Systems and methods employing a surgical robotic surgeon console with a display for use by a surgeon in a remote surgery are provided. The surgical robotic surgeon console includes a console frame and a horizontal member connected to the console frame. the horizontal member extending outwardly from the console frame and positioned above the display. Also provided is a head bar mounted on the horizontal member and the head bar configured to support a user's head relative to the display. Also provided is a system for camera control based at least in part on live gaze location information.
A61B 17/00 - Surgical instruments, devices or methods
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
2.
SYSTEMS, DEVICES, AND METHODS EMPLOYING A CARTRIDGE FOR SURGICAL TOOL EXCHANGE IN A SURGICAL ROBOTIC SYSTEM
Systems and methods employing cartridges for securing one or more tool elements of a surgical tool and releasing the tool elements when engaged by a distal end of a robotic arm are provided. A cartridge includes a cartridge body, a holder disposed in a cartridge body and configured to engage tool elements, a spring connecting the holder to the cartridge body, and a pair of biasing elements each attached to the cartridge body at a first end and having a retention mechanism at a second end, the retention mechanism configured to engage corresponding receiving mechanisms of tool elements. Also provided is a cartridge with an RFID tag and/or RFID tag and RFID blocking flag systems to identify proximity of a distal end of a robotic arm.
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
41 - Education, entertainment, sporting and cultural services
44 - Medical, veterinary, hygienic and cosmetic services; agriculture, horticulture and forestry services
Goods & Services
Computer hardware with preinstalled software for use with medical and surgical equipment used for surgical and medical procedures; Computer hardware for use with medical and surgical equipment used for surgical and medical procedures; Computer workstations comprising computer hardware for use with medical and surgical equipment used for surgical and medical procedures; Computer hardware with preinstalled software for operating and controlling a surgical system, namely, a surgical robot Surgical robots; Surgical devices and instruments; Medical apparatus and instruments for use in surgery; Surgical instruments and apparatus; Surgical instruments, namely, a remote manipulation system used for medical and surgical procedures consisting of a robotic arm, camera, and controllers to facilitate remote surgical procedures; Surgical instruments, namely, computerized surgical manipulation system used for medical and surgical procedures comprised of a computer console used in direct association with controlling the surgical robotic arms and cameras; Surgical instruments, namely, robotically articulated camera for medical purposes used in direct association with surgical apparatus and instruments for medical and surgical procedures; Surgical instruments, namely, surgical apparatus and instruments for use in surgery Providing training in the field of medical and surgical training and teaching; Medical training and teaching; Providing training in the field of use and operation of a surgical robotic system; Providing training in the field of maintenance and repair of a surgical robotic system and its components; Providing a website featuring non-downloadable videos in the field of surgical procedures, featuring simulations of surgical procedures; Providing a website featuring non-downloadable videos in the field of surgical procedures Providing a web site featuring medical information; Providing a website featuring information about health and wellness, namely, a website featuring medical and surgical information, medical training documents and associated surgical information, data regarding surgical procedures; Providing a website featuring information about health and wellness, namely, Providing a website featuring medical and surgical information, medical training documents and associated surgical information, data regarding surgical procedures; Providing information in the field of medical and surgical information, medical training documents and associated surgical information, data regarding surgical procedures health via a website
An optical filter (800A) for a wide-angle field-of-view fluorescent scene imager is provided. For example, an optical filter (800A) can include a first radial zone (810A) to receive a first plurality of light beams having a first incident angle range. The first radial zone (810A) can include one or more blocking wavelength bands and one or more transmission wavelength bands. The optical filter (800A) can further include a second radial zone (810B) configured to receive a second plurality of light beams having a second incident angle range greater than the first incident angle range. The second radial zone (810B) can maintain one or more excitation wavelength blocking characteristics within the one or more blocking wavelength bands and one or more emission wavelength transmittance characteristics within the one or more transmission wavelength bands across the first and second radial zones.
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. endoscopesIlluminating arrangements therefor
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 port closure device and method of suturing an incision are disclosed herein. In some embodiments, the device includes a plurality of bores through a conical tip for the passage of sutures into a fascia defect. The method includes exposing a notch of the device, retracting the device to capture fascia tissue, releasing the actuation mechanism, and inserting a suture through the device and the captured fascia tissue.
A61B 17/00 - Surgical instruments, devices or methods
A61B 17/04 - Surgical instruments, devices or methods for closing wounds or holding wounds closedAccessories for use therewith for suturing woundsHolders or packages for needles or suture materials
A trocar having three radially-shaped walls and three radially-shaped comers coupling the three radially-shaped walls to form a cannula body of a cannula. Each of the three radially-shaped corners has a radius and the radius may correspond to a radius of a support tube of a camera or instrument for a surgical robotic device. The cannula body of the trocar may receive three support tubes in each of the three radially-shaped corners.
Systems and methods are disclosed for determining an angular position of a rotary joint using a filter circuit comprising a capacitor, a variable inductor comprising a moveable target, and at least one sensing coil affixed to the rotary joint. A controller coupled to the filter circuit is disclosed. The controller transmits an input signal of varying frequency to the filter circuit, detects a signal corresponding to a response of the filter circuit to the input signal, and characterizes a frequency response of the filter circuit based on a determination that the signal corresponding to the response is corrupted. The controller determines an inductance value of the variable inductor based on the frequency response of the filter circuit, and the angular position of the rotary joint based on the inductance value which is indicative of a positional relationship between the moveable target and the at least one sensing coil.
G01D 5/243 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using electric or magnetic means influencing the phase or frequency of AC
G01D 5/20 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
9.
SYSTEM AND METHOD FOR DETERMINING DEPTH PERCEPTION IN VIVO IN A SURGICAL ROBOTIC SYSTEM
A system and method for generating a depth map from image data in a surgical robotic system that employs a robotic subsystem having a camera assembly with first and second cameras for generating image data. The system and method generates based on the image data a plurality of depth maps, and then converts the plurality of depth maps into a single combined depth map having distance data associated therewith. The system and method can then control the camera assembly based on the distance data in the single combined depth map.
H04N 13/239 - Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
H04N 23/67 - Focus control based on electronic image sensor signals
10.
SYSTEMS AND METHODS FOR CONTROLLING ELASTIC CABLE DRIVEN ROBOT JOINTS
Systems and methods for controlling cable driven surgical robot joints are provided. For example, a system can include a robotic joint of a robotic arm, a first motor, a second motor, a cable coupled to the first motor and the second motor and operationally coupled to the robotic joint to control a position of the robotic joint, a memory storing one or more instructions, and a processor configured to or programmed to read the one or more instructions stored in the memory. The processor can be configured to determine an unacceptable amount of slack or tension in the cable. The processor can be further configured to execute the one or more instructions in the memory to adjust the first motor and the second motor to remove the unacceptable amount of slack in the cable.
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
11.
