Medical procedure simulation with artificial intelligence mentors is described. One or more processors can construct an artificial intelligence agent using data of medical procedures performed by at least one medical practitioner, the artificial intelligence agent to perform a simulated medical procedure on a three dimensional anatomical structure. The one or more processors can animate, on a user interface, at least one action of the artificial intelligence agent in a simulated medical environment to perform the simulated medical procedure on the three dimensional anatomical structure. The one or more processors can receive an input from a medical robotic system to manipulate an instrument in the simulated medical environment. The one or more processors can animate movement of the instrument within the simulated medical environment based on the input received from the medical robotic system.
G06F 30/27 - Design optimisation, verification or simulation using machine learning, e.g. artificial intelligence, neural networks, support vector machines [SVM] or training a model
2.
APPARATUS AND METHOD FOR MINIMALLY INVASIVE SUTURING
An apparatus and method for minimally invasive suturing is disclosed. A suturing device for minimally invasive suturing includes proximal section having a proximal end, a distal end, and a longitudinal axis therebetween; a suture head assembly extending from the distal end of the proximal section; a suturing needle having a pointed end and a blunt end, the suturing needle capable of rotating about an axis approximately perpendicular to a longitudinal axis of the proximal section, wherein the pointed end of the suturing needle is positioned within the suture head assembly prior to and after rotation of the suturing needle; and an actuator extending from the proximal end of the proximal section to actuate a drive mechanism having a needle driver for engaging and rotating the suturing needle.
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 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
3.
LIMITED MOVEMENT OF A SURGICAL MOUNTING PLATFORM CONTROLLED BY MANUAL MOTION OF ROBOTIC ARMS
A system includes a first structure, a linkage supporting the first structure, a second structure supporting the linkage, and processor(s). The processor(s) are configured to determine, at a time when the system enters a mode, a first position of a reference location of a link of the first structure relative to the linkage and while the system is in the mode: detect a manual movement of the link that causes a first displacement of the reference location from the first position in a first direction and a second displacement of the reference location in a second direction, calculate, based on at least the first displacement, a motion of the second structure to cause movement of the linkage relative to the reference location in the first direction to reduce the first displacement while not changing the second displacement, and cause the second structure to move in accordance with the calculated motion.
The present disclosure describes a system and method for camera calibration. The system includes a memory and a controller communicatively coupled to the memory. The controller moves an endoscope through a cannula and stops the endoscope in the cannula. The controller also captures, using the endoscope at the position, images of a reference corresponding to the cannula and adjusts a parameter of the endoscope based on the reference in the images.
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 1/06 - 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
G06T 3/18 - Image warping, e.g. rearranging pixels individually
A robotic system includes a plurality of input control devices configured to be operated by an operator, a display device, and a controller coupled to the plurality of input control devices and the display device. The controller is configured to: determine a dynamic mapping, the dynamic mapping identifying at least a first association, the first association being between a first input control device of the plurality of input control devices and a first function, the first function being of a plurality of functions of a first instrument, the robotic system configured to support the first instrument; cause the display device to display a first user interface element, the first user interface element indicative of the first association; receive input from the first input control device; and cause, based on the dynamic mapping, the first function to be performed by the first instrument.
A61B 17/00 - Surgical instruments, devices or methods
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
A method performed by a computing system comprises receiving, from a fluoroscopic imager, having a first set of parameters, first fluoroscopic image data of a first fiducial marker within a surgical coordinate space. The method comprises receiving a configuration of the first fiducial marker within the surgical coordinate space. The method comprises determining a second set of parameters of the fluoroscopic imager in the surgical coordinate space based on the first flouroscopic image data and the configuration of the first fiducial marker. In some embodiments, determining the second set of parameters comprises developing a calibrated model of the fiducial marker in the surgical coordinate space from the first fluoroscopic image data and the configuration of the first fiducial marker.
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
Techniques are disclosed for imaging device control in a computer-assisted device that includes a first repositionable structure comprising joints, links coupled by the joints, and actuators coupled to drive motion of the first repositionable structure, the first repositionable structure configured to support an imaging device and a control system coupled to the first repositionable structure. The control system is configured to determine a first position of a first reference point, the first reference point being located at a first offset from a display unit; convert the first position to a target position; determine, based on the target position, a movement command of the first repositionable structure that moves the imaging device such that the imaging device moves toward a second position that is located at a second offset from the target position; and cause, using the actuators, actuation of the first repositionable structure based on the movement command.
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
8.
SYSTEMS AND METHODS FOR ENTERING AND EXITING A TELEOPERATIONAL STATE
A teleoperational system comprises a teleoperational control system and a teleoperational manipulator configured for operating an instrument in an environment. The teleoperational system also comprises an operator controller in communication with the teleoperational control system. The teleoperational control system includes a processing unit including one or more processors. The processing unit is configured to determine whether an operator of the operator controller has a head portion directed toward a display region of a display device and based on a determination that the operator's head portion is directed toward the display region, initiate an operator following mode in which movement of the operator controller provides a corresponding movement to the teleoperational manipulator. The teleoperational system may be a teleoperational medical system.
A system may comprise an elongate flexible instrument, a tissue grasping device including a helical needle extending from a distal end of the elongate flexible instrument, and a grasper drive system coupled to the tissue grasping device to drive motion of the tissue grasping device. The system may also include a sensor system coupled to the tissue grasping device and a control system configured to receive sensor information from the sensor system and control the grasper drive system in response to the received sensor information.
A61B 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 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 5/00 - Orthopaedic methods or devices for non-surgical treatment of bones or jointsNursing devices
Extracting features to compress images generated during medical procedures is provided. In examples, systems are configured to obtain one or more frames of a video captured by a camera of a medical procedure performed with a robotic medical system. Systems can be configured to generate features for the one or more frames using a first model trained with self-supervised machine learning and constructing a dataset based on the generated features. Some systems can be configured to construct a dataset based on the generated features and input the dataset into a second model to detect an aspect 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
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 11/60 - Editing figures and textCombining figures or text
G06V 10/44 - Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersectionsConnectivity analysis, e.g. of connected components
G16H 30/40 - ICT specially adapted for the handling or processing of medical images for processing medical images, e.g. editing
11.
