A catheter system comprises an elongate flexible catheter and a support structure mounted on the catheter. The support structure comprises a first alignment feature and a second alignment feature. The first alignment feature is configured to mate with a first sensor component and the second alignment feature configured to mate with a second sensor component. When the system further comprises a first sensor component mated with the first alignment feature and a second sensor component mated with the second alignment feature, the first sensor component is fixed relative to the second sensor component in at least one degree of freedom at the support structure by the first and second alignment features.
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
A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters
2.
ENERGY TREATMENT MEDICAL DEVICES AND ENERGY TREATMENT METHODS
Medical devices and cartridges include a rotary drive portion and a plurality of arms movable by rotation of the rotary drive portion. An electrode is coupled to each of the arms. Medical systems and methods include a base and a plurality of cartridges configured to be releasably attached to the base. The medical systems and methods include an identification of a selected cartridge and a determination of a set of parameters for an energy treatment corresponding to the selected cartridge.
A61B 18/00 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 90/90 - Identification means for patients or instruments, e.g. tags
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
3.
SYSTEMS AND METHODS FOR ROBOTIC MEDICAL SYSTEM INTEGRATION WITH EXTERNAL IMAGING
A medical robotic system and method of operating such comprises taking intraoperative external image data of a patient anatomy, and using that image data to generate a modeling adjustment for a control system of the medical robotic system (e.g., updating anatomic model and/or refining instrument registration), and/or adjust a procedure control aspect (e.g., regulating substance or therapy delivery, improving targeting, and/or tracking performance).
A method comprises receiving an input coupling adjacent to a drive input, the drive input being driven by an actuating element, the input coupling being coupled to a joint output, the joint output being connected to a movable object. The method further comprises rotating the actuating element until a resistance torque is experienced by the actuating element and determining, based upon the resistance torque, whether the drive input has engaged the input coupling.
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
5.
NON-VISIBLE-SPECTRUM LIGHT IMAGE-BASED OPERATIONS FOR VISIBLE-SPECTRUM IMAGES
An illustrative system may access a first image sequence comprising first images, the first images based on illumination, using visible-spectrum light, of a scene associated with a medical procedure; access a second image sequence comprising second images, the second images based on illumination of the scene using non-visible spectrum light; detect an object in the second image sequence; and perform, based on the detected object, an operation with respect to the first image sequence.
A medical system includes a manipulator assembly and a control system. The manipulator assembly includes actuators that control an articulation state of a flexible elongate device by changing tensions applied to pull wires of the flexible elongate device. The control system controls the actuators to change the articulation state of the flexible elongate device using a control scheme that defines an upper-bounded tension applied to each of the pull wires. The control system further determines that a commanded articulation state of the flexible elongate device cannot be achieved by control of a first actuator without the first actuator applying more than the upper-bounded tension to a first pull wire. The control system also controls a second actuator to change an amount of tension applied to a second pull wire to achieve the commanded articulation state without the first actuator applying more than the upper-bounded tension to the first pull wire.
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
A system for controlling a user interface of a teleoperated surgical system, the system comprises a first master controller communicatively coupled to the teleoperated surgical system; and a display device communicatively coupled to the teleoperated surgical system and configured to display a graphical user interface; and wherein the first master controller is configured to transmit a first input signal to an interface controller, the first input signal caused by manual manipulation of the first master controller, the interface controller to use the first input signal to update a graphical user interface presented by the display device.
A system comprises a tool including a first target, a receiving member configured to receive the tool, and a first reader positioned along the receiving member. The first reader is configured to detect a presence indication of the first target of the tool when the first target is proximate the first reader as the tool is inserted into the receiving member and an absence indication of the first target of the tool when the first target is out of range of the first reader as the tool is inserted into the receiving member. The system further comprises a control system communicatively linked to the first reader. The control system is configured to receive one or more of the presence and absence indications of the first target from the first reader to create a detected insertion signature of the received tool.
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
A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters
10.
CATHETERS WITH CONTROL MODES FOR INTERCHANGEABLE PROBES
A medical system including a catheter containing a mechanical system that is remotely operable uses a sensor to at least partly measure a pose of the catheter and a control system coupled to the mechanical system. The control system has multiple operating modes including one or more holding modes in which the control system operates the mechanical system to maintain a working configuration of the catheter based on feedback from the sensor.
A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters
A61B 18/24 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibreHand-pieces therefor with a catheter
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A system can direct light into an optical fiber. Imaging optics can form an image of an end of an optical fiber. An actuatable optical element can be configured to define an optical path that extends to the actuatable optical element and further extends to the end of the optical fiber. A processor can determine a location in the image of a specified feature in the image. The processor can cause, based on the location of the specified feature in the image, the actuatable optical element to actuate to align the optical path to a core of the optical fiber. A light source can direct a light beam along the optical path to couple into the core of the optical fiber.
Aspects of this technical solution can receive, via a robotic medical system, a data set corresponding to a three-dimensional (3D) model of an anatomical structure, identify, by a machine learning model that receives as input the 3D model, a level of completeness of a portion of the 3D model, and generate, by the machine learning model and responsive to the level of completeness of the portion being less than or equal to a threshold, an action to control at least one of a position or an orientation of a sensor of the robotic medical system to increase the level of completeness of the portion of the 3D model of the anatomical structure.
G16H 30/00 - ICT specially adapted for the handling or processing of medical images
G16H 40/60 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
Machine learning predicted outcomes for scenarios of a procedure performed with a robotic medical system is provided. A system can identify state information related to a medical procedure to be performed by a robotic medical system. The system can generate, using the state information and with one or more models trained by machine learning, scenarios of operation of the robotic medical system to perform the medical procedure. The system can determine, using the one or more models, performance metrics for the scenarios. The system can select, based on a comparison of the performance metrics for the scenarios, a scenario of the scenarios for operation. The system can provide an indication of the selected scenario to cause the robotic medical system to perform at least a portion of the medical procedure in accordance with the selected scenario.
G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
G16H 40/67 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
14.
NESTING PROXIMAL LINKS FOR TABLE MOUNTED MANIPULATOR SYSTEM, AND RELATED DEVICES, SYSTEMS AND METHODS
A teleoperable manipulator system includes a table assembly, a rail coupled to the table assembly, and first and second manipulators coupled to the rail. The table assembly includes a platform configured to support a body. The first and second manipulators include respective proximal arms coupled to the rail and respective distal portions coupled to the proximal arms and configured to support an instrument mounted thereon. The proximal arms of the first and second manipulators are translatable relative to the rail along a longitudinal dimension of the rail and are rotatable relative to the rail about a first axis perpendicular to the longitudinal dimension of the rail. The proximal arms of the first and second manipulators are positionable in a nested configuration relative to one another.
A system may comprise a flexible elongated device including a fluid channel and a pore extending between the fluid channel and a surface of the flexible elongated device and a lubricious layer extending over at least a portion of the surface of the flexible elongated device. The system may also comprise a fluid system coupled to the flexible elongated device and a control system configured to cause fluid to be released by the fluid system to the fluid channel of the flexible elongated device. The fluid in the fluid channel flows through the pore to transition the lubricious layer from a dehydrated condition to a hydrated condition.
A system may comprise a flexible elongated device including a flexible elongated body and a hydrophilic lubricious layer on the flexible elongated body. The system may also comprise a sensor system configured to detect a hydration indicator for the hydrophilic lubricious layer and a control system configured to evaluate the hydration indicator to determine a hydration condition of the hydrophilic lubricious layer.
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 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
Machine learning based efficient medical video streaming is described. A system can include one or more processors, coupled with memory, to receive, via a robotic medical system, a image frames related to a medical procedure performed by the robotic medical system. The one or more processors can transform, via one or more models trained with machine learning on historical images of medical procedures, the image frames to feature vectors. The one or more processors can cluster, via the one or more models, the feature vectors into clusters. The one or more processors can generate a run-length encoded data stream based at least in part on the clusters. The one or more processors can transmit, via a network, the run-length encoded data stream to one or more servers remote from the one or more processors to manage performance of the medical procedure.