SYSTEMS AND METHODS FOR A LOW-CONDUCTIVITY AND HIGH PERMEABILITY BASED TARGET INDUCTIVE ENCODING
Systems and methods are disclosed herein for determining an angular position of a rotary joint in a robotic system. The systems and methods use a coil coupled to a first portion of the rotary joint at a first location. A target having high permeability and low conductivity properties is coupled to a second portion of the rotary joint. An oscillator circuit is communicatively coupled to the coil and a computing unit is communicatively coupled to the oscillator circuit. The computing unit includes a processor configured to or programmed to determine a position of the rotary joint based at least in part on a frequency associated with a signal received from the oscillatory circuit. The frequency being based at least in part on a positional relationship between the target and the coil.
G01D 5/20 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
A drape plate assembly for a mechanical drive of a surgical robotic device including a frame assembly, a plate assembly, and a plurality of disks disposed within the plate assembly. A motor drive system for a surgical robotic system including a drive unit and the drape plate assembly. A method of draping the surgical robotic device including attached the drape plate assembly to the surgical robotic device, providing a drape film and heat sealing one or more edges of the drape film to the drape plate assembly.
Improved end effector mechanisms for a surgical instrument used in minimally invasive surgical instruments as well as instruments for general surgery or as part of robotically controlled end effectors. These end effector mechanisms include multiple grasping elements paired with drive links.
Systems and methods for inserting a robotic arm assembly into an internal body cavity are provided. The system inserts a robotic arm assembly through a trocar into an interior cavity of a subject. The system determines that a first articulated joint of a robotic arm exits the trocar and reaches a first position in the interior cavity. The first position indicates that the first articulated joint is free to rotate relative to the trocar. The system allows a hand controller to articulate the first articulated joint within a first volume. The system determines that a second articulated joint of the robotic arm exits the trocar and reaches a second position in the interior cavity. The second position indicates that the second articulated joint is free to rotate relative to the trocar. The system allows the hand controller to articulate the second articulated joint within a second volume.
A61B 34/00 - Computer-aided surgeryManipulators 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
Systems and methods for anatomy segmentation and anatomical structure tracking are provided. The system receives an image from a camera assembly of the system. The image can include a representation of one or more anatomical structures of a subject. The system extracts from the image a visual representation. The system determines position and orientation data associated with a robotic assembly of the system. The position and orientation data is indicative of a pose of the robotic assembly. The system generates a state representation based at least in part on the pose and visual representations. The state representation represents a state of the system. The system identifies one or more anatomical landmarks in an anatomical space in which the robotic assembly is being operated. The system generates a plurality of segmentation maps. Each segmentation map identifies which of the anatomical structures to avoid contact with the robotic assembly.
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 surgeryManipulators or robots specially adapted for use in surgery
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 17/00 - Surgical instruments, devices or methods
16.
DEVICES, SYSTEMS, AND METHODS FOR COOLING A ROBOTIC CAMERA
Systems and methods for cooling a robotic camera including a housing including at least one camera module, electronic components, and a hollow chamber. A fluidic circuit in fluid communication with the hollow chamber and a pump removing heat from the housing.
Systems for a robotic arms assembly are disclosed. The system receives an input from either robotic arms or hand controllers. The system renders a graphical representation of the input on a graphical user interface (GUI) to provide the user with a visual representation of at least an engagement state between hands of the user and the hand controllers or a spatial awareness of the robotic arms within the cavity. The system overlays the GUI on live video footage on the display. The system renders on the GUI a graphical user interface element indicating a first mode of the surgical robotic system. The system receives a mode change indicator from the hand controllers, and instructs the GUI to change the graphical user interface element indicating the first mode responsive to the mode change indicator. In response the surgical robotic system to exit the first mode and activate a second mode.
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
A61B 90/30 - Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
A system includes a console assembly, a trocar assembly operably coupled to the console assembly, a camera assembly operably coupled to the console assembly having a stereoscopic camera assembly, and at least one rotational positional sensor configured to detect rotation of the stereoscopic camera assembly about at least one of a pitch axis or a yaw axis. The console assembly includes a first actuator and a first actuator pulley operable coupled to the first actuator. The trocar assembly includes a trocar having an inner and outer diameter, and a seal sub-assembly comprising at least one seal and the seal sub-assembly operably coupled to the trocar. The camera assembly includes a camera support tube having a distal and a proximal end, the stereoscopic camera operably coupled to the distal end of the support tube and a first and second camera module having a first and second optical axis.
A61B 34/00 - Computer-aided surgeryManipulators 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
G02B 7/00 - Mountings, adjusting means, or light-tight connections, for optical elements
H04N 13/239 - Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
H04N 13/279 - Image signal generators from 3D object models, e.g. computer-generated stereoscopic image signals the virtual viewpoint locations being selected by the viewers or determined by tracking
H04N 13/344 - Displays for viewing with the aid of special glasses or head-mounted displays [HMD] with head-mounted left-right displays
H04N 13/366 - Image reproducers using viewer tracking
19.
TROCARS WITH SEALING ASSEMBLIES FOR MINIMALLY INVASIVE SURGICAL APPLICATIONS
Trocars including a cannula and a seal assembly are disclosed herein. The seal assembly may include a first layer of a flexible material and a second layer of a flexible material. The first layer may include a plurality of first layer individual seals and the second layer may include a plurality of individual seals each aligned with a corresponding one of the first layer individual seals. The seal assembly may include a seal support structure supported, at least in part, by the first layer. The seal support structure defines, at least in part, a plurality of channels each corresponding to a first layer individual seal and a second layer individual seal. The seal assembly may enable sealing and maintaining insufflation before, during and after insertion of multiple different instruments into the trocar.
Systems and methods employing at least one hand controller for controlling a robotic assembly of a surgical robotic system are provided. The hand controller may be used in a surgeon console of a surgical robotic system. The hand controller may include a contoured housing having an upper surface, an inside side surface adjacent the upper surface, an outside side surface facing away from the first side surface, and a lower surface facing away from the upper surface. The hand controller may include a plurality of buttons including a first button positioned on the upper surface and a second button positioned on one of the upper surface, the inside side surface, or the outside side surface; a first touch input device positioned on the upper surface; and a first paddle mounted to either of the inside side surface or the outside side surface.
A61B 34/00 - Computer-aided surgeryManipulators 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. endoscopesIlluminating arrangements therefor
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
Systems and methods employing a surgical robotic surgeon console with a display for use by a surgeon in a remote surgery are provided. The surgical robotic surgeon console includes a console frame and a horizontal member connected to the console frame, the horizontal member extending outwardly from the console frame and positioned above the display. Also provided is a head bar mounted on the horizontal member and the head bar configured to support a user's head relative to the display. Also provided is a system for camera control based at least in part on live gaze location information.
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 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
23.
SYSTEMS AND METHODS FOR PITCH ANGLE MOTION ABOUT A VIRTUAL CENTER
Systems and methods for controlling pitch motions of surgical instruments about a virtual center are provided herein. An example system includes at least one angled linkage body, at least one parallel linkage body, and a pitch housing assembly having a pitch housing, a first rotary joint having a first rotation axis, and an actuator assembly. The system further includes a second rotary joint having a second rotation axis parallel to the first rotation axis, a third rotary joint having a third rotation axis parallel to the first rotation axis, at least one angled rigid member configured to cause a rotation of the at least one parallel linkage body relative to the at least one angled linkage body about the second rotary joint, and at least one parallel rigid member configured to cause a positioning arm rotation relative to the at least one parallel linkage body about the third rotary joint.