TRACTION DRIVE AND INSERTION MONITORING FOR A FLEXIBLE DEVICE
A medical system includes a manipulator assembly that includes a traction drive for driving a flexible elongate device of a medical instrument along an insertion axis of the manipulator assembly. The traction drive is configured to form a detection zone that imprints a mechanical signature on the flexible elongate device. The manipulator assembly further includes a shape sensor configured to measure a shape of the flexible elongate device and a control system coupled to the manipulator assembly. The control system is configured to identify, using the shape sensor, the mechanical signature at a location of the flexible elongate device, and determine, based on the location, a spatial relationship between the flexible elongate device and the traction drive.
A medical device includes a device body and an insufflation fitting coupled to and extending from the device body. The insufflation fitting includes an annular low-flow fitting and an annular high-flow fitting. The annular low-flow fitting includes a radially outward surface generally reverse of a first inner sealing surface. The inner sealing surface defines a flow passageway for insufflation gas. The annular high-flow fitting includes a second inner sealing surface extending around and radially offset from the radially outward surface of the low-flow fitting.
Technology described herein can be embodied in a method that includes obtaining, using an imaging device, a plurality of images of a surgical scene, each image in the plurality of images being obtained under illumination by electromagnetic radiation in one of a plurality of wavelength ranges. The plurality of wavelength ranges are at least partially non-overlapping. The method also includes identifying a set of pixel values across multiple images in the plurality of images, wherein each pixel value in the set of pixel values is substantially representative of a particular portion of the surgical scene and determining, based on the set of pixel values and a chromophore model, a concentration of a chromophore in the particular portion of the surgical scene, wherein the chromophore model represents relationships between combinations of pixel values and chromophore concentrations.
A medical instrument includes a roll mechanism that rotates an instrument shaft. The roll mechanism may include a first gear coupled to the instrument shaft and meshed with a second gear. One of gears may be a spur gear while the other gear may be a beveloid gear. Further, the spur gear and the beveloid gear may be in a gear train containing a compressible gear, e.g., a gear with an inner center piece, an outer ring, and a flexible interconnecting structure between the inner center piece and the outer ring. With a compressible gear, an interference fit of in the gear train may be within manufacturing variations of the gear train, and the compressible gear may deflect radially away from the interference fit.
An exemplary image management system accesses semantic information regarding an anatomical object in a surgical scene, wherein the semantic information includes a current phase of a procedure performed on the anatomical object and registers, based at least in part on the semantic information regarding the anatomical object, an image of the surgical scene with a model of the anatomical object.
A surgical system comprises a manipulator arm comprising a plurality of links; a manipulator drive interface supported by the manipulator arm and configured to operably couple with and transmit drive force to a medical instrument drive interface in a mounted state of a medical instrument comprising the medical instrument drive interface; and a panel display coupled to an outer surface portion of the manipulator arm. The panel display is controllable to operate: to display information about the surgical system, and to appear not readily detectable as a display.
A medical system comprises a mobile medical apparatus having a column extending from a base; a surgical instrument manipulator arm coupled proximate to the second end of the column; and one or more object detection devices mounted on the mobile medical apparatus and arranged to detect one or more objects object in an environment surrounding the mobile medical apparatus and over an angular range of locations relative to the column. The medical system further includes a control system configured to determine a potential for interference between the mobile medical apparatus and an object detected by the one or more object detection devices.
An exemplary system determines an insertion trajectory that a surgical instrument is positioned to follow when inserted into a surgical space. The system provides, for display by a display device, an image that depicts a portion of the surgical space captured by an imaging device and at least a portion of a representation of the insertion trajectory in the surgical space.
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 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
19.
METHOD AND SYSTEM FOR CONTROLLING FLEXIBLE DEVICES IN PRESENCE OF ABNORMAL SENSOR SIGNALS
A system includes a flexible catheter, an actuator disposed at a proximal portion of the flexible catheter and that actuates the flexible catheter along an articulation degree of freedom, an articulation sensor that provides articulation sensor signals representing articulation of the flexible catheter, an actuator sensor that provides actuator sensor signals representing movement of the actuator; and a controller that, based on detecting a change in a first articulation sensor signal that prevents or hinders the first articulation sensor signal from being used as a feedback signal for controlling the actuator transitions from: using the articulation sensor signals to control the actuator to: determining an articulation estimate of the flexible catheter, based on a relationship between the movement of the actuator and the resulting articulation of the flexible catheter, applied to a first actuator sensor signal obtained from the actuator sensor; and controlling the actuator based on the articulation estimate.
Control cables in a surgical instrument are kept parallel to the instrument's longitudinal axis to prevent transverse forces from the cables being sensed by a transverse force sensor in the instrument. A surgical instrument includes an elongated hollow shaft having a longitudinal center axis. Multiple cables extend within the shaft. A force sensor includes a beam disposed within the shaft and one or more strain gauges disposed on the beam. A proximal anchor is disposed within the shaft and in contact with a proximal end of the beam. A distal anchor is at the distal end of the shaft and in contact with a distal end of the beam. A cable guide is disposed within the shaft to constrain portions of the multiple cables disposed alongside the beam to movement parallel to the center axis, and so prevent force from the moving cables causing transverse force on the beam.
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
21.
SYSTEMS AND METHODS FOR INTERVENTIONAL PROCEDURE PLANNING
A method of deploying an interventional instrument is performed by a processing system. The method comprises receiving an image of an anatomic structure from an imaging probe. The image has an image frame of reference. The imaging probe is extendable distally beyond a distal end of a guide catheter. The distal end of the guide catheter has a catheter frame of reference. The method further includes receiving location data associated with a target structure identified in the image. The received location data is in the image frame of reference. The method further comprises transforming the location data associated with the target structure from the image frame of reference to the catheter frame of reference.
A61B 10/04 - Endoscopic instruments, e.g. catheter-type instruments
A61B 17/00 - Surgical instruments, devices or methods
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 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
22.
SYSTEMS AND METHODS FOR SEGMENTATION OF ANATOMICAL STRUCTURES FOR IMAGE-GUIDED SURGERY
A method for image segmentation comprises receiving volumetric image data for an anatomical region and generating a first volumetric patch from the volumetric image data. The method also comprises generating a second volumetric patch from the first volumetric patch by weighting a plurality of volumetric units in the first volumetric patch and receiving the second volumetric patch as an input to a convolutional neural network. The method also comprises conducting a down-sampling filter process and conducting an up-sampling filter process within the convolutional neural network.