G16H 30/20 - ICT specially adapted for the handling or processing of medical images for handling medical images, e.g. DICOM, HL7 or PACS
G16H 40/67 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
G16H 50/70 - ICT specially adapted for medical diagnosis, medical simulation or medical data miningICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for mining of medical data, e.g. analysing previous cases of other patients
18.
USER-INSTALLABLE PART INSTALLATION DETECTION TECHNIQUES
Techniques are described for testing whether an end effector, or component thereof, is correctly or incorrectly installed to a manipulation system. In an example, a manipulation system can include a manipulator arm configured to receive an end effector having a first moveable jaw, a transducer configured to provide first effort information of the end effector as the end effector moves, and a processor configured to provide a command signal to effect a first test move of the first moveable jaw, and to provide an installation status of the of the end effector using the first effort information of the first test move.
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 15/04 - Gripping heads with provision for the remote detachment or exchange of the head or parts thereof
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
G05B 19/042 - Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
H02J 3/16 - Circuit arrangements for ac mains or ac distribution networks for adjusting voltage in ac networks by changing a characteristic of the network load by adjustment of reactive power
H02J 3/18 - Arrangements for adjusting, eliminating or compensating reactive power in networks
H02J 3/38 - Arrangements for parallelly feeding a single network by two or more generators, converters or transformers
19.
SYSTEM AND METHOD FOR ADJUSTING THE KINEMATIC CONFIGURATION OF UNDER-ACTUATED STRUCTURES
A computer-assisted system includes a robotic manipulation system and a control system. The control system causes the robotic manipulation system to change configuration from an initial configuration with a first non-motorized joint in an initial joint configuration to a target configuration with the first non-motorized joint in a target joint configuration, by: initiating a first shimmy operation to move the first non-motorized joint from the initial joint configuration towards the target joint configuration, after initiating the first shimmy operation, determining whether a condition for initiating a second shimmy operation is satisfied, and in response to determining that the condition is satisfied, initiating the second shimmy operation to continue moving the first non-motorized joint towards the target joint configuration. The first shimmy operation involves driving at least a first motorized joint to impart a first momentum to the first non-motorized joint.
42 - Scientific, technological and industrial services, research and design
44 - Medical, veterinary, hygienic and cosmetic services; agriculture, horticulture and forestry services
Goods & Services
Gathering and aggregation of medical and clinical data for
medical purposes; gathering of medical and clinical data and
analysis of statistical results in order to improve surgical
performance; data management for others in the field of
medicine, namely, monitoring, gathering and statistical
analyses of surgical information and preparing statistical
reports for others; statistical analysis in the field of
surgery. Software as a service; software as a service (SAAS) services
featuring software for accessing, viewing, tracking and
analyzing data from surgical robots and robot-assisted
surgery programs; software as a service, namely providing
temporary use of online non-downloadable software for
providing individual surgical case details, individual
surgeon objective performance data and performance trends,
individual surgeon case volume information, and hospital
surgical robot and robot-assisted program information for
hospital managers, hospital employees, and medical care team
personnel. Health care services, namely providing medical information
for hospital managers, hospital employees, and medical care
team personnel relating to individual surgical case details,
individual surgeon objective performance data and
performance trends, individual surgeon case volume, and
surgical robot and robot-assisted program and objective
surgeon performance; medical data analysis in the field of
surgery.
22.
METHOD AND SYSTEM FOR COORDINATED MULTIPLE-TOOL MOVEMENT USING A DRIVABLE ASSEMBLY
A robotic system includes a manipulator assembly and a processing system. The manipulator assembly includes a first manipulator, a second manipulator, and a drivable structure. The first manipulator and the second manipulator are mechanically coupled to the drivable structure. The processing system is configured to determine a drivable structure motion for effecting a commanded motion for a first end effector of a first tool mechanically coupled to the first manipulator. Performing only the drivable structure motion would cause motion of the first end effector simultaneously with motion of a second end effector, the second end effector being of a second tool mechanically coupled to the second manipulator. The processing system is further configured to determine a movement of the second manipulator and the second tool that, when performed simultaneously with the drivable structure motion, would compensate for the motion of the second end effector.
A surgical method is provided for use with a teleoperated surgical system (surgical system), the method comprising: recording surgical instrument kinematic information indicative of surgical instrument motion produced within the surgical system during the occurrence of the surgical procedure; determining respective kinematic signatures associated with respective surgical instrument motions; producing an information structure in a computer readable storage device that associates respective kinematic signatures with respective control signals; comparing, during a performance of the surgical procedure surgical instrument kinematic information during the performance with at least one respective kinematic signature; launching, during a performance of the surgical procedure an associated respective control signal in response to a match between surgical instrument kinematics during the performance and a respective kinematic signature.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
G16H 40/67 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
G16H 50/50 - ICT specially adapted for medical diagnosis, medical simulation or medical data miningICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for simulation or modelling of medical disorders
The present disclosure describes a system and method for guiding an instrument to a target point on a surface of an anatomical structure. The system receives, from an endoscope, a video of an anatomical structure, determines a pixel of the video that shows a portion of the anatomical structure where an instrument positioned in the endoscope will contact the anatomical structure when the instrument extends from the endoscope, generates a first overlay comprising a first indicator, and presents the first overlay on the video such that the first indicator is positioned on the pixel.
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 1/018 - 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 characterised by internal passages or accessories therefor for receiving instruments
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
25.
SYSTEMS AND METHODS FOR ADAPTING DEPTH PLACEMENT OF GRAPHICAL USER INTERFACE ELEMENTS WITH SURGICAL IMAGERY
A medical system may comprise a display system and a control system. The control system may include a processing unit including one or more processors. The processing unit may be configured to receive stereoscopic image data for a field of view of an imaging system, determine depth information for the field of view, and determine a target display distance for a graphical user interface element based on the depth information. The processing unit may also be configured to determine a stereo separation distance for stereo presentation of the graphical user interface element based on the determined target display distance and display, on the display system, the graphical user interface element at the target display distance with the stereoscopic image data of the field of view.
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
H04N 13/183 - On-screen display [OSD] information, e.g. subtitles or menus
26.
SYSTEMS AND METHODS FOR AUTOMATICALLY GENERATING AN ANATOMICAL BOUNDARY
A method comprises displaying image data of an anatomical region via a display system, determining a target location in the anatomical region, and determining an anatomical boundary based on the target location. The anatomical boundary indicates a surface of an anatomical structure in the anatomical region. The anatomical structure is to be avoided by a tool extendable from a medical instrument. The method further comprises determining a trajectory zone around a path between a distal end of the medical instrument and the target location. The target location is between the distal end of the medical instrument and the anatomical boundary. The method further comprises determining a zone boundary based on an intersection of the trajectory zone with the anatomical boundary.
A computer-assisted system includes a control system, a distal link, a base, and one or more joints between the distal link and the base. A user manipulation of the distal link causes a change in a joint position of a first joint. The control system is configured to move the first joint in response to a first user manipulation of the distal link, make a determination of whether the joint position is at a threshold position, and establish a reference position in response to the determination that the joint position is at the threshold position. The control system is further configured to determine a relative displacement of the joint position from the reference position in response to a second user manipulation of the distal link and command a movement of at least one of the base and a second joint to move the joint position towards a target position.
A system for providing navigational guidance for a medical procedure may comprise a processor and a memory operably coupled to the processor for storing instructions that, when executed by the processor, cause the system to perform operations. The operations may comprise receiving an anatomic model of an anatomic region, performing an analysis of the anatomic model to facilitate selection a plurality of nodal sites for analysis, generating a procedure sequence for the plurality of nodal sites, providing navigational guidance to direct a medical instrument to a nodal site of the plurality of nodal sites in the procedure sequence, and gathering local image data from the medical instrument at the nodal site.