Systems and methods employing cartridges for securing one or more tool elements of a surgical tool and releasing the tool elements when engaged by a distal end of a robotic arm are provided. A cartridge includes a cartridge body, a holder disposed in a cartridge body and configured to engage tool elements, a spring connecting the holder to the cartridge body, and a pair of biasing elements each attached to the cartridge body at a first end and having a retention mechanism at a second end, the retention mechanism configured to engage corresponding receiving mechanisms of tool elements. Also provided is a cartridge with an RFID tag and/or RFID tag and RFID blocking flag systems to identify proximity of a distal end of a robotic arm.
A surgical robotic system and method of providing simultaneous multispectral imaging are disclosed herein. In some embodiments, the system includes a first and second camera assembly having one or more LEDs, one or more lens, one or more filter elements and one or more imaging sensors, the first and second camera assembly providing stereoscopic images for viewing by a user of the system. The method includes providing an image or video displaying multiple spectrums of light.
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. endoscopesIlluminating arrangements therefor with illuminating arrangements
A61B 1/313 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
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. endoscopesIlluminating arrangements therefor combined with photographic or television appliances
Systems, methods, and media for performing laparoscopic surgery with degrees of freedom of articulation that are internal to the body cavity of the subject during one or more laparoscopic surgical operations are provided. A system for performing laparoscopic surgery may comprise a robotic arm comprising one or more wrist elements. The one or more wrist elements may be configured to be inserted into a body cavity of a subject to perform one or more laparoscopic surgical operations therein. The robotic arm may be configured to provide one or more degrees of freedom of articulation that are internal to the body cavity of the subject during the one or more laparoscopic 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
27.
SYSTEM AND METHOD FOR IMPLEMENTING A MULTI-TURN ROTARY CONCEPT IN AN ACTUATOR MECHANISM OF A SURGICAL ROBOTIC ARM
A surgical robotic arm of a surgical robotic system comprising articulation segments that are mechanically and operatively coupled together to form one or more joints. The articulation segments include a rotary actuation mechanism having a male segment assembly having one or more structural components that are rotatable by one or more cables about a longitudinal axis thereof and are rotatable to an extent greater than 360 degrees, and a female segment assembly sized and configured for seating the male segment assembly and being operatively coupled thereto.
A surgical robotic system and a method of controlling a location of one or more robotic arms in a constrained space are disclosed herein. In some embodiments, the robotic system includes a robotic unit having robotic arms. The system further includes a camera assembly to generate a view an anatomical structure of a patient. The system further includes a controller configured to or programmed to define a constriction area defining safe movement of the robotic arms. The method includes defining safe movement of the robotic arms with respect to the constriction area.
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
32.
SYSTEMS AND METHODS FOR CONTROLLING AND ENHANCING MOVEMENT OF A SURGICAL ROBOTIC UNIT DURING SURGERY
A surgical robotic system and a method of controlling a location of one or more robotic arms in a constrained space are disclosed herein. In some embodiments, the robotic system includes a robotic unit having robotic arms. The system further includes a camera assembly to generate a view an anatomical structure of a patient. The system further includes a controller configured to or programmed to define a constriction area defining safe movement of the robotic arms. The method includes defining safe movement of the robotic arms with respect to the constriction area.
A drive assembly of a surgical robotic system is disclosed herein. In some embodiments, the drive assembly includes a first drive unit having a first drive unit face, a second drive unit having a second drive unit face, and a third drive unit having a third drive unit face. Each drive unit may include a plurality of motors configured to rotate a corresponding one of a plurality of drive elements about rotational axes perpendicular to the respective the respective drive unit face. the first drive unit, the second drive unit, and the third drive unit configured to be positioned about the drive assembly common axis with respect to a vertical plane passing through the drive assembly common axis such that an orientation and position of the first drive unit face mirrors those of second drive unit face, and the third drive unit face is bisected by the vertical plane.
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. endoscopesIlluminating arrangements therefor
H02K 7/14 - Structural association with mechanical loads, e.g. with hand-held machine tools or fans
B25J 9/12 - Programme-controlled manipulators characterised by positioning means for manipulator elements electric
A drive assembly of a surgical robotic system is disclosed herein. In some embodiments, the drive assembly includes a first drive unit having a first drive unit face, a second drive unit having a second drive unit face, and a third drive unit having a third drive unit face. Each drive unit may include a plurality of motors configured to rotate a corresponding one of a plurality of drive elements about rotational axes perpendicular to the respective the respective drive unit face, the first drive unit, the second drive unit, and the third drive unit configured to be positioned about the drive assembly common axis with respect to a vertical plane passing through the drive assembly common axis such that an orientation and position of the first drive unit face mirrors those of second drive unit face, and the third drive unit face is bisected by the vertical plane.
An end effector region device of a robot arm that forms part of a surgical robotic system that includes a tool base portion that is coupled to an end portion of the robot arm by a connector and first and second pulley elements that are rotatably coupled to the tool base portion. The device further includes first and second tool elements that are coupled together and can be removably and replaceably mounted to the pulley elements.
A system and method for moving a robotic unit in vivo. The robotic unit can include a camera subassembly having a camera assembly coupled to a camera axially extending support member, a first robot arm subassembly having a first robot arm coupled to a first robot arm axially extending support member, and a second robot arm subassembly having a second robot arm axially extending support member, wherein when inserted in a cavity of a patient through an insertion point, the camera assembly and the first and second robot arms can be controlled for actuating at least one joint of each of the robot arms to reverse direction such that an end effector region of each of the first and second robot arms is facing towards the insertion point, and moving the camera assembly in a selected direction such that the camera elements are facing towards the insertion point.
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. endoscopesIlluminating arrangements therefor
A system for use in surgery includes a central body, a visualization system operably connected to the central body, a video rendering system, a head-mounted display for displaying images from the video rendering system, a sensor system, and a robotic device operably connected to the central body. The visualization system includes at least one camera and a pan system and/or a tilt system. The sensor system tracks the position and/or orientation in space of the head-mounted display relative to a reference point. The pan system and/or the tilt system are configured to adjust the field of view of the camera in response to information from the sensor system about changes in at least one of position and orientation in space of the head-mounted display relative to the reference point.
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 surgeryManipulators or robots specially adapted for use in surgery
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
H04N 13/239 - Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
A61B 90/30 - Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
A61B 17/29 - Forceps for use in minimally invasive surgery
G06T 19/00 - Manipulating 3D models or images for computer graphics
A system for use in surgery includes a central body, a visualization system operably connected to the central body, a video rendering system, a head-mounted display for displaying images from the video rendering system, a sensor system, and a robotic device operably connected to the central body. The visualization system includes at least one camera and a pan system and/or a tilt system. The sensor system tracks the position and/or orientation in space of the head-mounted display relative to a reference point. The pan system and/or the tilt system are configured to adjust the field of view of the camera in response to information from the sensor system about changes in at least one of position and orientation in space of the head-mounted display relative to the reference point.
