered images taken at poses; determining an initial estimate of at least one pose; and refining a pose based on at least one comparison with the plurality of X-ray images.
Three-dimensional structure reconstruction systems and related methods are disclosed. In some examples, a three-dimensional structure reconstruction system may include at least one processor configured to: receive a plurality of X-ray images of an object, wherein the plurality of X-ray images are taken at a plurality of poses relative to the object; determine a loss function based on: an estimated three-dimensional structure, and the plurality of X-ray images of the object; and determine a reconstructed three-dimensional structure by minimizing the loss function. In some examples, at least one non-transitory computer-readable medium may have instructions thereon that, when executed by at least one processor, perform a method for three- dimensional structure reconstruction. In some examples, a method may include receiving X-ray images of an object; determining a loss function based on: an estimated three-dimensional structure, and the X-ray images; and determining a reconstructed three-dimensional structure by minimizing the loss function.
An illustrative setup system may be configured to identify, based on data representative of a scene as captured by one or more sensors, a group of surgical accessory elements within the scene, and perform, based on information representative of one or more positions of the group of surgical accessory elements within the scene, an operation for setup of one or more components of a robotic system relative to the group of surgical accessory elements.
Setting and using a software remote center of motion (RCM) for a computer-assisted system including an input control, a repositionable structure comprising a plurality of joints, and a processing system. The processing system is configured to: receive a proposed position for a software RCM of the repositionable structure; determine whether to accept the proposed position based on a geometric relationship between a position of a hardware RCM and the proposed position; in response to determining to accept the proposed position, set a current position of the software RCM based on the proposed position; after setting the current position and in response to an indication to move the repositionable structure with a desired motion, determine a commanded motion of the joints to move the repositionable structure in accordance with the desired motion while maintaining the current position of the software RCM; and drive the joints in accordance with the commanded motion.
An adaptor for operatively coupling a drive output of a drive output interface to a drive input of an instrument comprises a frame and a coupler coupled to the frame. The frame comprises a first face configured to mount to the drive output interface and a second face configured to receive the instrument mounted thereon. The coupler comprises one or more first engagement features configured to engage with the drive output and one or more second engagement features configured to engage with the drive input. The coupler also comprises one or more compliance features configured to allow a first input engagement feature of the input engagement features to move towards the instrument in a state in which the coupler is engaged with the drive output and a second input engagement feature of the input engagement features is in contact with a coupler facing surface of the drive input.
A method may comprise displaying an interaction panel on a display device. The interaction panel having a display frame of reference and include a plurality of interaction elements. The method may also comprise constraining motion of an operator interface device to translational motion in a haptic plane with a haptic plane constraint while the interaction panel is displayed and determining a cursor position in the display frame of reference that corresponds to a position of a selection portion of the operator interface device in an operator frame of reference. The method may also comprise determining an element type for a first interaction element of the plurality of interaction elements at which the cursor position is located and removing the haptic plane constraint on the operator interface device if the element type is a three-dimensional rotation type.
A system includes a flexible elongate device, a tool, and a controller. The flexible elongate device includes a working channel extending to an opening in a distal portion of the flexible elongate device and a plurality of imaging elements. The tool is extendable through the working channel and the opening. The controller has one or more processors configured to determine a position associated with a portion of the tool, and control at least a portion of the plurality of imaging elements to generate an image that includes an imaging plane that includes the position associated with the portion of the tool.
A61B 8/12 - Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
A61B 8/00 - Diagnosis using ultrasonic, sonic or infrasonic waves
A61B 8/08 - Detecting organic movements or changes, e.g. tumours, cysts, swellings
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
G01S 15/89 - Sonar systems specially adapted for specific applications for mapping or imaging
44.
SYSTEMS FOR PLANNING AND PROVIDING NAVIGATION GUIDANCE FOR ANATOMIC LUMEN TREATMENT
A system may comprise a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, may cause the system to receive anatomic image data for an anatomic area and segment the anatomic image data to identify an anatomic passageway in the anatomic area. The computer readable instructions may also cause the system to identify a gap between a first segment and a second segment of the segmented anatomic image data, generate a bridge segment to bridge the gap, and generate an anatomic model of a diseased lung including the first segment, the second segment and the bridge segment.
A surgical system includes an actuator system and a control system operatively coupled to the actuator system. The actuator system is operable to drive a first movable operating component and a second movable operating component. The control system includes a memory and instructions stored in the memory. The instructions cause the control system to perform actions including commanding the actuator system to operate in a first control mode, receiving a first signal containing a first kinematic parameter value of the first movable operating component, receiving a second signal containing a second kinematic parameter value of the second movable operating component, determining a compared value derived from both the first kinematic parameter value and the second kinematic parameter value, and causing the control system to operate the actuator system in an instrument release mode on a condition in which the compared value is within a defined value range.