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 34/00 - 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
29.
MEDICAL PROCEDURES AND SYSTEMS USING ACTIVE IMPLANTS
Medical procedures, systems and related methods are disclosed. In some examples, a system may include an instrument for delivery of an active implant and at least one processor configured to receive information describing a pose of the active implant, determine a location of the active implant within an anatomical model based on the information describing a location of the active implant, and establish the location of the active implant as a reference within the anatomical model. In some examples, a method may include obtaining an anatomical model of a subject anatomy, determining a pose of the active implant, and registering the anatomical model to a reference frame of an instrument based on the pose of the active implant.
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61F 2/95 - Instruments specially adapted for placement or removal of stents or stent-grafts
30.
ENDOBRONCHIAL TOOL TRAINING DEVICE AND ASSOCIATED METHODS
An endobronchial tool training device may include a simulated human lung main airway network, and at least one training cartridge removably coupled to the simulated human lung main airway network. The training cartridge may include a body of simulated lung tissue having at least one simulated abnormality, and a simulated human lung branch airway network. An endobronchial tool is steerable through the simulated human lung main airway network and into the simulated human lung branch airway network to a position adjacent at least one simulated abnormality.
A method comprises performing a cleaning operation on a teleoperated component of a teleoperated surgical manipulator assembly to produce a cleaned teleoperated component. The method further comprises placing the cleaned teleoperated component into a storage container. The method further comprises sterilizing both the storage container and the cleaned teleoperated component in the storage container together to produce a sterilized teleoperated component in a sterile interior environment of the storage container.
A61B 17/00 - Surgical instruments, devices or methods
A61B 50/30 - Containers specially adapted for packaging, protecting, dispensing, collecting or disposing of surgical or diagnostic appliances or instruments
H04M 1/72415 - User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories for remote control of appliances
32.
SYSTEM AND METHOD FOR SPECULAR REFLECTION DETECTION AND REDUCTION
A system and method of specular reflection detection and reduction includes a processing unit including one or more processors and an imaging unit coupled to the processing unit. The imaging unit includes one or more first illuminators for providing illumination of a region of interest, one or more first detectors for detecting reflections of the illumination, one or more second illuminators for triggering fluorescing of one or more fluorescent materials in the region of interest, and one or more second detectors for detecting the fluorescing of the fluorescent materials. The processing unit is configured to receive a first image from the first detectors, determine one or more regions of high specular reflection in the first image, mask out the regions of high specular reflection in the first image, and generate a composite image based on the masked first image and the detected fluorescence. The first image includes the detected reflections.
A computer-assisted system may include a manipulator arm configured to support an instrument, an input device configured to accept user commands to move the instrument, and a damping system coupled to the input device. A controller of the computer assisted system may be configured to determine an instrument power metric and an input device power metric. The controller may also determine a damping to be applied to the input device based on the instrument power metric and the input device power metric and cause the damping system to adjust the damping applied to the input device.
Techniques for instrument control include a manipulator and a controller. The controller is configured to detect installation of an instrument onto the manipulator; identify an instrument input mechanically coupled to a mechanical degree of freedom (DOF) of the instrument; in response to activation of a control input by a user, determine whether a teleoperated actuator mechanically coupled to the instrument input is being operated according to a soft lock state behavior where the teleoperated actuator is maintaining the mechanical DOF at a first position, the control input providing an indication of a request by the user to manually actuate the teleoperated actuator and discontinue the soft lock state behavior; and in response to a determination that the teleoperated actuator is not being operated according to the soft lock state behavior, notify the user that manual actuation of the mechanical DOF using the soft lock state behavior is not permitted.
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
35.
SURGICAL INSTRUMENTS WITH SWITCHES FOR DEACTIVATING AND/OR IDENTIFYING STAPLER CARTRIDGES
Surgical stapling instruments include mechanisms for identifying and/or deactivating stapler cartridge for use with the instruments. The stapling instrument includes a drive member for actuating a staple cartridge and a locking member movable from a disabled position permitting distal translation of the drive member through a staple firing stroke, to a locking position inhibiting distal translation of the drive member through the staple firing stroke. The staple cartridge may include a switch for maintaining the locking member in the disabled position. The switch may be further configured to operate as a reload detection mechanism for determining the type of reload present in the surgical stapling instrument.
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 90/90 - Identification means for patients or instruments, e.g. tags
36.
GENERATION OF USER-SPECIFIC CAPTIONS FOR VIDEO VIA MULTIMODAL DATA FOR MEDICAL PROCEDURES
Aspects of this technical solution can receive multi-modal data of a medical procedure. The multi-modal data includes video data captured during the medical procedure and system data generated by a computer-assisted medical system. Based at least in part on the multi- modal data of the medical procedure, a first segment of the medical procedure is identified. A descriptor generation model generates, based at least in part on the multi-modal data of the medical procedure, a plurality of descriptors for the first segment of the medical procedure. A translation model generates, based at least in part on the plurality of descriptors for the first segment of the medical procedure and a caption viewer input, a caption that is descriptive of the first segment of the medical procedure.
A user interface framework for annotation of medical procedures is provided. A system receives a video stream of a medical procedure performed during a medical session with a robotic medical system and identifies a type of the medical procedure and a phase. The system determines, based on the type of the medical procedure and the phase, a plurality of tasks and display an annotation interface with the plurality of tasks. The system receives, via the annotation interface, a selection of a first type of task and an indication of a start and a stop time and identify frames of the video stream that correspond to the start and stop time for the first type of task. The system constructs, for storage in a data structure, an entry that associates the frames that correspond to the start and stop time with an indication of the first type of task.
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
G06V 10/764 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
G06V 10/94 - Hardware or software architectures specially adapted for image or video understanding
G06V 20/40 - ScenesScene-specific elements in video content
G16H 30/40 - ICT specially adapted for the handling or processing of medical images for processing medical images, e.g. editing
G16H 40/67 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
38.
OPERATION PROFILE SYSTEMS AND METHODS FOR A COMPUTER-ASSISTED SURGICAL SYSTEM
An operation profile system may collect surgical session data representative of surgical procedure operations performed during a surgical session and may access operation pattern data representative of multiple historical patterns of surgical procedure operations. The system may identify, based on the operation pattern data and the surgical session data, a first historical pattern included in the multiple historical patterns of surgical procedure operations and that matches a first collected pattern from the surgical procedure operations. The system may provide, for use during the surgical session, a first operation profile associated with the first historical pattern that matches the first collected pattern.
G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
A61B 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
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
G16H 40/67 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
G16H 50/70 - ICT specially adapted for medical diagnosis, medical simulation or medical data miningICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for mining of medical data, e.g. analysing previous cases of other patients
A surgical instrument for applying surgical clips to tissue comprises an end effector having first and second jaws that are movable between open and closed positions and configured to receive first and second rows of clips in the open position. The instrument further includes an actuator coupled to the end effector and configured to move the jaws into the closed position and to discharge the first and second rows of clips. This allows an operator to apply multiple rows of clips to tissue with a single instrument insertion, which obviates the need to remove the surgical instrument from the cannula to manually reload a new cartridge, thereby reducing the overall time of the surgical procedure.