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 surgeryManipulators or robots specially adapted for use in surgery
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
H04N 13/239 - Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
A61B 90/30 - Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
A61B 17/29 - Forceps for use in minimally invasive surgery
G06T 19/00 - Manipulating 3D models or images for computer graphics
A system for use in surgery includes a central body, a visualization system operably connected to the central body, a video rendering system, a head-mounted display for displaying images from the video rendering system, a sensor system, and a robotic device operably connected to the central body. The visualization system includes at least one camera and a pan system and/or a tilt system. The sensor system tracks the position and/or orientation in space of the head-mounted display relative to a reference point. The pan system and/or the tilt system are configured to adjust the field of view of the camera in response to information from the sensor system about changes in at least one of position and orientation in space of the head-mounted display relative to the reference point.
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 surgeryManipulators or robots specially adapted for use in surgery
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
H04N 13/239 - Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
A61B 90/30 - Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
A61B 17/29 - Forceps for use in minimally invasive surgery
G06T 19/00 - Manipulating 3D models or images for computer graphics
41.
MESH INTRODUCTION CARTRIDGES AND METHODS OF ASSISTED MESH PLACEMENT FOR SURGICAL ROBOTICS
In an aspect, the present disclosure provides a cartridge that is pre-loaded with a surgical mesh, where the cartridge is configured to be inserted into an internal body cavity of a subject and for the surgical mesh to be deployed while the cartridge is in the internal body cavity of the subject. In another aspect, the present disclosure provides a surgical robotic system comprising a set of sensors embedded thereon, wherein the surgical robotic system is configured to perform a surgical hernia repair procedure with increased consistency.
In an aspect, the present disclosure provides a cartridge that is pre-loaded with a surgical mesh, where the cartridge is configured to be inserted into an internal body cavity of a subject and for the surgical mesh to be deployed while the cartridge is in the internal body cavity of the subject. In another aspect, the present disclosure provides a surgical robotic system comprising a set of sensors embedded thereon, wherein the surgical robotic system is configured to perform a surgical hernia repair procedure with increased consistency.
A61M 31/00 - Devices for introducing or retaining media, e.g. remedies, in cavities of the body
A61F 2/00 - Filters implantable into blood vesselsProstheses, i.e. artificial substitutes or replacements for parts of the bodyAppliances for connecting them with the bodyDevices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
A surgical virtual reality user interface generating system can comprise a sensor and tracking unit for sensing and tracking a position of a portion of a user and generating position data based on movement of the user, a computing unit for receiving and processing the position data and generating control signals. The system can also include a surgical robot system for receiving the control signals and having a camera assembly for generating image data, and a virtual reality computing unit for generating a virtual reality world. The virtual reality computing unit can include a virtual reality rendering unit for generating an output rendering signal for rendering the image data, and a virtual reality object generating unit for generating virtual reality informational objects and emplacing the informational objects in the virtual reality world. A display unit can display the virtual reality world and the informational objects to the user.
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 surgeryManipulators or robots specially adapted for use in surgery
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
Methods and systems for performing a surgery within an internal cavity of a subject are provided herein. An example method for controlling a robotic assembly of a surgical robotic system includes, while at least a portion of the robotic assembly is disposed in an interior cavity of a subject, receiving a first control mode selection input from an operator and changing a current control mode of the surgical robotic system to a first control mode in response to the first control mode selection input; while the surgical robotic system is in the first control mode, receiving a first control input from hand controllers; in response to receiving the first control input, changing a position and/or an orientation of: at least a portion of the camera assembly, of at least a portion of the robotic arm assembly, or both, while maintaining a stationary position of instrument tips of the end effectors disposed at distal ends of the robotic arms.
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 surgeryManipulators or robots specially adapted for use in surgery
45.
System and method for determining depth perception in vivo in a surgical robotic system
A system and method for generating a depth map from image data in a surgical robotic system that employs a robotic subsystem having a camera assembly with first and second cameras for generating image data. The system and method generates based on the image data a plurality of depth maps, and then converts the plurality of depth maps into a single combined depth map having distance data associated therewith. The system and method can then control the camera assembly based on the distance data in the single combined depth map.
G06T 7/593 - Depth or shape recovery from multiple images from stereo images
H04N 13/239 - Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
H04N 23/67 - Focus control based on electronic image sensor signals
46.
SYSTEMS AND METHODS FOR CONTROLLING A SURGICAL ROBOTIC ASSEMBLY IN AN INTERNAL BODY CAVITY
Methods and systems for performing a surgery within an internal cavity of a subject are provided herein. An example method for controlling a robotic assembly of a surgical robotic system includes, while at least a portion of the robotic assembly is disposed in an interior cavity of a subject, receiving a first control mode selection input from an operator and changing a current control mode of the surgical robotic system to a first control mode in response to the first control mode selection input; while the surgical robotic system is in the first control mode, receiving a first control input from hand controllers; in response to receiving the first control input, changing a position and/or an orientation of: at least a portion of the camera assembly, of at least a portion of the robotic arm assembly, or both, while maintaining a stationary position of instrument tips of the end effectors disposed at distal ends of the robotic arms.
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. endoscopesIlluminating arrangements therefor
A system includes a console assembly, a trocar assembly operably coupled to the console assembly, a camera assembly operably coupled to the console assembly having a stereoscopic camera assembly, and at least one rotational positional sensor configured to detect rotation of the stereoscopic camera assembly about at least one of a pitch axis or a yaw axis. The console assembly includes a first actuator and a first actuator pulley operable coupled to the first actuator. The trocar assembly includes a trocar having an inner and outer diameter, and a seal sub-assembly comprising at least one seal and the seal sub-assembly operably coupled to the trocar. The camera assembly includes a camera support tube having a distal and a proximal end, the stereoscopic camera operably coupled to the distal end of the support tube and a first and second camera module having a first and second optical axis.
A61B 34/00 - Computer-aided surgeryManipulators 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
G02B 7/00 - Mountings, adjusting means, or light-tight connections, for optical elements
H04N 13/239 - Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
H04N 13/279 - Image signal generators from 3D object models, e.g. computer-generated stereoscopic image signals the virtual viewpoint locations being selected by the viewers or determined by tracking
H04N 13/344 - Displays for viewing with the aid of special glasses or head-mounted displays [HMD] with head-mounted left-right displays
H04N 13/366 - Image reproducers using viewer tracking
A61B 17/00 - Surgical instruments, devices or methods
A surgical apparatus system for minimally invasive surgery (MIS) which includes a wrist assembly. The wrist assembly includes a first jaw, a first actuation hub, and a cable redirecting hub operably coupled to the first actuation hub, a second jaw, a second actuation hub, a housing for the first and second jaws, a first cable, a second cable, a third cable, rotational position sensors, and a control system. The first and second jaws of the wrist assembly are movably opposed, and the cables are configured such that applying tensions upon them cables produces rotation about a jaw axis. The wrist assembly may further include a hinge-rotary assembly to configured to provide rotation about a pitch axis and/or a roll axis. The wrist assembly may further include a fourth cable configured such that applying tensions upon the fourth cable and the opposing cable produces rotation about a pitch axis.
A61B 17/00 - Surgical instruments, devices or methods
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 34/20 - Surgical navigation systemsDevices 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
50.