An instrument guide is removably inserted into a proximal portion of a cannula and extends to a distal end of the cannula to guide and support multiple surgical instruments within the cannula. The instrument guide is designed to be manufactured by injection molding of plastic material. The instrument guide includes a tube and several radial walls connected to the tube to form passageways within the tube. The radial walls are joined to a core where they intersect. The tube and radial walls have substantially the same wall thickness and the core has a minimum diameter that is substantially larger than the wall thickness to facilitate delivery of plastic material. Portions of the tube and radial walls are thinner than the general wall and rib thickness to form guideways that support surgical instruments within the passageways. Channels may be formed on an outside of the tube to deliver insufflation gas.
A medical instrument is provided for use with surgical system. The medical instrument includes an instrument shaft, a proximal disk coupled to a distal end of the instrument shaft, and a distal disk coupled to an end effector. At least one joint disk is positioned between and in axial alignment with the proximal disk and the distal disk. A distal face of the joint disk includes an engagement protrusion, while a proximal face of the joint disk includes an engagement recess that is orthogonal to the engagement recess. The medical instrument also includes a coupling member positioned within the central passage extending between the proximal disk and the distal disk the coupling member is fixedly coupled to the proximal disk and the distal disk but has an absence of coupling with the joint disk.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
A surgical system includes a dynamic preload tension feature for a tensioning element that actuates a distal end component of a surgical instrument. The surgical instrument includes a chassis at a proximal end of the surgical instrument, drive components mounted in the chassis, a distal end component at a distal end of the surgical instrument, a flexible tensioning element coupled between a first of the drive components and the distal end component, and a dynamic preload tensioner mounted in the chassis and coupled to a second of the drive components. The flexible tensioning element extends along a path. The dynamic preload tensioner is configured to be driven by the second of the drive components to be moved relative to the chassis and is positioned to change the path of the flexible tensioning element as the dynamic preload tensioner moves relative to the chassis.
An illustrative apparatus may obtain an image frame captured by an image capture system in accordance with a first plurality of auto-exposure parameter settings, the image frame including a first image component associated with visible light and a second image component associated with non-visible light; determine, based on the first image component, a first auto-exposure gain; determine, based on the second image component, a second auto-exposure gain; and determine, based on the first and second auto-exposure gains and in a predetermined order, a second plurality of auto-exposure parameter settings; wherein the second plurality of auto-exposure parameter settings is configured to be used by the image capture system to capture a subsequent image frame.
H04N 23/71 - Circuitry for evaluating the brightness variation
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
H04N 23/11 - Cameras or camera modules comprising electronic image sensorsControl thereof for generating image signals from different wavelengths for generating image signals from visible and infrared light wavelengths
H04N 23/72 - Combination of two or more compensation controls
H04N 23/73 - Circuitry for compensating brightness variation in the scene by influencing the exposure time
H04N 23/74 - Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
H04N 23/76 - Circuitry for compensating brightness variation in the scene by influencing the image signals
27.
SYSTEMS AND METHODS FOR ASSESSING SURGICAL ABILITY
Various of the disclosed embodiments relate to computer systems and computer-implemented methods for measuring and monitoring surgical performance. For example, the system may receive raw data acquired from the surgical theater, generate and select features from the data amenable to analysis, and then train a machine learning classifier using the selected features to facilitate subsequent assessment of other surgeons' performances. Generation and selection of the features may itself involve application of a machine learning classifier in some embodiments. While some embodiments contemplate raw data acquired from surgical robotic systems, some embodiments facilitate assessments upon data acquired from non-robotic surgical theaters.
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
28.
METHOD AND SYSTEM FOR COORDINATING USER ASSISTANCE
A medical system includes a coordination system for coordinating remote assistance for a robotic manipulation system while the robotic manipulation system is in one of multiple operational states. The coordination system includes an environment awareness engine that processes image data of the robotic manipulation system in an operating environment to determine a system-external context by detecting at least one procedure-progression indicator, and determining an estimate of an actual operational state from the multiple operational states based on the at least one procedure-progression indicator. The coordination system further includes a support agent that receives a support request from the medical system, evaluates the system-external context to identify a support person to respond to the support request by identifying the support person to respond to the support request according to the estimate of the actual operational state, and automatically contacts the support person to respond to the support request.
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
A medical tracking system may include a flexible elongate device, a shape sensor configured to measure a shape of the flexible elongate device, and a controller including at least one processor. The controller may be configured to register a reference shape of the flexible elongate device to an anatomical reference frame, identify, using the shape sensor, the reference shape at a first portion of the flexible elongate device, determine, using the shape sensor, a spatial relationship between a second portion of the flexible elongate device and the first portion and determine a position of the second portion of the flexible elongate device in the anatomical reference frame based on the registration of the reference shape to the anatomical reference frame and the spatial relationship between the first portion and the second portion of the flexible elongate device.
A61B 1/267 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor for the respiratory tract, e.g. laryngoscopes, bronchoscopes
A61B 17/00 - Surgical instruments, devices or methods
An illumination source may be coupled to an image capture device through a connector. A light sensor is placed downstream of the connector to measure the light received by the image capture device from the illumination source. The light sensor provides the measurement of the received light to the illumination source for closed-loop control of illumination source. The light sensor may be positioned in a camera housing to take into account light attenuation from the illumination source to the camera. The light sensor may be positioned at other locations on the image capture device. Multiple light sensors may be positioned at different locations on the image capture device to detect sources or locations of attenuation. Redundant light sensors of more than one type of sensor may be used at a single light sensor location to provide for validation of measurements and increase the variety of information measured.
A61B 1/06 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor with illuminating arrangements
A61B 1/00 - 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 1/05 - 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 characterised by the image sensor, e.g. camera, being in the distal end portion
A61B 1/07 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor with illuminating arrangements using light-conductive means, e.g. optical fibres
31.
INSTRUMENT FOLLOW ORIENTATION OFFSET FOR ERGONOMIC SURGEON MANIPULATOR CONTROL ORIENTATION
Systems and methods are described for assisting a user in controlling an instrument. The method may include: while operating according to a first operating condition: configuring a display device to display an actual representation of the instrument shaft based on image data; and controlling motion of the instrument working portion and shaft; and while operating according to a second operating condition: modifying image data to include a virtual representation of the instrument shaft and obscure the actual representation; configuring the display device to display the modified image data; and controlling motion of the instrument working portion and shaft by: receiving control signals from the user input system, processing control signals to determine a desired motion relative to the actual position to generate one or more modified control signals, and causing the repositionable structure to move relative to the actual position of the instrument shaft based on the modified control signals.