A61B 17/128 - Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord for applying or removing clamps or clips
A61B 17/00 - Surgical instruments, devices or methods
A61B 17/122 - Clamps or clips, e.g. for the umbilical cord
A system for managing a user interface comprising: a first teleoperated surgical system comprising: a communications subsystem configured to receive at the first teleoperated surgical system from a second teleoperated surgical system, an environmental variable describing operation of the second teleoperated surgical system; a video subsystem to: render a local scene at the first teleoperated surgical system, the local scene representing a state of operation of the first teleoperated surgical system; render a remote scene at the first teleoperated surgical system, the remote scene representing a state of operation of the second teleoperated surgical system and the remote scene based at least in part on the environmental variable; composite the local scene and the remote scene to produce a composite scene; and present the composite scene to a user of the first teleoperated surgical system.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
G06F 30/20 - Design optimisation, verification or simulation
G09B 9/00 - Simulators for teaching or training purposes
A user interface and model architecture for knot tying via robotic medical systems is provided. A system receives a video stream of a medical procedure performed on an anatomical structure via a robotic medical system, identify, based at least in part on the video stream, a type of knot to tie with a suture on the anatomical structure, generate, based on the type of knot, one or more actions configured to cause one or more instruments of the robotic medical system to tie the type of knot with the suture on the anatomical structure, and overlay, on a user interface that displays the video stream of the medical procedure, one or more visual indications according to the one or more actions to guide the one or more instruments to tie the type of knot with the suture on the anatomical structure.
A low-friction medical device is provided having roller-assisted tension members and a friction-reducing curved guide path. The device includes a first link, a second link, and a tension member. A proximal end portion of the first link is coupled to an instrument shaft. A proximal end portion of the second link is rotatably coupled to a distal end portion of first link about a first axis. The second link defines a curved guide path and a cable extends from the first link through the curved guide path to a distal end of the second link and couples with a tool member. A roller having a roller surface is coupled to the second link such that the roller surface is aligned with a portion of the curved path and contacts the cable therein. The curved guide surface has a small fleet angle.
A system for determining divergence of an anatomic region from an anatomic model of the anatomic region may comprise a medical device and a computing device that causes the system to perform operations comprising receiving sensor data acquired while the medical device is inserted within an anatomic region of the patient and after the medical device has been registered to an anatomic model of the anatomic region. The anatomic model may include a model anatomic passageway and a target anatomic structure. The operations may include comparing the sensor data from the medical device to the model anatomic passageway, producing a divergence classifier for a divergence of the anatomic region from the anatomic model, and updating a virtual location of the target anatomic structure when the divergence classifier exceeds a threshold. The updated virtual location may be based on the sensor data corresponding to a distal portion of the medical device.
A system is configured to direct an imaging device included in a computer-assisted surgical system to detect, during a surgical procedure performed with the computer-assisted surgical system, fluorescence emitted by a population of fluorophores present at a scene. The imaging device includes a detector having a plurality of distinct regions each configured to detect the fluorescence emitted by the population of fluorophores. Directing the imaging device to detect the fluorescence includes directing the plurality of distinct regions to sample the fluorescence in succession over a time period that is less than a lifetime of the fluorescence to generate a plurality of fluorescence image signals. Each region included in the plurality of distinct regions generates a distinct fluorescence image signal included in the plurality of fluorescence image signals. The lifetime of the fluorescence is determined based on the plurality of fluorescence image signals.
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
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
45.
METHODS AND APPARATUS FOR OFDR INTERROGATOR MONITORING AND OPTIMIZATION
Example embodiments add an optical amplifier to a multi-channel, continuously swept OFDR measurement system, adjust amplified swept laser output power between rising and falling laser sweeps, and/or utilize portions of a laser sweep in which OFDR measurements are not typically performed to enhance the integrity of the OFDR measurement system, improve the performance and quality of OFDR measurements, and perform additional measurements and tests.
G01B 11/16 - Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
G01D 5/353 - 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 optical means, i.e. using infrared, visible or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells influencing the transmission properties of an optical fibre
46.
AUTOMATED ROTATION OF A NEEDLE IN A COMPUTER-ASSISTED SYSTEM
Techniques for automated rotation of a needle include an end effector having a drive mechanism configured to be coupled to a curved needle and configured to rotationally actuate the curved needle along an arcuate path. The end effector has a gap configured to receive a material. A control unit is coupled to the drive mechanism. The control unit is configured to receive an operator input signal; based on a mapping of a plurality of different values of the operator input signal to a plurality of different values of a rotational arc amount of the curved needle, determine an arc of rotation for the curved needle along the arcuate path corresponding to the operator input signal; and cause the drive mechanism to rotationally actuate the curved needle through the arc of rotation along the arcuate path and into the gap.
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
A61B 17/00 - Surgical instruments, devices or methods
A61B 17/06 - NeedlesHolders or packages for needles or suture materials
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A system comprises an elongate flexible device and a tool removably couplable to a distal end of the elongate flexible device. The elongate flexible device comprises a first working channel, a second working channel, and an imaging lumen configured to receive an imaging device. An operational space extends between a target anatomy and a distal end of the first working channel, a distal end of the second working channel, and a distal end of the imaging lumen. The tool comprises a first extension member configured to extend distally from the elongate flexible device, and a second extension member configured to extend distally from the elongate flexible device. When the tool is coupled to the elongate flexible device, the first extension member and the second extension member are positioned outside of the operational space such that the operational space is free from obstruction by the first and second extension members.
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
49.
METHODS OF GUIDING MANUAL MOVEMENT OF MEDICAL SYSTEMS
A computer-assisted medical system includes a user device wearable by an operator. The user device includes a display device configured to present imagery overlaid in an environment of a manipulator assembly, and a sensor configured to detect one or more landmarks in the environment. The medical system includes a controller configured to execute instructions to perform operations The operations include receiving, from the sensor, position or orientation information for the one or more landmarks in the environment, and directing a manual movement of a portion of the manipulator assembly by causing the display device to present the imagery overlaid in the environment based on the received position or orientation information.
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
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 90/50 - Supports for surgical instruments, e.g. articulated arms
G06T 19/00 - Manipulating 3D models or images for computer graphics
G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
G16H 30/40 - ICT specially adapted for the handling or processing of medical images for processing medical images, e.g. editing
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
Stapler cartridges and surgical apparatus that include a stapler cartridge can include a knife that retracts into the stapler cartridge after cutting stapled tissue to prevent an operator being cut by the knife during replacement of the used stapler cartridge with a new stapler cartridge. A stapler cartridge includes a staple pushing shuttle, a knife member slidably coupled with the staple pushing shuttle, and a cartridge body. The staple pushing shuttle is slidably coupled to the cartridge body. The cartridge body includes a guide track engaged by the knife member and configured so that a cutting blade of the knife member protrudes from the cartridge body during a first portion of a distal movement of the staple pushing shuttle and the cutting blade is retracted into the cartridge body during a second portion of the distal movement of the staple pushing shuttle.
A61B 17/072 - Surgical staplers for applying a row of staples in a single action, e.g. the staples being applied simultaneously
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
51.
SYSTEMS AND METHODS FOR DEVICE VERIFICATION AND SENSOR CALIBRATION
Systems and methods for verification and calibration of robotic instruments are provided. A robotic system may include an instrument carriage to receive an elongate device, and the instrument carriage may comprise a set of drive sensors. The system may also include a tracking system configured to receive an indication that the elongate device is installed on the instrument carriage, operate a set of actuators to articulate a distal portion of the elongate device, and generate a set of drive sensor data from the set of drive sensors. The tracking system may also be configured to generate a set of articulation sensor data from a shape sensor of the elongate device, compare the set of drive sensor data to the set of articulation sensor data to generate a test profile, and determine whether the test profile corresponds to a reference profile. Corrective action may be determined.
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
52.
SYSTEM AND METHOD FOR VARIABLE VELOCITY SURGICAL INSTRUMENT
A computer-assisted device includes an actuator and one or more processors. The computer-assisted device is configured to support an instrument having an end effector located at a distal end. To perform an operation with the instrument, the one or more processors are configured to operate the end effector according to a state machine having a first state and a second state. In the first state a velocity set point of the actuator is set to a first velocity. In the second state the velocity set point of the actuator is set to a second velocity lower than the first velocity. The state machine transitions from the first state to the second state when a force or torque applied by the actuator is above a first threshold and transitions from the second state to the first state when the force or torque applied by the actuator is below a second threshold.