FORCE ESTIMATION AND VISUAL FEEDBACK IN SURGICAL ROBOTICS
Described herein are methods and systems for determining force in a robotic surgical system. In some embodiments, a force applied by a robotic component (e.g. a robotic arm, a segment of a robotic arm, or a joint of a robotic arm) is determined. Also described herein are methods and systems for providing visual (e.g., direction and magnitude) feedback to a user without the need for direct haptic feedback. Such visual feedback may be presented to the user in conjunction with haptic feedback.
Described herein are methods and systems for determining force in a robotic surgical system. In some embodiments, a force applied by a robotic component (e.g. a robotic arm, a segment of a robotic arm, or a joint of a robotic arm) is determined. Also described herein are methods and systems for providing visual (e.g., direction and magnitude) feedback to a user without the need for direct haptic feedback. Such visual feedback may be presented to the user in conjunction with haptic feedback.
The present disclosure provides systems and methods for thermal management of an imaging device that is placed within a body of an individual during a medical procedure or a surgical procedure. In an aspect, the present disclosure provides an imaging device configured for use in a medical procedure or a surgical procedure while the imaging device is within a body of an individual undergoing the medical procedure or the surgical procedure. The imaging device may comprise a coating on at least a portion of an exterior of the imaging device, wherein the coating comprises a high thermal emissivity. The imaging device may comprise a set of thermal fins disposed on an exterior of the imaging device. The imaging device may comprise an endoscope.
A61B 1/12 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor with cooling or rinsing arrangements
The present disclosure provides systems and methods for thermal management of an imaging device that is placed within a body of an individual during a medical procedure or a surgical procedure. In an aspect, the present disclosure provides an imaging device configured for use in a medical procedure or a surgical procedure while the imaging device is within a body of an individual undergoing the medical procedure or the surgical procedure. The imaging device may comprise a coating on at least a portion of an exterior of the imaging device, wherein the coating comprises a high thermal emissivity. The imaging device may comprise a set of thermal fins disposed on an exterior of the imaging device. The imaging device may comprise an endoscope.
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. endoscopesIlluminating arrangements therefor with illuminating arrangements
A61B 1/12 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor with cooling or rinsing arrangements
A system for use in surgery includes a central body, a visualization system operably connected to the central body, a video rendering system, a head-mounted display for displaying images from the video rendering system, a sensor system, and a robotic device operably connected to the central body. The visualization system includes at least one camera and a pan system and/or a tilt system. The sensor system tracks the position and/or orientation in space of the head-mounted display relative to a reference point. The pan system and/or the tilt system are configured to adjust the field of view of the camera in response to information from the sensor system about changes in at least one of position and orientation in space of the head-mounted display relative to the reference point.
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 90/30 - Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
G06T 19/00 - Manipulating 3D models or images for computer graphics
H04N 13/239 - Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
55.
LENS CLEANING SYSTEM AND METHOD FOR A SURGICAL CAMERA
The present disclosure provides systems and methods for cleaning a lens of an imaging device during a surgical procedure within an individual. The imaging device comprises a lens, and the wiping object is positioned a distance away from the imaging device that is configured to contact and move along a path of the device in order to clean it. The present disclosure provides methods for initiating automated cleaning of a lens during a procedure comprising using an eye tracking device fitted and coupled to an individual that may track the movements of the individual to actuate cleaning.
A61B 1/12 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor with cooling or rinsing arrangements
The present disclosure provides systems and methods for cleaning a lens of an imaging device during a surgical procedure within an individual. The imaging device comprises a lens, and the wiping object is positioned a distance away from the imaging device that is configured to contact and move along a path of the device in order to clean it. The present disclosure provides methods for initiating automated cleaning of a lens during a procedure comprising using an eye tracking device fitted and coupled to an individual that may track the movements of the individual to actuate cleaning.
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
B08B 1/00 - Cleaning by methods involving the use of tools
A system for use in surgery includes a central body, a visualization system operably connected to the central body, a video rendering system, a head-mounted display for displaying images from the video rendering system, a sensor system, and a robotic device operably connected to the central body. The visualization system includes at least one camera and a pan system and/or a tilt system. The sensor system tracks the position and/or orientation in space of the head-mounted display relative to a reference point. The pan system and/or the tilt system are configured to adjust the field of view of the camera in response to information from the sensor system about changes in at least one of position and orientation in space of the head-mounted display relative to the reference point.
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 90/30 - Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
G06T 19/00 - Manipulating 3D models or images for computer graphics
H04N 13/239 - Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
58.
SYSTEM AND METHOD FOR AUTOFOCUSING OF A CAMERA ASSEMBLY OF A SURGICAL ROBOTIC SYSTEM
A surgical robotic system includes a sensor unit, a controller, and a robotic subsystem. The robotic subsystem is in communication with the sensor unit and the controller. Additionally, the robotic subsystem includes a plurality of robotic arms that each have an end effort at a distal end thereof. The robotic subsystem also includes a camera assembly that has at least two cameras and an autofocus unit that automatically focuses a lens of each of the cameras.
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
59.
System and method for autofocusing of a camera assembly of a surgical robotic system
A surgical robotic system includes a sensor unit, a controller, and a robotic subsystem. The robotic subsystem is in communication with the sensor unit and the controller. Additionally, the robotic subsystem includes a plurality of robotic arms that each have an end effort at a distal end thereof. The robotic subsystem also includes a camera assembly that has at least two cameras and an autofocus unit that automatically focuses a lens of each of the cameras.
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
H04N 13/239 - Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
H04N 23/66 - Remote control of cameras or camera parts, e.g. by remote control devices
H04N 23/959 - Computational photography systems, e.g. light-field imaging systems for extended depth of field imaging by adjusting depth of field during image capture, e.g. maximising or setting range based on scene characteristics
Disclosed herein are methods, devices and systems for performing robotic procedures. The devices may include one or more robotic arms. The one or more robotic arms may comprise one or more joints. A joint may include a magnetic sensing system. The one or more robotic arms may be configured to move an elbow joint independently from an end effector or origin of the robotic arm. A working end of the robotic arm may be configured for insertion through a trocar into a body cavity of a subject and may be operatively coupled to a motor unit by one or more electrical or mechanical components housed in a support tube.
A61B 34/00 - Computer-aided surgeryManipulators 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
A system for use in surgery includes a central body, a visualization system operably connected to the central body, a video rendering system, a head-mounted display for displaying images from the video rendering system, a sensor system, and a robotic device operably connected to the central body. The visualization system includes at least one camera and a pan system and/or a tilt system. The sensor system tracks the position and/or orientation in space of the head-mounted display relative to a reference point. The pan system and/or the tilt system are configured to adjust the field of view of the camera in response to information from the sensor system about changes in at least one of position and orientation in space of the head-mounted display relative to the reference point.
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 surgeryManipulators or robots specially adapted for use in surgery
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
H04N 13/239 - Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
A61B 90/30 - Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
A61B 17/29 - Forceps for use in minimally invasive surgery
G06T 19/00 - Manipulating 3D models or images for computer graphics
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
62.