A medical device includes an instrument shaft, a tension element guide, a tension element, and a semisolid sealing substance. The instrument shaft includes a proximal end portion, a distal end portion, and a channel between the proximal end portion and the distal end portion. The tension element guide is at the distal end of the instrument shaft, and includes a proximal seal, a distal seal, and a middle seal between the proximal seal and the distal seal. A sealing substance volume is defined between the proximal seal and the middle seal and holds the sealing substance. The tension element extends from the channel of the instrument shaft, past the proximal seal, through the sealing substance in the sealing substance volume, past the middle seal, past the distal seal, and beyond the tension element guide.
A medical device includes a wrist link, a tool member, and a tension element. The wrist link includes a discrete first link piece and a discrete second link piece. The first link piece includes a first clevis ear and the second link piece includes a second clevis ear. The second link piece is coupled to the first link piece to position the second clevis ear opposite the first clevis ear and to define a tension element guide channel between the first link piece and the second link piece. The tool member is coupled to rotate between the first clevis ear and the second clevis ear about a tool member rotation axis. The tension element is coupled to the tool member and extends from the tool member through the tension element guide channel. Tension on the tension element urges the tool member to rotate about the tool member rotation axis.
A computer-assisted teleoperation system and method for operating the same are provided that enforce a temporal non-overlap of a teleoperation of a follower device and a physical adjustment of a headrest of the computer-assisted teleoperation system.
A method may comprise receiving a plurality of medical procedure records. Each of the plurality of medical procedure records may be generated during a medical procedure performed with a robot assisted medical system. The method also includes identifying a set of characteristic actions common among the plurality of medical procedure records and determining at least one parameter for each characteristic action in the set of characteristic actions.
G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
50.
SYSTEMS AND METHODS FOR GENERATING CUSTOMIZED MEDICAL SIMULATIONS
A medical system may comprise a display system, an operator input device and a control system in communication with the display system and the operator input device. The control system may comprise a processor and a memory comprising machine readable instructions that, when executed by the processor, cause the control system to access an experience factor for a user and reference a set of parameterized prior procedures. The instructions may also cause the control system to identify a parameterized prior procedure associated with the experience factor from the set of parameterized prior procedures and generate a simulation exercise that includes a plurality of parameters from the parameterized prior procedure. Model inputs to the operator input device that are associated with the plurality of parameters may be determined.
G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
G16H 50/50 - ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for simulation or modelling of medical disorders
51.
TECHNIQUES FOR REPOSITIONING A COMPUTER-ASSISTED SYSTEM WITH MOTION PARTITIONING
Techniques for repositioning a computer-assisted system include the following. The computer-assisted system comprises a repositionable structure system, the repositionable structure system comprising a plurality of links coupled by a plurality of joints, and a control unit communicably coupled to the repositionable structure system, The control unit is configured to: determine a target pose of a system portion of the computer-assisted system, determine a current pose of the system portion, determine a motion for the repositionable structure system based on a difference between the target pose and the current pose, the motion including a first component in a first direction, determine a partitioning of the first component into a plurality of partitions, and cause a first movement of a first joint set to achieve a first partition and a second movement of a second joint set to achieve a second partition.
A non-transitory machine-readable media may store instructions that, when run by one or more processors, cause the one or more processors to generate stereo endoscopic image data of a medical field and define a medical field volume from the stereo endoscopic image data. The processors may also project a 3D representation of the medical field volume to an extended-reality display device in a remote volume. The 3D representation may include a stereoscopic image and a 3D scene generated from the stereo endoscopic image data. The processors may also generate visual guidance in the remote volume to augment the stereo endoscopic image, map the visual guidance from the remote volume to the medical field volume to generate an augmented image of the medical field volume, and project the augmented image of the medical field volume to a display device viewed by an operator of instruments in the medical field.
G09B 23/28 - Models for scientific, medical, or mathematical purposes, e.g. full-sized device for demonstration purposes for medicine
A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
53.
SYSTEMS FOR LOCALIZED ABLATION WITH A CIRCULATING FLUID CATHETER
A system comprises an elongate instrument including a first and second channels. The system also comprises an expandable device coupled to a distal portion of the elongate instrument. The expandable device is in fluid communication with the first and second channels. The system also comprises a pump system for circulating a fluid through the first and second channels and a heating system for heating the fluid. The system also comprises a control system coupled to the heating system and the pump system. The control system is configured to control temperature and delivery of the heated fluid through the first channel and the second channel to heat the elongate instrument and the expandable device with the heated fluid while maintaining the expandable device in an uninflated configuration, inflate the expandable device with the heated fluid, ablate an anatomic passage with the inflated and heated expandable device, and deflate the expandable device.