A fiber includes M primary cores and N redundant cores, where M an integer is greater than two and N is an integer greater than one. Interferometric circuitry detects interferometric pattern data associated with the M primary cores and the N redundant cores when the optical fiber is placed into a sensing position. Data processing circuitry calculates a primary core fiber bend value for the M primary cores and a redundant core fiber bend value for the N redundant cores based on a predetermined geometry of the M primary cores and the N redundant cores in the fiber and detected interferometric pattern data associated with the M primary cores and the N redundant cores. The primary core fiber bend value and the redundant core fiber bend value are compared in a comparison. The detected data for the M primary cores is determined reliable or unreliable based on the comparison. A signal is generated in response to an unreliable determination.
G01B 9/02004 - Interferometers characterised by controlling or generating intrinsic radiation properties using two or more frequencies using frequency scans
G01B 11/26 - Measuring arrangements characterised by the use of optical techniques for measuring angles or tapersMeasuring arrangements characterised by the use of optical techniques for testing the alignment of axes
33.
SYSTEMS AND METHODS FOR TOOL DETECTION AND ASSOCIATED CONTROL MODES
A method of detecting a tool being received in a medical system, the method including receiving, in a tool recognition assembly having a first reader with a first detection zone, the tool having a first target. The method also includes acquiring first sensor data from the first reader for the first detection zone and detecting an indication of an absence of the first target when the first sensor data is within a first pre-determined threshold range and logging the absence indication. The method also includes creating an insertion signature associated with the tool being received in the tool recognition assembly by combining, in a chronological sequence, the absence and presence indications from the first reader. The method further includes comparing the insertion signature to a predetermined set of model insertion signatures and determining a characteristic of the tool being received in the tool recognition assembly based on the comparing.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
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
34.
PREDICTION OF METRICS OF MEDICAL PROCEDURES AND MEDICAL ENVIRONMENTS USING ROBOTIC SYSTEM DATA
The arrangements disclosed herein relate to determining, via at least one machine learning model, a metric value using first robotic system data. The first robotic system data is generated by a first robotic system used to perform a first medical procedure in a first medical environment. The at least one machine learning model is based at least in part on second robotic system data and efficiency-related data comprising one or more second metric values for second medical procedures in second medical environments. The second robotic system data is generated by second robotic systems used to perform the second medical procedures in the second medical environments. The one or more second metric values is determined based at least in part on the second robotic system data and medical environment data generated by sensors deployed within the plurality of second medical environments. The metric value is provided for display on a User Interface (UI).
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
A method of registering sets of anatomical data for use during a medical procedure is provided herein. The method may include accessing a first set of model points of a patient anatomy of interest and intra-operatively acquiring a second set of model points by visualizing a portion of the anatomical surface in the patient with a vision probe. The method may further include extracting system information, including kinematic information from a robotic arm of a medical system and/or setup information, and generating an initial seed transformation based on the extracted system information. Thereafter, the method may include applying the initial seed transformation to the first set of model points and generating a first registration between the first set of model points and the second set of model points to permit model and actual information to be viewed and used together by an operator.
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 articulable mechanism includes a first link, a second link, and a joint structure coupling the first and second links to each other. The joint structure is configured to enable articulation of the first and second link relative to each other. A first pair of guide channels is defined by and extends through the first link. A second pair of guide channels is defined by and extends through the second link. A lining overlays one or more of at least a portion of the joint structure, the first guide channels, or the second guide channels. A pair of actuation elements extends respectively through the first guide channels, past the joint structure, and through the second guide channels. The lining provides an interior guide surface along at least part of a path of the actuation elements extending through the first and second guide channels and past the joint structure.
Systems and methods are described for selecting tasks for using artificial intelligence. The system may include one or more repositionable structures configured to support respective instruments, and a control system operably coupled to the repositionable structure, the control system configured to receive a plurality of data streams; analyze, using a task generation machine learning model, the data streams to identify one or more tasks that may be performed by the one or more repositionable structures and generate respective risk values for the tasks, wherein a task generation constitution including a plurality of rules is input into the task generation machine learning model to control how the task generation machine learning model analyzes the data steams to identify the tasks; select, using a task selection machine learning model, an automated task based on the respective risk values; and control the one or more repositionable structures to perform the selected automated task.
A medical robotic assembly configured to support, insert, retract, and actuate a surgical instrument. The medical robotic assembly includes a surgical instrument carriage configured for detachably mounting a surgical instrument to the surgical instrument carriage. The surgical instrument carriage includes a motor housing, a first output assembly in the motor housing, a second output assembly in the motor housing, a first sensor assembly configured to sense a rotational orientation of a first output drive coupling, and a second sensor assembly configured to sense a rotational orientation of a second output drive coupling.
A medical instrument includes a backend and a pair of release elements. The backend includes a docking feature shaped to engage a docking structure such as a docking port of a surgical robot or a sterile adaptor for a surgical robot. Each release element is coupled to the backend and may include an activation feature on one side of the backend and a push tab extending from either an opposite side or the same side of the backend. Movement of the activation features moves the push tabs from being aligned with the docking feature to pushing on the docking structure, permitting the medical instrument to be disengaged from the docking structure. Optionally, a coupling of the release elements limits a movement of the activation features.
A surgical instrument includes an end effector with opposing jaws that open and close relative to each other. The jaws each include a cam slot for receiving a cam pin. Translation of the pin through the cam slots opens and closes the jaws. The cam slots are shaped such that at least one of the jaws applies a grip force that is substantially proportional to a force applied to the pin to translate the pin through at least a portion of the slots (i.e., the ratio between force input and the resulting force output remains substantially the same as the pin travels through at least one portion of the slots). This design provides a constant mechanical advantage between the force applied to the pin and the force applied by the jaws, thereby allowing a user to more easily regulate the forces applied to tissue held by the jaws.
A61B 17/00 - Surgical instruments, devices or methods
A61B 17/29 - Forceps for use in minimally invasive surgery
A61B 17/295 - Forceps for use in minimally invasive surgery combined with cutting implements
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
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
Techniques for controlling an instrument include receiving a movement command; comparing an orientation of the instrument with an orientation of a field of view of an imaging system to produce an orientation difference, the imaging system being configured to capture images of an instrument workspace in which the instrument is located; converting the movement command to instrument motion based on a mapping; and causing the instrument to move according to the instrument motion. When the orientation difference does not meet an orientation criterion set, the mapping is a first mapping that maps the movement command to motion in a first direction relative to an instrument frame of reference. When the orientation difference meets the orientation criterion set, the mapping is a second mapping that maps the movement command to motion in a second direction relative to the instrument frame of reference. The second direction differs from the first direction.