SYSTEM AND METHOD FOR IMPLEMENTING A MULTI-TURN ROTARY CONCEPT IN AN ACTUATOR MECHANISM OF A SURGICAL ROBOTIC ARM
A surgical robotic arm of a surgical robotic system comprising articulation segments that are mechanically and operatively coupled together to form one or more joints. The articulation segments include a rotary actuation mechanism having a male segment assembly having one or more structural components that are rotatable by one or more cables about a longitudinal axis thereof and are rotatable to an extent greater than 360 degrees, and a female segment assembly sized and configured for seating the male segment assembly and being operatively coupled thereto.
An end effector region device of a robot arm that forms part of a surgical robotic system that includes a tool base portion that is coupled to an end portion of the robot arm by a connector and first and second pulley elements that are rotatably coupled to the tool base portion. The device further includes first and second tool elements that are coupled together and can be removably and replaceably mounted to the pulley elements.
The present disclosure provides systems, methods, and media for performing laparoscopic surgery with degrees of freedom of articulation that are internal to the body cavity of the subject during one or more laparoscopic surgical operations. A system for performing laparoscopic surgery may comprise a robotic arm comprising one or more wrist elements. The one or more wrist elements may be configured to be inserted into a body cavity of a subject to perform one or more laparoscopic surgical operations therein. The robotic arm may be configured to provide one or more degrees of freedom of articulation that are internal to the body cavity of the subject during the one or more laparoscopic surgical operations.
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 17/29 - Forceps for use in minimally invasive surgery
A61B 19/00 - Instruments, implements or accessories for surgery or diagnosis not covered by any of the groups A61B 1/00-A61B 18/00, e.g. for stereotaxis, sterile operation, luxation treatment, wound edge protectors(protective face masks A41D 13/11; surgeons' or patients' gowns or dresses A41D 13/12; devices for carrying-off, for treatment of, or for carrying-over, body liquids A61M 1/00)
A system and method for moving a robotic unit in vivo. The robotic unit can include a camera subassembly having a camera assembly coupled to a camera axially extending support member, a first robot arm subassembly having a first robot arm coupled to a first robot arm axially extending support member, and a second robot arm subassembly having a second robot arm axially extending support member, wherein when inserted in a cavity of a patient through an insertion point, the camera assembly and the first and second robot arms can be controlled for actuating at least one joint of each of the robot arms to reverse direction such that an end effector region of each of the first and second robot arms is facing towards the insertion point, and moving the camera assembly in a selected direction such that the camera elements are facing towards the insertion point.
A system for use in surgery includes a central body, a visualization system operably connected to the central body, a video rendering system, a head-mounted display for displaying images from the video rendering system, a sensor system, and a robotic device operably connected to the central body. The visualization system includes at least one camera and a pan system and/or a tilt system. The sensor system tracks the position and/or orientation in space of the head-mounted display relative to a reference point. The pan system and/or the tilt system are configured to adjust the field of view of the camera in response to information from the sensor system about changes in at least one of position and orientation in space of the head-mounted display relative to the reference point.
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 surgeryManipulators or robots specially adapted for use in surgery
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
H04N 13/239 - Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
A61B 90/30 - Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
A61B 17/29 - Forceps for use in minimally invasive surgery
G06T 19/00 - Manipulating 3D models or images for computer graphics
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
Disclosed herein are methods, devices and systems for performing robotic procedures. The devices may include one or more robotic arms. The one or more robotic arms may comprise one or more joints. A joint may include a magnetic sensing system. The one or more robotic arms may be configured to move an elbow joint independently from an end effector or origin of the robotic arm. A working end of the robotic arm may be configured for insertion through a trocar into a body cavity of a subject and may be operatively coupled to a motor unit by one or more electrical or mechanical components housed in a support tube.
B25J 9/06 - Programme-controlled manipulators characterised by multi-articulated arms
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 surgeryManipulators or robots specially adapted for use in surgery
A61B 17/00 - Surgical instruments, devices or methods
69.
SYSTEM AND METHOD FOR DETERMINING DEPTH PERCEPTION IN VIVO IN A SURGICAL ROBOTIC SYSTEM
A system and method for generating a depth map from image data in a surgical robotic system that employs a robotic subsystem having a camera assembly with first and second cameras for generating image data. The system and method generates based on the image data a plurality of depth maps, and then converts the plurality of depth maps into a single combined depth map having distance data associated therewith. The system and method can then control the camera assembly based on the distance data in the single combined depth map.
A surgical virtual reality user interface generating system comprising a sensor and tracking unit for sensing and tracking a position a user and generating position data based on movement of the user, a computing unit for receiving the position data and processing the position data and generating control signals. The system also includes a surgical robot system for receiving the control signals and having a camera assembly for generating image data, and a virtual reality computing unit for generating a virtual reality world. The virtual reality computing unit includes a virtual reality rendering unit for generating an output rendering signal for rendering the image data for display, and a virtual reality object generating unit for generating virtual reality informational objects and for emplacing the informational objects in the virtual reality world. A display unit is provided for displaying the virtual reality world and the informational objects to the user.
A61B 34/20 - Surgical navigation systemsDevices 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
H04N 13/239 - Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
H04N 13/279 - Image signal generators from 3D object models, e.g. computer-generated stereoscopic image signals the virtual viewpoint locations being selected by the viewers or determined by tracking
H04N 13/344 - Displays for viewing with the aid of special glasses or head-mounted displays [HMD] with head-mounted left-right displays
H04N 13/366 - Image reproducers using viewer tracking
A method and system for use in surgery, which includes a grasper having a jaw, and a grasper housing having a proximal end and distal end and defining a docking opening, and a tool having a tool housing having a proximal end, a distal end and defining an inner surface, and a robotic device operably coupled to the proximal end of the grasper housing, and configured to actuate the jaw of the grasper. The tool housing having an operative assembly at the distal end of the tool housing, and the tool housing defining a docking assembly at the proximal end of the tool housing. The operative assembly having a fulcrum operably coupled to the tool housing, a first lever operably connected to the fulcrum, an instrument operably coupled to the first lever, and an actuator operably coupled to the tool housing and the first lever.
Disclosed herein are methods, devices and systems for performing robotic procedures. The devices may include one or more robotic arms. The one or more robotic arms may comprise one or more joints. A joint may include a magnetic sensing system. The one or more robotic arms may be configured to move an elbow joint independently from an end effector or origin of the robotic arm. A working end of the robotic arm may be configured for insertion through a trocar into a body cavity of a subject and may be operatively coupled to a motor unit by one or more electrical or mechanical components housed in a support tube.
A system for use in surgery includes a central body, a visualization system operably connected to the central body, a video rendering system, a head-mounted display for displaying images from the video rendering system, a sensor system, and a robotic device operably connected to the central body. The visualization system includes at least one camera and a pan system and/or a tilt system. The sensor system tracks the position and/or orientation in space of the head-mounted display relative to a reference point. The pan system and/or the tilt system are configured to adjust the field of view of the camera in response to information from the sensor system about changes in at least one of position and orientation in space of the head-mounted display relative to the reference point.