A61B 18/04 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
A61B 18/00 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
54.
SYSTEMS AND METHODS FOR PARTITIONING MODELS OF ANATOMICAL STRUCTURES INTO FUNCTIONAL SEGMENTS
An example method may include determining, by a computing system and based on a set of seeds determined from data representative of a labeled first tubular structure and a labeled second tubular structure in a model of at least a portion of an anatomical structure, a partitioning of the model into segments. The method may further include outputting, by the computing system, data representative of the segments.
A sterile drape assembly for draping equipment to create a sterile barrier around the equipment may comprise a hollow elongated drape body and a closure mechanism. The drape body extends between a first end and a second end and has a first drape portion comprising the first end and a second drape portion comprising the second end. The closure mechanism releasably closes, or is configured to releasably close, the first end of the drape body. The sterile drape assembly has a partially inverted state in which the first drape portion is folded back over and covers the second drape portion, and the second drape portion defines a partially enclosed interior volume configured to receive at least a first portion of the equipment.
A medical device includes a shaft, an electrically insulative outer cover, an electrically insulative spacer, and a wrist assembly. The outer cover is positioned over an outer surface of the shaft and a distal end portion of the outer cover extends beyond a distal end surface of the shaft. The spacer comprises a first coupling portion, a second coupling portion, and a circumferential annular protrusion. The first coupling portion of the spacer is coupled to an inner surface of the shaft. The wrist assembly is coupled to the second coupling portion of the spacer. The annular protrusion of the spacer includes a shoulder and a seal surface. The shoulder of the annular protrusion is in contact with the distal end surface of the shaft, and the shaft is electrically isolated by the seal surface of the annular protrusion contacting the inner surface of the outer cover.
A system comprises a processor, a display, and a memory having computer readable instructions stored thereon that, when executed by the processor, cause the system to receive intra-operative three-dimensional image data from an imaging system. A portion of the intra-operative three-dimensional image data corresponds to an instrument disposed in a patient anatomy. The computer readable instructions, when executed by the processor, further cause the system to generate two-dimensional projection image data from the intra-operative three-dimensional image data, display the two-dimensional projection image data on the display, and identify, within the two-dimensional projection image data, a three-dimensional location of a portion of the instrument.
A display system includes a display panel, a first reflector, and a second reflector. The display panel provides first image light representative of a displayed image to the first reflector and provides second image light representative of at least a portion of the displayed image to the second reflector without first being reflected by the first reflector. The first reflector reflects the first image light toward the second reflector. The second reflector reflects the first image light toward an eyepiece. The second reflector is positioned relative to the second image light and a polarization direction of the second image light incident on the second reflector has a first orientation such that reflectance of a portion of the second image light from the second reflector is approximately zero. A light control device behind the display panel may control a distribution angle of image light from the display panel.
An illustrative virtual model simulation system may be configured to identify surface points on an anatomical object as depicted in one or more video images, determine a set of displacement values representative of a displacement of one or more of the surface points of the anatomical object caused by a physical force being applied by a physical tool to the anatomical object, and define, based on the set of displacement values and data representative of the physical force, one or more material property values for a three-dimensional (3D) virtual model of the anatomical object.
An illustrative virtual image processing system may be configured to constrain a degree of freedom associated with movement of a user input device, detect a user force applied to the user input device in the degree of freedom, and manipulate, based on the user force, a pose of a virtual object being displayed by a display device.
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
G06F 3/033 - Pointing devices displaced or positioned by the user; Accessories therefor
G06F 3/0338 - Pointing devices displaced or positioned by the user; Accessories therefor with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
G06F 3/038 - Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
61.
METHODS AND SYSTEMS FOR COORDINATING CONTENT PRESENTATION FOR COMPUTER-ASSISTED SYSTEMS
A coordination system for coordinating content presentation associated with a session involves using a computer-assisted medical system, the coordination system including a session awareness engine and a content selection engine. The session awareness engine being configured to obtain data from the computer-assisted medical system, the data indicative of an operational state of the computer-assisted medical system and determine a context of the session based on the data. The content selection engine being configured to select a content for presentation to a user of the computer-assisted medical system from a variety of contents by applying a content selection logic to the context of the session and facilitate presentation of the content to the user.