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
A61B 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 8/12 - Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
A61B 17/00 - Surgical instruments, devices or methods
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
Techniques for constraining motion of a robotic system. The robotic system includes a structure comprising at least one movable link, the structure configured to support a first manipulator; and a processing system. The processing system is configured to perform operations comprising in response to receiving a command specifying a commanded motion for an instrument supported by the first manipulator: determining a limit for motion of the structure based on at least one parameter selected from the group consisting of: a parameter describing a procedure being performed by the robotic system and an operating mode of the robotic system; determining a first motion of the instrument relative to the structure and a second motion of the structure, wherein the second motion does not violate the limit for motion of the structure; driving the first manipulator to cause the first motion; and driving the structure according to the second motion.
An ablation instrument comprises a cable, a conductive antenna body coupled to the cable and configured to deliver ablative energy to tissue, and a tip having a cross-sectional diameter of less than 5 mm. The tip comprises a blade configured to cut a slit in the tissue. The blade comprises a plurality of cutting edges, and each cutting edge of the plurality of cutting edges has a width between 30% and 50% of the cross-sectional diameter of the tip.
A61B 18/18 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
An image capture device includes an image sensor comprising a first plurality of pixels and a second plurality of pixels; a frame timer coupled to the image sensor, the frame timer configured to cause the image sensor to: capture, using the first plurality of pixels, a first plurality of frames of pixel data at a first frame rate; and capture, using the second plurality of pixels, a second plurality of frames of pixel data at a second frame rate different than the first frame rate; a visible light color filter array comprising a plurality of individual visible light color filters; and an alternative light filter array comprising a plurality of individual alternative light filters, one individual alternative light filter of the plurality of individual alternative light filters covering both a first pixel of the first plurality of pixels and a second pixel of the second plurality of pixels.
H04N 13/239 - Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
H04N 23/11 - Cameras or camera modules comprising electronic image sensorsControl thereof for generating image signals from different wavelengths for generating image signals from visible and infrared light wavelengths
H04N 23/13 - Cameras or camera modules comprising electronic image sensorsControl thereof for generating image signals from different wavelengths with multiple sensors
H04N 23/73 - Circuitry for compensating brightness variation in the scene by influencing the exposure time
H04N 23/84 - Camera processing pipelinesComponents thereof for processing colour signals
H04N 25/13 - Arrangement of colour filter arrays [CFA]Filter mosaics characterised by the spectral characteristics of the filter elements
H04N 25/76 - Addressed sensors, e.g. MOS or CMOS sensors
45.
MULTI-TASK AI SYSTEM FOR DYNAMIC AND INTELLIGENT ROBOTIC TASK PLANNING BASED ON USER INPUT
Systems and methods are described for determining and performing tasks for medical procedures using adaptive artificial intelligence. The system may include one or more repositionable structures configured to support respective instruments, and a control system operably coupled to the repositionable structure, the control system configured to (i) receive a plurality of data streams from one or more data sources, (ii) analyze, according to a task generation machine learning model constitution, the data streams to identify a plurality of tasks to be performed by the one or more repositionable structures; (iii) filter, according to a task selection machine learning model, the identified tasks; (iv) detect a user input and modify, based on the user-input, a data streams, a machine learning model, or operation of a repositionable structure; (v) select a task to be performed; and (vi) control the repositionable structures to perform the selected task.
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
46.
COMPUTER-ASSISTED CONTENT CONTROL IN DUAL OPERATOR CONFIGURATION
The present disclosure describes a system that allows control from two different consoles of a surgical robot. The system includes the surgical robot, a first console, a second console, and a computer system including a memory and a controller communicatively coupled to the memory. The controller of the system communicates, to the first console and the second console, video of a surgical site for the surgical robot based on determining that both the first console and the second console are operating in a first mode. The controller of the system, based on determining that the first console transitioned from operating in the first mode to operating in a second mode while the second console operates in the first mode, communicates, to the first console, video of a digital menu of applications while continuing to communicate video of the surgical site to the second console.
An illustrative system may access a first image sequence captured by an imaging device during a medical procedure, the first image sequence comprising first images. the first images based on illumination of a scene associated with the medical procedure using visible-spectrum light: access a second image sequence captured by the imaging device during the medical procedure. the second image sequence comprising second images. the second images based on illumination of the scene using non-visible spectrum light: and provide the first image sequence and the second image sequence to a machine learning module.
G06V 10/44 - Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersectionsConnectivity analysis, e.g. of connected components
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 30/40 - ICT specially adapted for the handling or processing of medical images for processing medical images, e.g. editing
48.
SYSTEMS AND METHODS FOR NAVIGATION BASED ON ORDERED SENSOR RECORDS
A method of tracking a medical instrument comprises receiving a model of an anatomical passageway formation and receiving a set of ordered sensor records for the medical instrument. The set of ordered sensor records provide a path history of the medical instrument. The method further comprises registering the medical instrument with the model of the anatomical passageway formation based on the path history. The method further includes displaying a virtual visualization image in a display system, the virtual visualization image being based on the registering of the medical instrument with the model of the anatomical passageway and depicting a rendered view of the model of the anatomical passageway from a perspective of the medical instrument within the model of the anatomical passageway.
Techniques for controlling force in teleoperated instruments include a repositionable structure configured to support an instrument, an input control, and a control system. The control system is configured to control the instrument based on input received from an operator using the input control; during the control of the instrument in a first mode, determine whether to switch control of the instrument to a second mode; in response to a determination to switch the control of the instrument to the second mode, switch control of the instrument to the second mode; and while in the second mode, actuate an actuator used to control the instrument subject to a second force or torque limit lower than a first force or torque limit used to actuate the actuator in the first mode. Controlling the instrument includes controlling one or both of a position or an orientation of the instrument.
An apparatus for movably coupling a robotic medical instrument system to an anatomic orifice device is provided. The apparatus comprises a first end portion configured to connect to the robotic medical instrument system. The apparatus further comprises a second end portion configured to connect to the anatomic orifice device. The apparatus further comprises a medial portion extending between the first end portion and the second end portion. The medial portion comprises a plurality of linkages. A first end of each linkage is coupled to the first end portion of the apparatus, and a second end of each linkage is coupled to the second end portion of the apparatus.
Techniques for displaying images from an imaging device include a display device and one or more processors coupled to the display device. The one or more processors are configured to track movement of an imaging device, determine a display-device-to-imaging-window transform based on the tracked movement of the imaging device, and display an image from the imaging device on the display device. A position and an orientation of the image on the display device is based on the display-device-to-imaging-window transform. The position and the orientation of the image on the display device provides one or more cues to an operator regarding at least one of: an inability of the imaging device to follow a command to move the imaging device, a range of motion limit of the imaging device, or a mismatch in degrees of freedom between the imaging device and the display device.