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 surgeryManipulators or robots specially adapted for use in surgery
H04N 13/239 - Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
A61B 90/30 - Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
A61B 17/29 - Forceps for use in minimally invasive surgery
G06T 19/00 - Manipulating 3D models or images for computer graphics
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A system for use in surgery includes a central body, a visualization system operably connected to the central body, a video rendering system, a head-mounted display for displaying images from the video rendering system, a sensor system, and a robotic device operably connected to the central body. The visualization system includes at least one camera and a pan system and/or a tilt system. The sensor system tracks the position and/or orientation in space of the head-mounted display relative to a reference point. The pan system and/or the tilt system are configured to adjust the field of view of the camera in response to information from the sensor system about changes in at least one of position and orientation in space of the head-mounted display relative to the reference point.
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 surgeryManipulators or robots specially adapted for use in surgery
H04N 13/239 - Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
A61B 90/30 - Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
A61B 17/29 - Forceps for use in minimally invasive surgery
G06T 19/00 - Manipulating 3D models or images for computer graphics
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A surgical apparatus system for minimally invasive surgery (MIS) which includes a wrist assembly. The wrist assembly includes a first jaw, a first actuation hub, and a cable redirecting hub operably coupled to the first actuation hub, a second jaw, a second actuation hub, a housing for the first and second jaws, a first cable, a second cable, a third cable, rotational position sensors, and a control system. The first and second jaws of the wrist assembly are movably opposed, and the cables are configured such that applying tensions upon them cables produces rotation about a jaw axis. The wrist assembly may further include a hinge-rotary assembly to configured to provide rotation about a pitch axis and/or a roll axis. The wrist assembly may further include a fourth cable configured such that applying tensions upon the fourth cable and the opposing cable produces rotation about a pitch axis.
A61B 17/00 - Surgical instruments, devices or methods
A61B 34/00 - Computer-aided surgeryManipulators 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
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A surgical apparatus system for minimally invasive surgery (MIS) which includes a wrist assembly. The wrist assembly includes a first jaw, a first actuation hub, and a cable redirecting hub operably coupled to the first actuation hub, a second jaw, a second actuation hub, a housing for the first and second jaws, a first cable, a second cable, a third cable, rotational position sensors, and a control system. The first and second jaws of the wrist assembly are movably opposed, and the cables are configured such that applying tensions upon them cables produces rotation about a jaw axis. The wrist assembly may further include a hinge-rotary assembly to configured to provide rotation about a pitch axis and/or a roll axis. The wrist assembly may further include a fourth cable configured such that applying tensions upon the fourth cable and the opposing cable produces rotation about a pitch axis.
A system includes a console assembly, a trocar assembly operably coupled to the console assembly, a camera assembly operably coupled to the console assembly having a stereoscopic camera assembly, and at least one rotational positional sensor configured to detect rotation of the stereoscopic camera assembly about at least one of a pitch axis or a yaw axis. The console assembly includes a first actuator and a first actuator pulley operable coupled to the first actuator. The trocar assembly includes a trocar having an inner and outer diameter, and a seal sub-assembly comprising at least one seal and the seal sub-assembly operably coupled to the trocar. The camera assembly includes a camera support tube having a distal and a proximal end, the stereoscopic camera operably coupled to the distal end of the support tube and a first and second camera module having a first and second optical axis.
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. endoscopesIlluminating arrangements therefor combined with photographic or television appliances
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A system includes a console assembly, a trocar assembly operably coupled to the console assembly, a camera assembly operably coupled to the console assembly having a stereoscopic camera assembly, and at least one rotational positional sensor configured to detect rotation of the stereoscopic camera assembly about at least one of a pitch axis or a yaw axis. The console assembly includes a first actuator and a first actuator pulley operable coupled to the first actuator. The trocar assembly includes a trocar having an inner and outer diameter, and a seal sub-assembly comprising at least one seal and the seal sub-assembly operably coupled to the trocar. The camera assembly includes a camera support tube having a distal and a proximal end, the stereoscopic camera operably coupled to the distal end of the support tube and a first and second camera module having a first and second optical axis.
G02B 7/00 - Mountings, adjusting means, or light-tight connections, for optical elements
H04N 13/366 - Image reproducers using viewer tracking
H04N 13/239 - Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
H04N 13/344 - Displays for viewing with the aid of special glasses or head-mounted displays [HMD] with head-mounted left-right displays
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
H04N 13/279 - Image signal generators from 3D object models, e.g. computer-generated stereoscopic image signals the virtual viewpoint locations being selected by the viewers or determined by tracking
A method and system for use in surgery, which includes a grasper having a jaw, and a grasper housing having a proximal end and distal end and defining a docking opening, and a tool having a tool housing having a proximal end, a distal end and defining an inner surface, and a robotic device operably coupled to the proximal end of the grasper housing, and configured to actuate the jaw of the grasper. The tool housing having an operative assembly at the distal end of the tool housing, and the tool housing defining a docking assembly at the proximal end of the tool housing. The operative assembly having a fulcrum operably coupled to the tool housing, a first lever operably connected to the fulcrum, an instrument operably coupled to the first lever, and an actuator operably coupled to the tool housing and the first lever.
A method and system for use in surgery, which includes a grasper having a jaw, and a grasper housing having a proximal end and distal end and defining a docking opening, and a tool having a tool housing having a proximal end, a distal end and defining an inner surface, and a robotic device operably coupled to the proximal end of the grasper housing, and configured to actuate the jaw of the grasper. The tool housing having an operative assembly at the distal end of the tool housing, and the tool housing defining a docking assembly at the proximal end of the tool housing. The operative assembly having a fulcrum operably coupled to the tool housing, a first lever operably connected to the fulcrum, an instrument operably coupled to the first lever, and an actuator operably coupled to the tool housing and the first lever.
A system for use in surgery includes a central body, a visualization system operably connected to the central body, a video rendering system, a head-mounted display for displaying images from the video rendering system, a sensor system, and a robotic device operably connected to the central body. The visualization system includes at least one camera and a pan system and/or a tilt system. The sensor system tracks the position and/or orientation in space of the head-mounted display relative to a reference point. The pan system and/or the tilt system are configured to adjust the field of view of the camera in response to information from the sensor system about changes in at least one of position and orientation in space of the head-mounted display relative to the reference point.
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 surgeryManipulators or robots specially adapted for use in surgery
A61B 90/30 - Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
A61B 17/29 - Forceps for use in minimally invasive surgery
G06T 19/00 - Manipulating 3D models or images for computer graphics
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
H04N 13/239 - Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A system for use in surgery includes a central body, a visualization system operably connected to the central body, a video rendering system, a head-mounted display for displaying images from the video rendering system, a sensor system, and a robotic device operably connected to the central body. The visualization system includes at least one camera and a pan system and/or a tilt system. The sensor system tracks the position and/or orientation in space of the head-mounted display relative to a reference point. The pan system and/or the tilt system are configured to adjust the field of view of the camera in response to information from the sensor system about changes in at least one of position and orientation in space of the head-mounted display relative to the reference point.
A collapsible scaffolding can collapse for deployment to a laparoscopic surgical site through a trocar or the like, and can expand to provide a surface for organ retraction within a body cavity. In the expanded state, the scaffolding may assist a surgical procedure in a variety of ways, such as by providing a rigid structure upon which to secure retracted organs or surgical tools such as lights, cameras, and so forth.