G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
G16H 40/67 - ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
G16H 80/00 - ICT specially adapted for facilitating communication between medical practitioners or patients, e.g. for collaborative diagnosis, therapy or health monitoring
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
Imaging instruments and related methods are disclosed. In some examples, an elongated body may include a channel extending through at least a portion of the elongated body and an articulable portion extending along at least a portion of a length of the elongated body. A fiber optic bundle may be disposed in and extend through the channel of the elongated body. A sheath may be disposed in the channel along at least a portion of the elongated body including the articulable portion. At least a portion of the fiber optic bundle may be disposed in the sheath. The axial compressive stiffness of the sheath may be greater than an axial compressive stiffness of the fiber optic bundle to at least partially shield the fiber optic bundle from axial forces and limit axial movement of the fiber optic bundle during articulation of the elongated body.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 1/06 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
A61B 1/07 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements using light-conductive means, e.g. optical fibres
A medical instrument may comprise a shaft (391) and an end effector (350) coupled to a distal end portion of the shaft. The end effector may comprise a jaw mechanism (350), a movable element (380) ranslatable relative to the jaw mechanism, a first actuation element (399) operably coupled to the end effector and translatable relative to the shaft, and a second actuation element (398) operably coupled to the end effector and translatable relative to the shaft. Translation of the first actuation element in a first direction relative to the shaft drives closing of the jaw mechanism. Translation of the second actuation element in a second direction relative to the shaft, opposite from the first direction, drives opening of the jaw mechanism. Translation of the second actuation element relative to the shaft in the first and second directions drives translation of the movable element relative to the jaw mechanism.
A smoke evacuation management system may include a memory storing instructions and a processor communicatively coupled to the memory. The processor may be configured to access a model generated based on data representative of one or more attributes associated with one or more energy application events during which energy is applied by one or more energy instruments to one or more subjects. The processor may be further configured to set, based on the model, a parameter of a smoke evacuation time window for use during a medical session in which an energy instrument applies intraoperative energy to a subject, the smoke evacuation time window specifying a time period during which a smoke evacuation procedure is performed. The processor may be further configured to direct, based on the smoke evacuation time window, a performance of the smoke evacuation procedure in response to the energy instrument applying the intraoperative energy.
G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
G16H 40/40 - ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the management of medical equipment or devices, e.g. scheduling maintenance or upgrades
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
G16H 50/20 - ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for computer-aided diagnosis, e.g. based on medical expert systems
A biopsy tool includes a flexible cannula having a cutting surface on a distal end portion of the flexible cannula. In some examples, an atraumatic tip on a distal end portion of the flexible stylet extends from the distal end portion of the flexible cannula and at least partially shields the cutting surface of the flexible cannula when the biopsy tool is in a closed configuration.
Systems and methods are provided for control of a surgical system. Accordingly, a current operating condition of the instrument with reference to a defined restricted operating condition of the infant instrument is detected. A force feedback coefficient is determined based on the current operating condition of the instrument. A restricted haptic feedback is determined based on the force feedback coefficient and a nominal haptic feedback. On a first event in which the current operating condition of the instrument changes from being outside the restricted operating condition to being inside the restricted operating condition, the operator of the surgical system is provided an indication that restricted haptic feedback is provided to or is available to be provided to the input device.
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
67.
SYSTEMS AND INTERFACES FOR COMPUTER-BASED INTERNAL BODY STRUCTURE ASSESSMENT
Various of the disclosed embodiments relate to systems and methods for determining and for presenting surgical examination data of an internal body structure, such as a large intestine. For example, various of the disclosed methods may create a three-dimensional computer model using the examination data and then coordinate playback of the examination data based upon the reviewer's interaction with the model. In some embodiments, the model's rendering may be adjusted to reflect various aspects of the examination, including scoring metrics, identified landmarks, and lacunae in the surgical examination review.
An instrument includes a shaft, a moveable component coupled to the shaft, and an actuation member drive assembly coupled to the shaft. The actuation member drive assembly may include a rotatable drive member, a ring gear operably coupled to the rotatable drive member and configured to rotate in response to rotation of the rotatable drive member, and a planet gear meshed with the ring gear. The instrument further includes an actuation member extending through the shaft and operably coupled to the moveable component and the planet gear. The actuation member is moveable in translation in response to rotation of the planet gear. Devices and methods relate to actuation member drive assemblies.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A display unit of a user control system of a telesurgical system includes a support structure, a headrest, and a lens. The headrest is movably connected to the support structure. The lens is below the headrest and includes an optical axis. The headrest is movable to a plurality of positions along a position adjustment axis that is parallel to the optical axis. And, the headrest includes a curved user-facing surface that is shaped to receive a user's head in a way that comfortably aligns the user's eye horizontally and vertically with the optical axis of the lens.