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
52.
TELEOPERATED SURGICAL SYSTEM WITH SURGEON SKILL LEVEL BASED INSTRUMENT CONTROL
A teleoperated surgical system is provided comprising: a first robotic surgical instrument; an image capture; a user display; a user input command device coupled to receive user input commands to control movement of the first robotic surgical instrument; and a movement controller coupled to scale a rate of movement of the first robotic surgical instrument, based at least in part upon a surgical skill level at using the first robotic surgical instrument of the user providing the received user input commands, from a rate of movement indicated by the user input commands received at the user input command device.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
53.
MASTER CONTROL DEVICE WITH MULTI-FINGER GRIP AND METHODS THEREFOR
Implementations relate to a master control device. In some implementations, a master control device includes a thumb grip member including a thumb grip receptive to a thumb of a hand of a user. The master control device includes a finger grip member coupled to the thumb grip member at a proximal end of the master control device and extending toward a distal end of the master control device, where the finger grip member includes a finger grip receptive to multiple fingers of the hand. The thumb grip member and finger grip member are moveable in a pinching configuration with respect to each other. The master control device includes a sensor coupled to at least one of the thumb grip member or finger grip member to sense relative positions of the thumb grip member and finger grip member with respect to each other in the pinching configuration.
G05G 9/047 - Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
54.
TECHNIQUES FOR UPDATING A REGISTRATION TRANSFORM BETWEEN AN EXTENDED-REALITY SYSTEM AND A COMPUTER-ASSISTED DEVICE
Techniques for updating the registration of an extended reality (XR) system with a computer-assisted device include the following. A control system communicably coupled to the computer-assisted device and to a sensor system is configured to: determine. based on sensor data. pose information of an operator portion of an operator during one or more interactions between the operator portion and a device portion of the computer-assisted device. determine pose information of the device portion during the one or more interactions. update a registration transform between the XR system and the computer-assisted device based on the pose information of the operator portion and the pose information of the device portion, and cause the XR system to render an image viewable by the operator using the updated registration transform.
Systems and methods for automated docking include a linkage, a docking arm located near a distal end of the linkage, a docking support mechanism, and one or more processors. The one or more processors are configured to detect a docking port using the docking support mechanism and actuate the linkage based on the detection to align the docking arm with the docking port, move the docking arm toward the docking port, and dock the docking arm to the docking port. In some embodiments, to actuate the linkage based on the detection, the one or more processors are configured to align the docking arm with an alignment point of the docking port, align an alignment axis of the docking arm with an alignment axis of the docking port, rotationally align the docking arm with the docking port, and reduce a relative distance between the docking arm and the docking port.
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
56.
CONTEXT-AWARENESS SYSTEMS AND METHODS FOR A COMPUTER-ASSISTED SURGICAL SYSTEM
A context-awareness system, which is communicatively coupled to a computer-assisted surgical system during a surgical session in which the computer-assisted surgical system performs one or more operations with respect to a patient, determines that a user device is communicatively paired with the computer-assisted surgical system during the surgical session, identifies a user role associated with the user device, accesses surgical session data generated during the surgical session and based on the one or more operations performed by the computer-assisted surgical system, detects, based on the surgical session data, an event that occurs with respect to the computer-assisted surgical system during the surgical session, identifies, based on the detected event, contextual information associated with the event and that is specific to the user role associated with the user device, and transmits, to the user device, a command for the user device to present the contextual information associated with the event.
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
57.
SYSTEMS AND METHODS FOR FILTERING LOCALIZATION DATA
A method performed by a computing system comprises providing instructions to a teleoperational assembly to move an instrument within an anatomic passageway according to a commanded velocity profile. The method also comprises receiving a set of spatial information from the instrument positioned within the anatomic passageway and filtering the set of spatial information to select a quantity of spatial data records from the set of spatial information proportionate to the commanded velocity profile.
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 17/00 - Surgical instruments, devices or methods
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 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 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
58.
INTELLIGENT UTILIZATION OF SURGICAL ROBOTIC INSTRUMENTS AND MANIPULATORS
Systems and methods are described for determining task based utilization of instruments and repositionable structures. The system may include one or more repositionable structures operatively coupled to one or more instruments, and a control system operably coupled to the one or more repositionable structures, the control system configured to receive a plurality of data streams from one or more data sources and analyze the data streams to identify a task to be performed; determine, based on the task to be performed and via an actor selection machine learning model, one or more selected instruments for performing the task, or a selected repositionable structure of the repositionable structures; generate, via a robotic action machine learning model, one or more action tokens for controlling the repositionable structures based on the task and the selected instrument or selected repositionable structure; and control the selected instrument or selected repositionable structure to perform the task.
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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
59.
SYSTEMS AND METHODS OF REGISTRATION FOR IMAGE-GUIDED SURGERY
A method of registering sets of anatomical data for use during a surgical procedure is provided herein. The method may include segmenting a set of first modality image data representing a model of one or more passageways within a patient and generating a first set of points based on the segmented set of first modality image data representing the model of the one or more passageways. The method may further include determining a set of matches between a second set of points and the first set of points, wherein the second set of points is obtained by a second modality and discarding a subset of the set of matches based on a first heuristic to generate a modified set of matches. The second set of points may then be moved relative to the first set of points based on the modified set of matches and displayed on a display.
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 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 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
G06T 7/33 - Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
A system receives a first set of points corresponding to an anatomical feature from a sensor(s) of a medical instrument. Each point in the first set of points represents a position in a first frame. The system receives a second set of points corresponding to the anatomical feature from an imaging system. Each point in the second set of points represents a position in a second frame. The system aligns a first subset of the first set of points with the second set of points based on a first transformation. The system transforms the first set of points based on the first transformation. The system aligns the first subset of the first set of points and a second subset of the first set of points with the second set of points based on a second transformation. The system transforms the first set of points based on the second transformation.
Implementations relate to a moveable display system. In some implementations, a control unit includes a first support and a second support coupled to the first support. The second support is linearly translatable along a first axis in a first degree of freedom with respect to the first support, and at least a portion of the second support is linearly translatable along a second axis in a second degree of freedom with respect to the first support. The control unit includes a display unit rotatably coupled to the second support. The display unit is rotatable about a third axis in a third degree of freedom with respect to the second support, and the display unit includes a display device.