A61B 17/02 - Surgical instruments, devices or methods for holding wounds open, e.g. retractorsTractors
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. endoscopesIlluminating arrangements therefor with illuminating arrangements
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
A61B 1/32 - Devices for opening or enlarging the visual field, e.g. of a tube of the 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. endoscopesIlluminating arrangements therefor
A61B 1/313 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
A61B 90/30 - Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
A61B 17/00 - Surgical instruments, devices or methods
84.
LAPAROSCOPIC SURGICAL ROBOTIC SYSTEM WITH INTERNAL DEGREES OF FREEDOM OF ARTICULATION
The present disclosure provides systems, methods, and media for performing laparoscopic surgery with degrees of freedom of articulation that are internal to the body cavity of the subject during one or more laparoscopic surgical operations. A system for performing laparoscopic surgery may comprise a robotic arm comprising one or more wrist elements. The one or more wrist elements may be configured to be inserted into a body cavity of a subject to perform one or more laparoscopic surgical operations therein. The robotic arm may be configured to provide one or more degrees of freedom of articulation that are internal to the body cavity of the subject during the one or more laparoscopic surgical operations.
A surgical robotic arm of a surgical robotic system comprising articulation segments that are mechanically and operatively coupled together to form one or more joints. The articulation segments include a rotary actuation mechanism having a male segment assembly having one or more structural components that are rotatable by one or more cables about a longitudinal axis thereof and are rotatable to an extent greater than 360 degrees, and a female segment assembly sized and configured for seating the male segment assembly and being operatively coupled thereto.
In an aspect, the present disclosure provides a cartridge that is pre-loaded with a surgical mesh, where the cal _______________________________________ tiidge is configured to be inserted into an internal body cavity of a subject and for the surgical mesh to be deployed while the cartridge is in the internal body cavity of the subject. In another aspect, the present disclosure provides a surgical robotic system comprising a set of sensors embedded thereon, wherein the surgical robotic system is configured to perform a surgical hernia repair procedure with increased consistency.
A61F 2/00 - Filters implantable into blood vesselsProstheses, i.e. artificial substitutes or replacements for parts of the bodyAppliances for connecting them with the bodyDevices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
87.
SYSTEM AND METHOD FOR AUTOFOCUSING OF A CAMERA ASSEMBLY OF A SURGICAL ROBOTIC SYSTEM
A surgical robotic system includes a sensor unit, a controller, and a robotic subsystem. The robotic subsystem is in communication with the sensor unit and the controller. Additionally, the robotic subsystem includes a plurality of robotic arms that each have an end effort at a distal end thereof. The robotic subsystem also includes a camera assembly that has at least two cameras and an autofocus unit that automatically focuses a lens of each of the cameras.
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 method and system for use in surgery, which includes a grasper having a jaw, and a grasper housing having a proximal end and distal end and defining a docking opening, and a tool having a tool housing having a proximal end, a distal end and defining an inner surface, and a robotic device operably coupled to the proximal end of the grasper housing, and configured to actuate the jaw of the grasper. The tool housing having an operative assembly at the distal end of the tool housing, and the tool housing defining a docking assembly at the proximal end of the tool housing. The operative assembly having a fulcrum operably coupled to the tool housing, a first lever operably connected to the fulcrum, an instrument operably coupled to the first lever, and an actuator operably coupled to the tool housing and the first lever.
A system and method for generating a depth map from image data in a surgical robotic system that employs a robotic subsystem having a camera assembly with first and second cameras for generating image data. The system and method generates based on the image data a plurality of depth maps, and then converts the plurality of depth maps into a single combined depth map having distance data associated therewith. The system and method can then control the camera assembly based on the distance data in the single combined depth map.
G02B 30/40 - Optical systems or apparatus for producing three-dimensional [3D] effects, e.g. stereoscopic images giving the observer of a single two-dimensional [2D] image a perception of depth
The present disclosure provides systems and methods for cleaning a lens of an imaging device during a surgical procedure within an individual. The imaging device comprises a lens, and the wiping object is positioned a distance away from the imaging device that is configured to contact and move along a path of the device in order to clean it. The present disclosure provides methods for initiating automated cleaning of a lens during a procedure comprising using an eye tracking device fitted and coupled to an individual that may track the movements of the individual to actuate cleaning.
An end effector region device of a robot arm that forms part of a surgical robotic system that includes a tool base portion that is coupled to an end portion of the robot arm by a connector and first and second pulley elements that are rotatably coupled to the tool base portion. The device further includes first and second tool elements that are coupled together and can be removably and replaceably mounted to the pulley elements.
A system and method for moving a robotic unit in vivo. The robotic unit can include a camera subassembly having a camera assembly coupled to a camera axially extending support member, a first robot arm subassembly having a first robot arm coupled to a first robot arm axially extending support member, and a second robot arm subassembly having a second robot arm axially extending support member, wherein when inserted in a cavity of a patient through an insertion point, the camera assembly and the first and second robot arms can be controlled for actuating at least one joint of each of the robot arms to reverse direction such that an end effector region of each of the first and second robot arms is facing towards the insertion point, and moving the camera assembly in a selected direction such that the camera elements are facing towards the insertion point.
A system for use in surgery includes a central body, a visualization system operably connected to the central body, a video rendering system, a head-mounted display for displaying images from the video rendering system, a sensor system, and a robotic device operably connected to the central body. The visualization system includes at least one camera and a pan system and/or a tilt system. The sensor system tracks the position and/or orientation in space of the head-mounted display relative to a reference point. The pan system and/or the tilt system are configured to adjust the field of view of the camera in response to information from the sensor system about changes in at least one of position and orientation in space of the head-mounted display relative to the reference point.
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
B25J 9/06 - Programme-controlled manipulators characterised by multi-articulated arms
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
G02B 30/34 - Stereoscopes providing a stereoscopic pair of separated images corresponding to parallactically displaced views of the same object, e.g. 3D slide viewers
H04N 13/10 - Processing, recording or transmission of stereoscopic or multi-view image signals
A system for use in surgery includes a central body, a visualization system operably connected to the central body, a video rendering system, a head-mounted display for displaying images from the video rendering system, a sensor system, and a robotic device operably connected to the central body. The visualization system includes at least one camera and a pan system and/or a tilt system. The sensor system tracks the position and/or orientation in space of the head-mounted display relative to a reference point. The pan system and/or the tilt system are configured to adjust the field of view of the camera in response to information from the sensor system about changes in at least one of position and orientation in space of the head-mounted display relative to the reference point.
A surgical apparatus system for minimally invasive surgery (MIS) which includes a wrist assembly. The wrist assembly includes a first jaw, a first actuation hub, and a cable redirecting hub operably coupled to the first actuation hub, a second jaw, a second actuation hub, a housing for the first and second jaws, a first cable, a second cable, a third cable, rotational position sensors, and a control system. The first and second jaws of the wrist assembly are movably opposed, and the cables are configured such that applying tensions upon them cables produces rotation about a jaw axis. The wrist assembly may further include a hinge-rotary assembly to configured to provide rotation about a pitch axis and/or a roll axis. The wrist assembly may further include a fourth cable configured such that applying tensions upon the fourth cable and the opposing cable produces rotation about a pitch axis.