Techniques for controlling a computer-assisted device based on a geometric parameter representative of a geometric relationship of an operator and a display unit include the following. The computer-assisted device comprises a repositionable structure system configured to support a display unit that displays an image viewable by an operator; an actuator system physically coupled to the repositionable structure system; a sensor system configured to capture sensor data associated with a portion of a head of the operator; and a control system. The control system is configured to: determine, based on sensor data, a geometric parameter of the portion of the head relative to a portion of the computer-assisted device, determine a commanded motion based on the geometric parameter and a target parameter, and command the actuator system to move the repositionable structure based on the commanded motion.
G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
F16M 11/08 - Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis
F16M 11/18 - Heads with mechanism for moving the apparatus relatively to the stand
F16M 11/20 - Undercarriages with or without wheels
A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
71.
MEDICAL INSTRUMENT GUIDANCE SYSTEMS, INCLUDING GUIDANCE SYSTEMS FOR PERCUTANEOUS NEPHROLITHOTOMY PROCEDURES, AND ASSOCIATED DEVICES AND METHODS
Medical instrument guidance systems and associated devices and methods are disclosed herein. In some embodiments, a method for providing guidance for percutaneous access to a target within an anatomic structure, includes receiving point cloud data from a sensor system coupled to an internal instrument as the internal instrument is moved within the anatomic structure; generating a 3D model of the anatomic structure based at least in part on the point cloud data; and receiving information for identifying a substructure within the 3D anatomic model. The substructure can provide access to the target. The method can further include determining an entry to the substructure; determining an approach path through the entry; and providing a graphical representation of the approach path.
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 17/22 - Surgical instruments, devices or methods, e.g. tourniquets for removing obstructions in blood vessels, not otherwise provided for
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A medical device includes a manual drive structure having a manual drive input member and a manual drive coupling member. The medical device also includes a first tool drive member including a first motor drive input member and a second tool drive member including a second motor drive input member. The first tool drive member is coupled to and driven by the manual drive input member via the manual drive coupling member and the second tool drive member is coupled to and driven by the manual drive input member via the manual drive coupling member.
Systems and methods for providing navigation indicators for an elongate device include a system configured to determine a pose of the elongate device within a passageway; and based on the pose of the elongate device, display on the display system: an image of the passageway, and one or more navigation indicators associated with one or more directions within a workspace containing the passageway, wherein the one or more navigation indicators are displayed over the image of the passageway.
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
74.
SYSTEMS AND METHODS FOR TARGET NODULE IDENTIFICATION
A system may comprise one or more processors and memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the one or more processors, may cause the system to receive image data including a segmented candidate target nodule, receive a seed point, and determine if the segmented candidate target nodule is within a threshold proximity of the seed point. Based on a determination that the segmented candidate target nodule is within the threshold proximity of the seed point, the segmented candidate target nodule may be identified as an identified target nodule. A target nodule boundary corresponding to the identified target nodule may be displayed.
An illustrative image processing system is configured to apply, as an input to a processing module, a first video stream generated by an imaging device during a medical procedure. The processing module is configured to generate, based on the input, output data used to perform an image-based operation associated with the medical procedure. The image processing system is further configured to detect, while the first video stream is being applied to the processing module, a deficiency associated with the first video stream and apply, as the input to the processing module and based on the detecting of the deficiency, a second video stream generated by the imaging device during the medical procedure.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
76.
INSTRUMENT END EFFECTOR WITH MULTIFUNCTION MEMBER AND RELATED DEVICES AND SYSTEMS
An instrument may comprise a shaft and an end effector comprising a jaw mechanism coupled to the shaft. The jaw mechanism may comprise a first jaw member and a second jaw member movable relative to one another by pivoting about a pivot axis between an open configuration of the jaw mechanism and a closed configuration of the jaw mechanism. The second jaw member may be rotatable about a roll axis of the second jaw member between at least two orientations, the roll axis of the second jaw member being transverse to the pivot axis. In a first orientation of the at least two orientations, the jaw mechanism is configured to perform a first function. In a second orientation of the at least two orientations, the jaw mechanism is configured to perform a second function differing from the first function.
A system may include an elongate flexible device, a flexible instrument, and a processor. The elongate flexible device may include a first shape sensor configured to generate first shape data corresponding to a shape of the elongate flexible device. The flexible instrument may include a second shape sensor configured to generate second shape data corresponding to a shape of the flexible instrument. The processor may be configured to register the flexible instrument to the elongate flexible device based on the first shape data and the second shape data. The first shape data and the second shape data may be generated while the flexible instrument is mated with the elongate flexible device.