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
G05B 15/02 - Systems controlled by a computer electric
53.
SYSTEMS AND METHODS FOR USING AN UMBILICAL IN DELIVERY OF A THERMAL TREATMENT
A medical system may comprise a fluid generation system configured to provide a fluid, a medical instrument system configured to deliver the fluid for treatment, and an umbilical system coupled between the fluid generation system and the medical instrument system. The umbilical system may be configured to receive the fluid from the fluid generation system and provide the fluid to the medical instrument system. The medical system may also comprise a heating system configured to control a temperature of the fluid within the umbilical system.
A computer-assisted system includes a manipulator arm configured to support an instrument, an input device configured to accept user commands to move the instrument, and an actuator system coupled to the input device. A controller of the computer-assisted system is configured to determine a component of a change in force at the instrument, the component correlating with a direction of motion of the input device. The controller also determines a feedback force based at least in part on the environmental stiffness and the component of the change in force if the environmental stiffness experienced by the instrument exceeds a threshold stiffness. The controller causes the actuator system to drive the input device to apply the feedback force.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
56.
AI-BASED INVENTORY PREDICTION AND OPTIMIZATION FOR MEDICAL PROCEDURES
The arrangements disclosed herein relate to systems, apparatuses, methods, and non-transitory processor-readable media for receiving, from a protected data environment, at least one feature embedding extracted from data of a medical procedure, determining, using a similarity machine-learning model, a set of historical data of a plurality of medical procedures similar to the received feature embedding, identifying one or more analysis machine learning-models updated using the set of historical data, and providing, based on the one or more identified machine-learning models, an analysis machine-learning model for the protected data environment.
G16H 40/40 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the management of medical equipment or devices, e.g. scheduling maintenance or upgrades
G16H 40/20 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the management or administration of healthcare resources or facilities, e.g. managing hospital staff or surgery rooms
57.
SYSTEMS AND METHODS FOR CONTENT AWARE USER INTERFACE OVERLAYS
A medical system may comprise a display system for displaying a display area and a control system. The control system may include a processing unit including one or more processors. The processing unit may be configured to generate an image of a field of view for display in the display area, generate a user interface component for display in the display area, determine a priority record for an element in the image of the field of view, determine a display characteristic for the user interface component based on the priority record of the element in the field of view, and display the user interface component in accordance with the display characteristic in the display area overlayed on a displayed image of the field of view.
A system for delivering surgical fixation devices to a target region in a body includes an instrument comprising a shaft and a tissue puncturing member moveable in reciprocation relative to the shaft. The system further includes a plurality of surgical fixation devices positioned in series along at least part of a length of the shaft and configured to be deployed from the shaft without needing to remove and reinsert the instrument.
A61B 17/10 - Surgical instruments, devices or methods for closing wounds or holding wounds closedAccessories for use therewith for applying or removing wound clampsWound clamp magazines
Break-away clutching includes a robotic system having a processor and a robotic structure with a plurality of joints, a plurality of linkages coupled by the plurality of joints, and a drive system or a brake system for facilitating or inhibiting motion of the robotic structure. The processor is configured to inhibit, using the drive system or brake system, manual articulation of the robotic structure in response to a first manual effort applied to the robotic structure being below an articulation threshold; facilitate, using the drive system or brake system, the manual articulation of the robotic structure in response to a second manual effort applied to the robotic structure exceeding the articulation threshold; and inhibit, using the drive system or brake system, further manual articulation of the robotic structure in response to a determination that a speed of the manual articulation of the robotic structure has fallen below a speed threshold.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
A steerable catheter comprises a plurality of control elements, a proximal section, a transition section, and a distal section. The proximal section includes a plurality of conduits to transfer actuation forces applied to one or more of the control elements from a distal end to a proximal end of the proximal section. Each control element extends within a respective conduit. The transition section includes a stopper to prevent the conduits from moving axially along the steerable catheter. The stopper comprises grooves for receiving the control elements. The distal section includes an axial support structure to support the distal section against axial loads generated by the control elements. The axial support structure extends from the transition section to a distal end of the distal section. The stopper prevents the conduits from extending into the distal section and allows the control elements to extend into the distal section.
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 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
A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters
61.
COMPUTER-ASSISTED ANNOTATION OF SUBSURFACE STRUCTURES ONTO A SURFACE
The present disclosure describes a system and method for annotating subsurface structures onto a surface of a surface structure. The system receives first imaging data captured using a first imaging device of a first imaging modality, the first imaging data showing the surface of the surface structure, receives second imaging data captured using a second imaging device of a second imaging modality, the second imaging data showing a first subsurface structure, determines a first point on the surface based at least on where on the surface is closest to the first subsurface structure, generates a first projection of the first subsurface structure onto the surface at the first point, and displays, on a display device, the first projection at the first point on the surface of the surface structure.
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
G06T 7/55 - Depth or shape recovery from multiple images
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A medical device includes a manual‑drive structure and a tool‑drive member. The manual‑drive structure includes a manual‑drive input member and a manual‑drive coupling member. The tool‑drive member includes a motor‑drive input member. The tool‑drive member is selectively coupled to and driven by the manual‑drive input member via the manual‑drive coupling member on a condition that the manual‑drive coupling member is in a second state.
A capstan assembly includes first and second capstan body parts coupled to each other, the second capstan body part rotatable relative to the first capstan body part; a first actuation member receiving portion fixed in rotation with the first capstan body part and having a surface configured to pay in an actuation member; a second actuation member receiving portion fixed in rotation with the second capstan body part and having a surface configured to pay in an actuation member; and an elastically deformable biasing element coupled between the first capstan body part and the second capstan body part, the elastically deformable biasing element having a compressed state in a first position of rotation of the second capstan body part relative to the first capstan body part and an expanded state in a second position of rotation of the second capstan body part relative to the first capstan body part.
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
B66C 13/10 - Auxiliary devices for controlling movements of suspended loads, or for preventing cable slack for preventing cable slack
Implementations relate to a configurable counterbalance mechanism. In some implementations, a counterbalance apparatus includes a spring, a tension element coupled between the spring and a mechanical ground, a base element coupled to a load, and a configurable arm rotatably coupled to the base element. A first pulley and a second pulley are rotatably coupled to the configurable arm, the second pulley orbitable about the first axis, and the tension element is at least partially wrapped around the first pulley and the second pulley. The configurable arm is rotatably configurable at either a first orientation or a second orientation, where the first orientation is associated with a center of gravity of the load located on a first side of the counterbalance apparatus and the second orientation is associated with the center of gravity of the load located on a second side of the counterbalance apparatus opposite to the first side.
A flexible elongate device comprises a wall defining a lumen and a liquid delivery channel extending within the lumen. The liquid delivery channel is configured to convey a treatment liquid. The flexible elongate device also comprises an insulation chamber extending along the liquid delivery channel within the lumen. The insulation chamber contains a static insulator. The flexible elongate device also comprises a support structure that constrains an axial position of the liquid delivery channel with respect to the lumen.
Techniques for providing an elongate device reference include a system having an elongate device, a display system, one or more processors, and memory storing instructions. When the one or more processors execute the instructions, the one or more processors determine a pose, within a workspace, of at least one of a distal portion of the elongate device or an instrument extendable from the distal portion of the elongate device; load a reference pose corresponding to at least one of a previous pose of the distal portion of the elongate device or a previous pose of the instrument; generate an elongate device reference corresponding to the reference pose; generate an image of the workspace from a perspective of the elongate device; and display, on the display system and on the image of the workspace, the elongate device reference at the reference pose and the distal portion of the elongate device.