F16M 11/04 - Means for attachment of apparatusMeans allowing adjustment of the apparatus relatively to the stand
F16M 11/12 - Means for attachment of apparatusMeans allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
F16M 11/28 - Undercarriages for supports with one single telescoping pillar
G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
62.
SYSTEMS AND METHOD FOR SELECTING ASSIGNMENTS FOR COMPONENTS OF COMPUTER-ASSISTED DEVICES
A device management system includes a device including a drive assembly having a plurality of drive elements including a first drive element, a control system, and a memory storing instructions. The drive assembly is configured to physically couple with an instrument when the instrument is mounted to the device. One or more processors of the control system are caused to perform operations when executing the instructions. The operations include selecting, for the first drive element, a first assignment, the first assignment pairing the first drive element with a first input element of the instrument so that the first drive element can drive the first input element, a second assignment pairing the first drive element with a second input element of the instrument so the first drive element can drive the second input element instead of the first input element; and causing the first drive element to adopt the first assignment.
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
63.
COMBINING NEAR-INFRARED INFORMATION WITH COLORED IMAGES IN IMAGE-GUIDED SURGERY
An illustrative method includes receiving data representing information captured using a first sensor and a second sensor of a multi-sensor camera associated with a surgical device. The sensors are configured to capture a surgical scene comprising biological tissues as illuminated by a light source configured to emit wavelengths in the visible spectrum corresponding to sensing capabilities of the sensors, respectively. The method further comprises receiving data representing information captured using a third sensor of the multi-sensor camera, the third sensor configured to capture the surgical scene as illuminated by a NIR light source, generating a first visual representation of the surgical scene based on the data representing the information captured using the sensors, combining the first visual representation with the information captured using the third sensor to generate a second visual representation of the surgical scene, and presenting the second visual representation of the surgical scene on a display 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 1/05 - 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 characterised by the image sensor, e.g. camera, being in the distal end portion
A61B 1/06 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor with illuminating arrangements
A61B 1/313 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
An instrument includes a shaft comprising a distal end portion, a proximal end portion, and a longitudinal axis extending between the distal end portion and the proximal end portion, and a moveable component coupled to the distal end portion of the shaft. A drive assembly is coupled to the proximal end portion of the shaft, the drive assembly comprising a gimbal assembly rotatable about a first axis and a second axis. A first actuation member is coupled to the gimbal assembly and extends from the drive assembly along the shaft and coupled to the moveable component, and a second actuation member is coupled to the gimbal assembly and extends along the drive assembly along the shaft and coupled to the moveable component. Devices, systems, and methods relate to gimbal assemblies and related drive assemblies.
A medical system comprises a control system configured to receive first imaging data of a patient anatomy and identify an anatomical target in the patient anatomy. The control system is further configured to generate a treatment zone having a first axis. The treatment zone includes the anatomical target. The control system is further configured to determine a deployment position of an elongate device configured to receive a medical instrument for treatment of the anatomical target. The deployment position is aligned with the first axis of the treatment zone.
An image capturing device comprises an elongated body, an imaging window coupled to a distal end of the elongated body, and a heat source within the elongated body. The heat source is configured to apply heat to the imaging window to remove condensation from or prevent condensation from forming on the imaging window.
G03B 17/55 - Details of cameras or camera bodiesAccessories therefor with provision for heating or cooling, e.g. in aircraft
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 1/05 - 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 characterised by the image sensor, e.g. camera, being in the distal end portion
A61B 1/07 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor with illuminating arrangements using light-conductive means, e.g. optical fibres
A61B 1/12 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor with cooling or rinsing arrangements
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
G02B 23/24 - Instruments for viewing the inside of hollow bodies, e.g. fibrescopes
G03B 15/14 - Special procedures for taking photographsApparatus therefor for taking photographs during medical operations
67.
SYSTEM ARCHITECTURE AND METHODS FOR GENERATING STERILE PROCESSING ANALYTICS
The arrangements disclosed herein relate to systems, apparatuses, methods, and non-transitory processor-readable media for receiving, from one or more first sensors located in a decontamination room, multi-modal data comprising three-dimensional data of at least one sterile processing (SP) procedure performed in a decontamination room, determining, using a first activity recognition machine-learning model, one or more SP actions based at least in part on the multi-modal data, determining, using an SP analysis machine-learning model, an SP metric value based at least in part on the one or more SP actions, wherein the SP metric value is indicative of at least one of efficiency or efficacy of the at least one SP procedure, and providing the SP metric value to a display device for display.
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
A force sensor comprising a beam having a longitudinal center axis and a neutral axis that extends along a beam surface parallel to the center axis. A first half-bridge includes tension resistors. A second half-bridge includes tension resistors. A third half-bridge includes compression resistors. A fourth half-bridge includes compression resistors. The half-bridges are arranged on the beam surface such that redundant measurements of orthogonal components of a force imparted to the beam can be made using four different combinations of three of the half-bridges. The redundant measurements can be used to identify a malfunction of one or more of the resistors.
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
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
G01L 25/00 - Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
69.
SYSTEMS AND METHODS FOR INTERVENTIONAL PROCEDURE PLANNING
A method of planning a procedure to deploy an interventional instrument comprises receiving a model of an anatomic structure. The anatomic structure includes a plurality of passageways. The method further includes identifying a target structure in the model and receiving information about an operational capability of the interventional instrument within the plurality of passageways. The method further comprises identifying a planned deployment location for positioning a distal tip of the interventional instrument to perform the procedure on the target structure based upon the operational capability of the interventional instrument.
A61B 10/04 - Endoscopic instruments, e.g. catheter-type instruments
A61B 17/00 - Surgical instruments, devices or methods
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 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
70.
TABLE-MOUNTED MANIPULATOR SYSTEM, AND RELATED DEVICES, SYSTEMS AND METHODS
A teleoperable manipulator system can comprise a table assembly, a rail coupled to the table assembly, and a manipulator coupled to the rail. The table assembly comprises a platform configured to support a body, the platform having lateral and longitudinal dimensions. The manipulator is translatable relative to the rail along a longitudinal dimension of the rail. The manipulator comprises a proximal link assembly comprising a proximal arm coupled to the rail by one or more proximal joints. The proximal arm is extendable in length.