A medical device includes a chassis component having a bottom and an opening defined in the bottom, and a capstan including an upper portion, a lower portion, and a spool between the upper and lower portions. The upper portion of the capstan is supported within the opening of the chassis component. The spool comprises a cable wrap surface and a side wall opposing the bottom of the upper chassis. The side wall of the spool can optionally slope away from the bottom of the chassis component. The medical device can further include a cable guide and a cable. The cable extends from the cable guide to the cable wrap surface of the spool.
A medical device includes a blade support, a blade supported by the blade support, and a pin. The blade support includes a bore with an inner portion oriented toward the blade and an outer portion oriented away from the blade. A discontinuity is located at a boundary between the inner and outer portions of the bore. The pin includes a longitudinal axis and a yaw plane is defined perpendicular to the longitudinal axis. A rotational yaw degree of freedom is defined about the longitudinal axis of the pin. The blade support is operable to rotate about the pin in the yaw degree of freedom, contact the pin at the discontinuity of the bore, and tilts away from the yaw plane at the discontinuity of the bore in response to a force applied in a lateral direction.
Disclosed techniques include a computer-assisted device having an input control, a functional structure, and a processing system. The functional structure is configured to include a repositionable structure, and the repositionable structure is configured to support an instrument. The processing system is configured to receive a movement command from the input control, update a pose of a proxy based on the movement command and a proxy constraint, and cause the functional structure to move based on the updated pose of the proxy. In some embodiments, the input control controls a pose of a virtual leader device. The processing system updates a pose of a proxy based on the pose of the virtual leader device, updates a pose of a virtual follower device based on the updated pose of the proxy, and causes the functional structure to move based on the pose of the virtual follower device.
A system comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, may cause the system to identify, from a plurality of linked elements, a first linked element connected by a joint to a second linked element and determine a current relative rotation of the second linked element with respect to the first linked element. The system may also determine if an angle of rotation associated with the current relative rotation is greater than a predetermined elastic limit for the joint. If the angle of rotation is greater than the predetermined elastic limit, a current plastic quaternion that represents a current angular plastic deformation of the joint is determined.
A system comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to generate a current endoscopic video image of a surgical environment, capture an image from the current endoscopic video image, display the current endoscopic video image and the captured image in a common display, and perform an action with the captured image in response to a user input.
A system may comprise a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to receive endoscope calibration data, generate a virtual camera based on the calibration data, generate an endoscopic image, receive first and second marked points in the endoscopic image, and determine if a three-dimensional surface model has been generated. If a surface model has been generated, a perturbation in the virtual camera is generated. A curvilinear segment on the surface model may be generated between the first and second marked points and a mixed reality image, including the curvilinear segment and the endoscopic image, may be generated.
Techniques are disclosed for imaging device control in a viewing system that includes a repositionable structure configured to support an imaging device, and a control unit communicably coupled to the repositionable structure. The control unit is configured to receive head motion signals indicative of a head motion of a head of an operator relative to a reference, and in response to determining that the head motion signals indicate that the head motion does not exceed a threshold amount in a direction, cause a field of view of the imaging device to be adjusted in accordance with a commanded motion by commanding movement of at least one of the repositionable structure or the imaging device, where the commanded motion is determined based on the head motion.
A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
An endoscopic system may (100) comprise a first objective lens assembly (114) extending along a first side of a central longitudinal axis through the endoscopic system and a second objective lens assembly (116) extending along a second side of the central longitudinal axis. The endoscopic system may also comprise a prism assembly (203) at a proximal end of the first and second objective lens assemblies, a first image capture sensor (240) coupled to the prism assembly on the first side of the central longitudinal axis, and a second image capture sensor (250) coupled to the prism assembly on the second side of the central longitudinal axis. The prism assembly may direct first light from the first objective lens assembly to the second image capture sensor.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 1/002 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor having rod-lens arrangements
A61B 1/05 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
A61B 1/04 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
86.
PROTECTION OF PERSONALLY IDENTIFIABLE CONTENT IN A VIDEO STREAM GENERATED BY AN IMAGING DEVICE DURING A MEDICAL PROCEDURE
An illustrative image processing system is configured to apply a video stream to a machine learning model, the video stream generated by an imaging device during a medical procedure performed with respect to a patient; classify, based on an output of the machine learning model, an image frame included in the video stream as an ex- body frame that depicts content external to a body of the patient: and apply, based on the classifying the image frame as the ex-body frame, a privacy enhancing operation to the image frame.