A fluorescence target includes a first fluorescing region and a second fluorescing region. The first fluorescing includes a first population of fluorophores that emit first fluorescence when the fluorescence target is illuminated with fluorescence excitation illumination. The first fluorescing region photobleaches at a first photobleaching rate. The second fluorescing region is proximate to the first fluorescing region and includes a second population of fluorophores that emit second fluorescence when the fluorescence target is illuminated with the fluorescence excitation illumination. The second fluorescing region photobleaches at a second photobleaching rate that is different than the first photobleaching rate.
H04N 23/10 - Cameras or camera modules comprising electronic image sensorsControl thereof for generating image signals from different wavelengths
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
Systems and methods are described for providing sterility status for a computer-assisted guide robotic system. The method may include (i) obtaining kinematic data indicative of a position of the two or more links relative to a sterility boundary; (ii) determining, based on the kinematic data, a sterility status associated with the two or more links; and (iii) configuring the respective indication systems of the two or more links to provide an indication of the sterility status of the two or more links.
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
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 17/00 - Surgical instruments, devices or methods
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
69.
Surgical Instruments Having Mechanisms For Identifying And/Or Deactivating Stapler Cartridges
Surgical stapling instruments include mechanisms for identifying and/or deactivating stapler cartridges for use with the instruments. The stapling instrument includes a drive member for actuating a staple cartridge and a locking member movable from a disabled position permitting distal translation of the drive member through a staple firing stroke, to a locking position inhibiting distal translation of the drive member through the staple firing stroke. The staple cartridge may include a switch movable in a lateral direction to either maintain the locking member in the disabled position or to allow the locking member to move into the locking position. The instrument may further include a stapler cartridge including an annular pin configured to be engaged by a drive member at a an axial position to create a detectable resistance for reload detection by a control unit to identify the type of stapler cartridge present in the surgical stapling instrument.
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 90/90 - Identification means for patients or instruments, e.g. tags
70.
MITIGATING MISMATCHED INPUT DEVICE DURING TELEOPERATION
A computer-assisted system includes: a first input device configured to be manipulated by an operator; a manipulator assembly configured to support an imaging device and a first instrument (the imaging device has a field of view associated with a view coordinate frame); and a control system communicatively coupled to the first input device and the manipulator assembly. The control system is configured to: perform a first association between the first input device and the first instrument; determine a first instrument vector representative of an orientation of a shaft of the first instrument; perform a first comparison between the first instrument vector and a first view frame vector, the first comparison being performed based on the first association; based on the first comparison, determine whether a mismatch condition is satisfied; and, in response to determining that the mismatch condition is satisfied, perform a mitigation action.
A computer-assisted system includes: a manipulator assembly configured to support a first instrument and an imaging device; a first input device configured to be manipulated by an operator relative to an input device coordinate frame; and a control system communicatively coupled to the first input device and the manipulator assembly. The control system is configured to: determine a first roll orientation of the imaging device; record the first roll orientation of the imaging device in response to enablement of a first teleoperational control session of the first instrument by the first input device. During the first teleoperational control session, the control system is configured to: determine a current roll orientation of the imaging device; determine a difference between the current roll orientation and the first roll orientation; determine whether or not the difference between the current roll orientation and the first roll orientation exceeds a first threshold.
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
An exemplary auto-configurable simulation system includes a control module configured to simulate a first type of surgical instrument manipulating system included in a plurality of types of surgical instrument manipulating systems and a computing device communicatively connected to the control module. The computing device includes a processor configured to execute instructions to communicatively connect the control module to a user control console of a computer-assisted surgical system, determine, after communicatively connecting the control module to the user control console, that the user control console is configured to facilitate control of a second type of surgical instrument manipulating system, and reprogram the control module such that the control module is configured to simulate the second type of surgical instrument manipulating system.
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
73.
SYSTEMS AND METHODS FOR BIFURCATED NAVIGATION CONTROL OF A MANIPULATOR CART INCLUDED WITHIN A COMPUTER-ASSISTED MEDICAL SYSTEM
An illustrative system is configured to direct a manipulator cart to navigate from a first location to a target location; autonomously control, while the manipulator cart navigates from the first location to the target location, a steering of the manipulator cart; and allow, while the manipulator cart navigates from the first location to the target location, operator control of a propulsion of the manipulator cart using a secondary control interface configured to facilitate operator control of the propulsion and not the steering of the manipulator cart.
A computer-assisted system includes a repositionable assembly that supports a first instrument and a second instrument. The first instrument includes a first set of links and the second instrument comprising a second set of links. The computer system further includes a control system with at least one processor. The control system detects a collision condition between the first instrument and the second instrument by: determining a set of first line segments representing a current kinematic configuration the first set of links, determining a set of second line segments representing a current kinematic configuration of the second set of links, determining respective distances between select pairs of line segments, each pair of the select pairs including a first line segment of the set of first line segments and a second line segment of the set of second line segments, and determining, based on the respective distances, whether the collision condition exists.
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
Aspects of this technical solution can receive a set of data including one or more images of one or more body parts of an operator, the one or more images depicting the one or more body parts engaged with one or more components of a robotic system or instrument, the set of data corresponding to a medical procedure, and generate, based at least in part on one or more of the images, an output corresponding to a configuration of the robotic system or instrument, the output comprising one or more instructions to set or modify one or more physical positions of the one or more components.
The present disclosure provides a staple cartridge for a surgical instrument having a staple and a staple pusher. The staple pusher has a recess forming a pocket in its top surface for receiving at least the backspan of the staple. The pocket is at least partially surrounded by a circumferential 5 supporting element in the staple pusher body to support the backspan. The pocket provides additional vertical space and support for the staple such that a smaller staple cartridge may provide a substantially similar performance as conventional staple cartridges, allowing for a more compact and maneuverable surgical instrument. In addition, the pocket in the staple pusher allows for a staple having a larger bend radius than conventional staples, thereby providing additional support 10 for the staple and minimizing malformation of the staple during use.
Systems, devices and methods are provided for controlling surgical instruments remotely, such as in a robotic surgery system. One such robotic surgical system comprises an input device having a first end movable to provide a desired movement of the surgical instrument and a second end opposite the first end. A control input is removably coupled to the second end of the input device such that movement of the control input causes movement of the input device to provide the desired movement of the surgical instrument. The system further comprises a controller configured to control the surgical instrument based on the movement of the input device. This allows the user to, for example, easily and intuitively operate an instrument that is introduced opposed to the surgical view (i.e., the instrument is inverted relative to the endoscope).
09 - Scientific and electric apparatus and instruments
38 - Telecommunications services
41 - Education, entertainment, sporting and cultural services
42 - Scientific, technological and industrial services, research and design
Goods & Services
Downloadable video files in the medical field; downloadable
medical image files and medical video image files. Providing access to databases in the field of surgical
robots and robotic-assisted surgery, namely, online access
to video libraries; providing access to databases for
assisting clinical medical personnel, namely, online access
to video libraries; providing access to databases for
hospital managers, hospital employees, and medical care team
personnel, namely video libraries files. Arranging and conducting of conferences and symposia in the
field of medical science; arranging and conducting in-person
and online conferences, symposiums, seminars, forums,
workshops, and coaching for clinical and academic personnel
in the field of medical technology; arranging and conducting
in-person and online conferences, symposiums, seminars,
forums, workshops, and coaching for clinical and academic
personnel in the field of surgical robots and robot-assisted
surgery; educational services, namely, providing video
libraries and educational information regarding surgical
robot and robot-assisted programs; advisory services
relating to medical training in the field of surgical robots
and robot-assisted surgery; advisory services relating to
medical training in the nature of providing medical
education and training services to hospitals, hospital
employees, and clinical medical personnel in the field of
surgical robots and robot-assisted surgery; advisory
services relating to medical training in the nature of
providing video libraries regarding surgical robots and
robot-assisted surgery program information. Software as a service (SAAS) services featuring software for
providing online access to libraries of videos in the field
of surgical robots and robot-assisted surgical procedures.