An illustrative apparatus may obtain an image frame captured by an image capture system in accordance with an auto-exposure parameter set to a first setting. The image frame may include a first image component associated with visible light and a second image component associated with non-visible light. The apparatus may determine a first auto-exposure gain based on the first image component and may determine a second auto-exposure gain based on the second image component. Based on the first and second auto-exposure gains, the apparatus may determine a second setting for the auto-exposure parameter. The second setting may be configured to be used by the image capture system to capture a subsequent image frame. Corresponding apparatuses, systems, and methods for managing auto-exposure of multi-component image frames are also disclosed.
An illustrative apparatus may obtain a depth map corresponding to an image frame. The image frame may be captured by an image capture system in accordance with an auto-exposure parameter set to a first setting and the depth map may indicate depth values for pixel units of the image frame. The apparatus may also obtain an object map corresponding to the image frame. The object map may indicate which of the pixel units depict an object of a predetermined object type. Based on the depth map and the object map, the apparatus may determine an auto-exposure gain associated with the image frame. Based on the auto-exposure gain, the apparatus may then determine a second setting for the auto-exposure parameter. The second setting may be used by the image capture system to capture subsequent image frames. Corresponding apparatuses, systems, and methods for depth-based auto-exposure are also disclosed.
Systems for performing a medical procedure and associated methods and devices are disclosed herein. In some embodiments, a system for performing a medical procedure includes an elongate flexible device configured to be introduced into an anatomic cavity of a patient, and a sensor system carried by the elongate flexible device and configured to obtain location data of the anatomic structure. The system can be configured to perform operations comprising: generating a 3D anatomic model based on first location data, the 3D anatomic model including an object within the anatomic cavity, based on second location data of the elongate flexible device when the object is within the image, and providing guidance for deploying an access tool along an access path through a patient's skin to the object based, at least in part, on the 3D anatomic model.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A system is provided that includes multiple motors, each respective motor comprising three phases; a voltage source inverter circuit comprising multiple respective inverter legs; each respective inverter leg coupled to drive at least one phase of at least one of the respective of the respective motors; wherein a first shared inverter leg is coupled to drive a first phase of a first motor and drive third phase of a second motor; and wherein a second shared inverter leg is coupled to drive a third phase of the second motor and a first phase of a third motor.
H02P 27/08 - Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
H02P 5/68 - Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more dc dynamo-electric motors
H02P 6/04 - Arrangements for controlling or regulating the speed or torque of more than one motor
91.
GRAPHICAL USER INTERFACE FOR SURGICAL PERFORMANCE ASSESSMENT
Various of the disclosed embodiments provide Graphical User Interfaces (GUIs) for reviewing prior surgical procedures. Specifically, the GUI may allow a user, such as surgeon, to review sensor data, including video data, acquired during various of the surgeon's past surgical procedures. Some sensor data may be organized into metrics referred to herein as objective performance indicators (OPIs). Similarly, procedures may be discretized into specific tasks. By organizing and presenting data in OPI form at the task level, the GUI may facilitate efficient and coordinated review of the surgeon's progress over time across multiple procedures. In some embodiments, corresponding data from expert surgeons may also presented in the interface so that the user may gauge the surgeon's relative performance.
G16H 10/60 - ICT specially adapted for the handling or processing of patient-related medical or healthcare data for patient-specific data, e.g. for electronic patient records
G16H 15/00 - ICT specially adapted for medical reports, e.g. generation or transmission thereof
G09B 23/28 - Models for scientific, medical, or mathematical purposes, e.g. full-sized device for demonstration purposes for medicine
92.
METHOD AND APPARATUS FOR PROVIDING INPUT DEVICE REPOSITIONING REMINDERS
Systems and methods are described herein for providing reminders with a computer-assisted robotic system. In one example, a robotic system comprises head and hand input devices, and a control system. The head input device comprises a sensor configured to sense head inputs provided by a head of an operator. The hand input device comprises a hand input sensor configured to sense hand inputs provided by a hand of the operator. The control system is configured to, in a teleoperation mode, command a change in a display of an image based on head input signals provided by the head input device, where the image is obtained by an imaging device, and command motion of a tool based on hand input signals provided by the hand input device. The control system is further configured to, in a clutch mode, provide a reminder for the operator to reposition the hand input device.