09 - Scientific and electric apparatus and instruments
38 - Telecommunications services
41 - Education, entertainment, sporting and cultural services
42 - Scientific, technological and industrial services, research and design
Goods & Services
Downloadable video files in the medical field; downloadable
medical image files and medical video image files. Providing access to databases in the field of surgical
robots and robotic-assisted surgery, namely, online access
to video libraries; providing access to databases for
assisting clinical medical personnel, namely, online access
to video libraries; providing access to databases for
hospital managers, hospital employees, and medical care team
personnel, namely video libraries. Arranging and conducting of conferences and symposia in the
field of medical science; arranging and conducting in-person
and online conferences, symposiums, seminars, forums,
workshops, and coaching for clinical and academic personnel
in the field of medical technology; arranging and conducting
in-person and online conferences, symposiums, seminars,
forums, workshops, and coaching for clinical and academic
personnel in the field of surgical robots and robot-assisted
surgery; educational services, namely, providing video
libraries and educational information regarding surgical
robot and robot-assisted programs; advisory services
relating to medical training in the field of surgical robots
and robot-assisted surgery; advisory services relating to
medical training in the nature of providing medical
education and training services to hospitals, hospital
employees, and clinical medical personnel in the field of
surgical robots and robot-assisted surgery; advisory
services relating to medical training in the nature of
providing video libraries regarding surgical robots and
robot-assisted surgery program information. Software as a service (SAAS) services featuring software for
providing online access to libraries of videos in the field
of surgical robots and robot-assisted surgical procedures.
80.
SYSTEM ARCHITECTURE AND METHOD FOR DATA-FREE AI MODEL DEPLOYMENT
The arrangements disclosed herein relate to systems, apparatuses, methods, and non-transitory processor-readable media for receiving, from a protected data environment, at least one feature embedding generated from data of a medical procedure, determining, using a similarity machine-learning model, a set of historical data of a plurality of medical procedures similar to the received feature embedding, identifying one or more analysis machine learning-models updated using the set of historical data, and providing, based on the one or more identified machine-learning models, an analysis machine-learning model for the protected data environment.
G16H 50/70 - ICT specially adapted for medical diagnosis, medical simulation or medical data miningICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for mining of medical data, e.g. analysing previous cases of other patients
Machine learning based anatomical state tracking is described. A system can include one or more processors, coupled with memory, to receive data of a medical procedure performed on a subject with a robotic medical system. The one or more processors can identify, with one or more models trained with machine learning, an anatomical structure based on the data. The one or more processors can detect, with the one or more models and based on the identified anatomical structure, a state of the anatomical structure. The one or more processors can provide, based at least in part on the state of the anatomical structure, an indication of a performance of the medical procedure.
G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
G06V 10/58 - Extraction of image or video features relating to hyperspectral data
G16H 30/40 - ICT specially adapted for the handling or processing of medical images for processing medical images, e.g. editing
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
G16H 50/20 - ICT specially adapted for medical diagnosis, medical simulation or medical data miningICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for computer-aided diagnosis, e.g. based on medical expert systems
G16H 50/70 - ICT specially adapted for medical diagnosis, medical simulation or medical data miningICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for mining of medical data, e.g. analysing previous cases of other patients
Systems, devices and methods are provided for controlling surgical instruments remotely, such as in a robotic surgery system. One such robotic surgical system comprises a robotic arm configured for coupling to the surgical instrument and a primary input device remotely spaced from the robotic arm and movable to provide a desired movement of the robotic arm and the surgical instrument. The system further comprises a secondary control input comprising an adaptor and a handle. The adaptor is configured for removable coupling to the input device such that movement of the handle of the secondary control input causes movement of the input device to provide the desired movement of the robotic arm. The secondary control input substantially resembles the surgical instrument being controlled, allowing the user to quickly understand how to manipulate the controls and move the instrument as they expect it to move.
Systems, devices and methods are provided for controlling surgical instruments remotely, such as in a robotic surgery system. One such robotic surgical system comprises a manipulator assembly having a support structure and one or more manipulators for the surgical instruments coupled to the support structure. Each of the manipulators have a remote center of motion which may be aligned with the incision point for the instrument being controlled by that manipulator. The system includes a controller configured to generate a central target position over a surgical site and a regulator mechanism for limiting a range of motion of the manipulators relative to the central target position. The system further includes an actuator for intraoperatively unlocking or releasing the central target position to move at least one of the manipulators to a location outside of its range of motion. This allows the central target position to be quickly and easily adjusted before or during the procedure by shifting the working space of the manipulators, which decreases the overall time of the procedure and increases the efficiency of the surgical team, while avoiding potential collisions between the instruments and/or the manipulators.
Technical solutions provide extended reality based capabilities for just-in-time context-based assistance to robotic medical system users. A processor can receive a data stream of a medical session with a robotic medical system. The data stream can be captured by sensors in a medical environment. The processor can determine, based on the data stream and via a context-identification model trained with machine learning, a context of the medical session. The processor can determine, based on the context, an extended reality content to be presented to a user. The processor can detect, based on the data stream and via one or more object-identification models, one or more objects of the medical environment. The processor can establish, based on the objects detected, an interaction field in the medical environment in which to interact with the extended reality content and present the extended reality content to the user for interaction in the interaction field.
G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
G16H 40/67 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
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
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
85.
SYSTEM AND METHOD FOR TELEOPERATION BASED ON AN INPUT DEVICE AND CONTROLLING POSITION OF THE INPUT DEVICE
A computer-assisted system includes an input device configured to be manipulated by a user and a manipulator system. The computer-assisted system further includes one or more actuators to drive the input device in one or more degrees of freedom. The manipulator system is configured to support one or more instruments. The computer-assisted system further includes a control system communicatively coupled to the input device and the manipulator system. The control system is configured to determine an instrument type of an instrument supported by the manipulator system. The control system is further configured to determine, based at least in part on the instrument type of the instrument, a first configuration for the input device and cause the one or more actuators to drive the input device to its first configuration.
Apparatuses, systems, and methods are disclosed for providing controlled delivery of electrolysis products and cellular permeabilization treatment to a site in tissue. A minimally invasive regenerative surgery of subjecting a target area in living tissue to an electric input composed of a combination of electric fields of a magnitude that permeabilizes the cell membrane and to an electrolytic reaction that generates products of electrolysis of a magnitude that, by themselves, do not cause damage to cells or the extracellular matrix, but induces cell death in combination with electric field of the magnitude that permeabilizes the cell membrane. It is shown that the apparatuses, systems, and methods generate a region of tissue in which complete regeneration of the ablated tissue occurs without massive inflammation, ulceration, coagulative necrosis, fibrotic tissue, or scar tissue.
A61B 18/00 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
A61B 18/12 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
87.
TRANSMISSION ASSEMBLY FOR DRIVING INSTRUMENT INSERTION, AND RELATED DEVICES, SYSTEMS, AND METHODS
A medical instrument comprises an instrument shaft, a first movable component coupled to the instrument shaft, a first actuation element coupled to the instrument shaft, second and third actuation elements, and a transmission assembly movably coupled to the instrument shaft. The transmission assembly comprises a first drive member coupled to the actuation elements and rotatable to drive translation of the instrument shaft relative to the transmission assembly, and second drive member comprising a rotatable drive shaft and first and second actuation transfer mechanisms coupled to the rotatable drive shaft. The second actuation element is coupled to the first actuation transfer mechanism and the third actuation element is coupled to the second actuation transfer mechanisms such that the second drive member actuates the second and third actuation elements in opposite directions as one another to drive a first degree of freedom of motion of the first movable component.
A robotic medical system with a radar chart including performance indicators is described. A system can include one or more processors, coupled with memory, to receive, from a robotic medical system, a data stream of a medical procedure performed by the robotic medical system. The one or more processors can determine, using at least the data stream, metrics corresponding to types, wherein the metrics are indicative of performance of the medical procedure with the robotic medical system. The one or more processors can identify baseline metrics corresponding to the types. The one or more processors can generate data to cause a graphical user interface to display a radar plot comprising the metrics normalized based on the corresponding baseline metrics.