Systems and methods for reducing noise in a computer-assisted medical system are described herein. In certain illustrative examples, a system may direct an imaging device to capture one or more pseudo dark frame images of an environment of the imaging device. The system may determine a noise pattern within the set of one or more pseudo dark frame images associated with a coupling of the imaging device and an image processing system. They system may process, based on the noise pattern, additional images captured by the imaging device.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 1/06 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
H04N 5/365 - Noise processing, e.g. detecting, correcting, reducing or removing noise applied to fixed-pattern noise, e.g. non-uniformity of response
H04N 5/217 - Circuitry for suppressing or minimising disturbance, e.g. moire or halo in picture signal generation
A computer-assisted system includes a manipulator arm including a joint, an actuator mechanism configured to drive the joint, and a controller including a computer processor. The controller is communicatively coupled to the manipulator arm and configured with a first control mode and a second control mode. In each of the first control mode and the second control mode, the controller commands the actuator mechanism to allow an external articulation to reconfigure the manipulator arm by backdriving the joint. The first control mode is distinguished from the second control mode at least by the controller being configured to, in the first control mode, command the actuator mechanism to provide a first speed-dependent resistance in response to the joint being backdriven at a first backdriven speed above a first speed threshold. The first speed-dependent resistance opposes the joint being backdriven.
G05B 19/423 - Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
Devices, systems, methods, and computer program products for performing medical procedures are disclosed herein. In some embodiments, a system for planning a medical procedure is configured to receive a three-dimensional (3D) model of an anatomic region of a patient. The 3D model can include a set of linked structures and at least one isolated structure spaced apart from the linked structure. The system can output a graphical representation of the linked structures and the at least one isolated structure, and can receive operator input indicating a set of locations on the graphical representation. The set of locations can represent a connection between the at least one isolated structure and the linked structures. Based on the operator input, the system can generate a bridge structure connecting the at least one isolated structure to the linked structures.
Devices, systems, methods, and computer program products for performing medical procedures are disclosed herein. In some embodiments, a system for processing medical image data is configured to receive image data of a patient's anatomy. The system can select a first section of the image data, each image interval in the first section having an interval size within a predetermined size range. The system can identify a second section of the image data including at least one image interval having an interval size outside the predetermined size range. The system can generate a resampled second section by adding, deleting, and/or resampling one or more interpolated images in the second section, such that each image interval in the resampled second section has an interval size within the predetermined size range. The system can output a combined section including the first section and the resampled second section.
A robotic system includes a robotic manipulator, which includes a first joint and a link connected to the first joint. A processing unit including one or more processors is configured to receive sensor measurement data of the link from a sensor system, and generate, based on the sensor measurement data, a first joint velocity estimate of the first joint. A first vibration cancellation state for the first joint is determined based on one or more cancellation conditions of one or more of joints of the robotic manipulator. In response to the first vibration cancellation state indicating enablement of vibration cancellation for the first joint, a first cancellation force is applied to the first joint, the first cancellation force based on a first joint velocity estimate of the first joint.
A needle driver device comprises a needle track defining a curved path and a drive system configured to operably engage with and drive a needle along the needle track. The drive system comprises a first drive member, a second drive member, and a needle driver link. The first drive member is rotatable about a first drive member axis, and the second drive member is rotatable about a second drive member axis spaced apart from the first drive member axis. The needle driver link comprises a distal end portion removably engageable with a needle that is positionable in the needle track, the distal end portion being movable along an arcuate-shaped path proximate the needle track. Devices, systems, and methods relate to needle driver devices.
A61B 17/04 - Surgical instruments, devices or methods, e.g. tourniquets for closing wounds, or holding wounds closed, e.g. surgical staples; Accessories for use therewith for suturing wounds; Holders or packages for needles or suture materials
An electrosurgical instrument may comprise electrodes provided on the working surfaces of each jaw member that can be set to different electrical potentials and/or polarities to perform electrosurgical operations, such as sealing and cutting. Different combinations of electrodes can be selectively activated to create different pathways for the transfer of electrical energy through the material, to achieve the desired effects
A cable-driven device, such as a joint or instrument of a computer-assisted manipulator system, may comprise a capstan mechanism to wind/unwind cables. The capstan mechanism comprises a capstan that has a groove in an outer surface of the capstan to guide the cables, which are routed from a take-up pulley, to spool onto the capstan as the capstan rotates. A guide element is engaged with the groove. The guide element is held translationally stationary relative to the take-up pulley, while there is relative translation between the capstan and both the guide element and the take-up pulley. Thus, as the capstan rotates, the guide element engages with the groove and forces the capstan and the take-up pulley to translate relative to one another. This relative translation of the capstan and the take-up pulley may prevent deviation of a take-up angle of the cable as the cable spools onto the capstan.
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