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 force sensor comprising a beam having a longitudinal axis and a proximal end portion and a distal end portion; a first Wheatstone bridge disposed on a first face of the beam, including multiple tension gauge resistors and multiple compression gauge resistors; a second Wheatstone bridge disposed on the first face of the beam, including multiple tension gauge resistors and multiple compression gauge resistors; wherein at least one tension gauge resistor and at least one compression gauge resistor from each of the first and second Wheatstone bridges is disposed at a proximal end portion of the beam; wherein at least one tension gauge resistor and at least one compression gauge resistor from each of the first and second Wheatstone bridges is disposed at a distal end portion of the beam.
G01L 1/22 - Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluidsMeasuring force or stress, in general by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
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
G01L 5/1627 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of strain gauges
90.
BEACON-BASED SYSTEMS AND METHODS FOR COMMUNICATIVELY PAIRING A DEVICE WITH A MEDICAL SYSTEM
A device pairing system is configured to determine that an auxiliary device detects an ultrasonic beacon; identify, in response to determining that the auxiliary device detects the ultrasonic beacon and based on a first transmission of the ultrasonic beacon and a second transmission of the ultrasonic beacon that is subsequent to the first transmission, a medical system associated with the ultrasonic beacon; and communicatively pair, in response to identifying the medical system, the auxiliary device with the identified medical system.
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
G16H 40/20 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the management or administration of healthcare resources or facilities, e.g. managing hospital staff or surgery rooms
This disclosure is directed to a machine learning framework to detect and analyze interactions between medical instruments anatomies of a patient in a robotic medical procedure. A system identifies, from a data stream of a medical procedure with a robotic medical system, a movement of an instrument used in the medical procedure over the plurality of frames. The system identifies, using the data stream, a pattern of motion of an anatomical structure over at least a portion of the medical procedure. The system detects, based at least on a comparison of the movement of the instrument and the pattern of motion of the anatomical structure, an interaction between the instrument and the anatomical structure. The system provides, via an interface, an indication of the interaction.
A medical system comprises a display system, an input system including a first control device, and a control system. The control system includes a processing unit configured to display an image of a field of view of a surgical environment, determine a first keypoint on a first tool in the surgical environment, determine a selection region associated with the first keypoint of the first tool, determine a position of a cursor relative to the field of view that corresponds to a position of the first control device, and determine if the position of the cursor overlaps the selection region. The processing unit may also be configured to provide a directional cue if the position of the cursor overlaps the selection region to direct the cursor toward the first keypoint and engage the first control device with the first tool when the cursor reaches the first keypoint.
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
93.
ILLUMINATION CORRECTED NEAR-INFRARED (NIR) IMAGING FOR IMAGE GUIDED SURGERY
Technology described herein can be embodied in a method of displaying a visual representation of a portion of a surgical scene. The method includes receiving data representing information captured using a first sensor of a camera associated with a surgical device, the information being indicative of a first quantity representing an amount of fluorescence emitted from the portion of the surgical scene. The method also includes obtaining information indicative of a second quantity representing an amount of excitation signal causing the fluorescence to be emitted from the portion of the surgical scene, and generating a normalized fluorescence signal as a function of the first quantity and the second quantity. The method further includes generating the visual representation of the portion of the surgical scene based on the normalized fluorescence signal, and presenting the visual representation on a display device associated with the surgical device.
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 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 5/00 - Measuring for diagnostic purposes Identification of persons
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
94.
TRANSMISSION ASSEMBLY FOR DRIVING INSTRUMENT MOTION, AND RELATED DEVICES, SYSTEMS AND METHODS
A medical instrument comprises an instrument shaft, a movable component coupled to the instrument shaft, a rotational actuation element extending through the instrument shaft and operably coupled to the movable component, and a transmission assembly movably coupled to the instrument shaft. The transmission assembly comprises a first drive member configured to drive translation of the instrument shaft relative to the transmission assembly, and a second drive member coupled to the rotational actuation element and configured to drive rotation of the rotational actuation element. Translation of the instrument shaft relative to the transmission assembly causes translation of the rotational actuation element relative to the transmission assembly.
A medical instrument comprises an instrument shaft, a movable component coupled to the instrument shaft, a pushable actuation element coupled to the moveable component and translatable relative to the instrument shaft, a first set of pullable actuation elements coupled to the instrument shaft, a second set of pullable actuation elements coupled to the pushable actuation element, and a transmission assembly movably coupled to the instrument shaft. Translation of the pushable actuation element drives a degree of freedom of motion of the movable component. The transmission assembly comprises a first rotatable drive member configured to actuate the first set of pullable actuation elements to drive translation of the instrument shaft relative to the transmission assembly, and one or more capstans configured to actuate the second set of pullable actuation elements to drive translation of the pushable actuation element relative to the instrument shaft.
A computer-assisted system including an input device configured to be manipulated by a user and a robotic manipulating system. The input device is actuatable in one or more degrees of freedom. The robotic manipulating system is configured to support one or more instruments including a first instrument. The computer-assisted system further includes a control system communicatively coupled to the input device and the robotic manipulating system. The control system is configured to receive, from one or more sensors, force data indicative of a force at the first instrument and determine a feedback force to be applied on the input device based on the force data. The control system is further configured to determine a projected velocity based on a velocity of the input device and the feedback force, determine a damping force based on the projected velocity, and cause the damping force to be applied to the input device.
A teleoperable manipulator system comprises a table assembly, a rail coupled to the table assembly, and one or more manipulators coupled to the rail. The table assembly comprises a support column and a platform assembly coupled to the support column and configured to support a body. The platform assembly comprises lateral and longitudinal dimensions defining outer lateral and longitudinal boundaries of the platform assembly. The rail is translatable relative to the support column along a longitudinal dimension of the rail. The manipulators are translatable relative to the rail along the longitudinal dimension of the rail. The rail is configured to remain within at least the outer lateral boundaries of the platform assembly throughout all motion of the rail relative to the support column.
A clamping apparatus comprises a body having a mounting location configured to support the surgical manipulator; an articulatable bracket a coupled to the body; a first jaw coupled to the body and configured to engage a first portion of the mounting structure; and a second jaw coupled to the bracket and configured to engage a second portion of the mounting structure. The articulatable bracket is configured to articulate relative to the body along a segmented path comprising multiple directions to move the second jaw from an unclamping position to a range of clamping positions. The second jaw is further from the body in the clamping positions than in the unclamping position, and is closer to the first jaw in the clamping positions than in the unclamping position.
A method comprises receiving at least one sensor reading that indicates a position or an orientation of a manipulator arm of a manipulator assembly when a keying feature of a distal portion of the manipulator arm is in contact with and received by a key receiving feature of a registration element of a table mounted registration device mounted to a side of a surgical table between a top surface and a bottom surface of the surgical table. The distal portion of the manipulator arm is movable in a plurality of degrees of freedom. The method further comprises determining, based on the received sensor reading, a spatial relationship between the manipulator assembly and the table mounted registration device; and reducing, by the table mounted registration device, the plurality of degrees of freedom when the table mounted registration device is in contact with and receives the distal portion of the manipulator arm.
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
100.
ANATOMY BASED FORCE FEEDBACK AND INSTRUMENT GUIDANCE
Provided are systems and methods for anatomy based force feedback and instrument guidance. A system receives a data stream of a medical procedure performed with a robotic medical system. The system identifies a type of an anatomical structure on which the medical procedure is performed. The system determines an amount of force applied to the anatomical structure. The system determines, based at least on a comparison of the amount of force applied to the anatomical structure with a force threshold established for the type of the anatomical structure, a metric indicative of performance of the medical procedure. The system provides an indication of the metric to control performance of the medical procedure.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