B25J 5/02 - Manipulators mounted on wheels or on carriages travelling along a guideway
B25J 9/04 - Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian co-ordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical co-ordinate type or polar co-ordinate type
Techniques for displaying an extended reality (XR) indication of a potential collision between a portion of an object and a portion of a computer-assisted system include the following. The computer-assisted system comprises a sensor system configured to capture sensor data of an environment, and a control system communicably coupled to the sensor system. The control system is configured to: determine a pose of a portion of an object in the environment based on the sensor data, determine a pose of a portion of the computer-assisted system, determine at least one characteristic associated with a potential collision between the portion of the object and the portion of the computer-assisted system, select the potential collision for display based on the at least one characteristic, and cause an XR indication of the potential collision to be displayed to an operator via a display system.
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
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
72.
SYSTEMS AND METHODS FOR DETERMINING REGISTRATION OF ROBOTIC MANIPULATORS OR ASSOCIATED TOOLS AND CONTROL
A robotic system includes first and second manipulator assemblies in an operating environment and having separately movable bases. A processing unit is configured to receive first sensor data from a first plurality of sensors disposed on the first manipulator assembly, wherein the first sensor data provide spatial information about the operating environment external to the first manipulator assembly. A first spatial relationship of the second manipulator assembly relative to the first manipulator assembly is determined using data including the first sensor data. A first alignment relationship between the first and second manipulator assemblies is established based on the first spatial relationship. Based on the first alignment relationship, motion of the second manipulator assembly is commanded in response to a command from a first input device operable by an operator.
An optical fiber includes multiple optical cores configured in the fiber including a set of primary cores and an auxiliary core. An interferometric measurement system uses measurements from the multiple primary cores to predict a response from the auxiliary core. The predicted auxiliary core response is compared with the actual auxiliary core response to determine if they differ by more than a predetermined amount, in which case the measurements from the multiple primary cores may be deemed unreliable.
A medical device includes a wrist link. a tool member, and a tension element. The wrist link includes a discrete first link piece and a discrete second link piece. The first link piece includes a first clevis ear and the second link piece includes a second clevis car. The second link piece is coupled to the first link piece to position the second clevis ear opposite the first clevis car and to define a tension element guide channel between the first link piece and the second link piece. The tool member is coupled to rotate between the first clevis ear and the second clevis car about a tool member rotation axis. The tension element is coupled to the tool member and extends from the tool member through the tension element guide channel. Tension on the tension element urges the tool member to rotate about the tool member rotation axis.
Aspects of this technical solution can determine, by a first machine learning model based on a first input comprising data for a medical procedure performed in the medical environment, a first output identifying an object or a person at a first location in the medical environment, the data including one or more images captured by a sensor within the medical environment, determine, respective to a second location of a radiation-emitting device in a medical environment, one or more radiation metrics corresponding to propagation of radiation from the radiation-emitting device through the medical environment, and generate, by a second machine learning model based on a second input comprising the radiation metrics, the first location, and the first output, a second output indicative of a quantity of radiation exposure of the object or the person at the first location.
An instrument sterile drape includes a plastic sheet and a pouch sealed to a first opening in the plastic sheet. The pouch is shaped to fit around a carriage that includes actuators and may be shaped to provide a loose form fit around the carriage. A stiffener is coupled to the pouch around a second opening in the pouch to provide an area that is less elastic than the remainder of the pouch. An instrument sterile adapter (ISA) may be coupled to the second opening in the pouch. The ISA may include a bottom plate and a top plate located on opposite sides of the pouch and joined together. Portions of the bottom plate may project through the top plate to provide a datum plane to receive a surgical instrument. The ISA may contain loose pins that depress sensing pins in the carriage when a surgical instrument is mounted.
A61B 46/10 - Surgical drapes specially adapted for instruments
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 18/00 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 46/23 - Surgical drapes specially adapted for patients with means to retain or hold surgical implements
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 90/98 - Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders
F16H 1/20 - Toothed gearings for conveying rotary motion without gears having orbital motion involving more than two intermeshing members
A method of engaging a medical instrument with a medical instrument manipulator comprises receiving an indication that a first input coupling of the medical instrument is positioned adjacent to a first drive output of the manipulator. The first drive output is driven by a first actuating element. In response to receiving the indication, the first drive output is rotated in a first rotational direction. A determination is made, by one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating the first drive output in the first rotational direction. If the resistance torque is not experienced by the first actuating element after rotating of the first drive output in the first rotational direction, the first drive output is rotated in a second rotational direction. A determination is made, by the one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating of the first drive output in the second rotational direction.
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
80.
SYSTEM AND METHOD FOR INTEGRATED SURGICAL TABLE MOTION
A computer-assisted device includes an articulated arm having a plurality of joints including a first joint and a second joint, the articulated arm configured to be coupled to an imaging device and a control unit including one or more hardware processors. The control unit is configured to, when coupled to the articulated arm and a table determine a virtual coordinate frame based on a pose of the imaging device before the first joint is set to a floating mode, configure the first joint to the floating mode, detect movement of the first joint, determine movement of the table based on motion data received from the table, transform the determined movement of the table to the virtual coordinate frame, and drive the second joint based on the movement of the first joint and the determined movement of the table in the virtual coordinate frame.
Techniques for monitoring a computer-assisted device include a plurality of manipulators, each manipulator being associated with at least one control point of a plurality of control points; and a control unit. The control unit is configured to: determine a first spatial configuration of the plurality of control points, the first spatial configuration being prior to a movement of a table being operated concurrently with the computer-assisted device; determine the movement of the table causing motion of at least one control point; determine, based on the movement of the table and the first spatial configuration, an expected spatial configuration of the plurality of control points; compare the expected spatial configuration with an actual spatial configuration of the plurality of control points to determine whether to perform a remedial action; and perform the remedial action in response to a determination to perform the remedial action.
Aspects of this technical solution can receive a first set of data from an exocentric sensor, the exocentric sensor being configured to capture information of a medical environment, receive a second set of data from an egocentric sensor, the egocentric sensor being configured to capture egocentric information from a perspective of a first medical personnel in the medical environment, receive a third set of data from a computer-assisted medical system, and generate, using one or more machine-learning models, a set of procedure information for a medical procedure performed in the medical environment based on the first set of data from the exocentric sensor, the second set of data from the egocentric sensor, and the third set of data from the computer-assisted medical system.
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
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
83.
CLOSED-LOOP FEEDBACK BASED ON MIXED DIMENSIONALITY IMAGING
A medical system includes a manipulator assembly configured to drive a flexible elongate device, and a control system coupled to the manipulator assembly. The control system is configured to receive a three-dimensional (3D) image of a distal portion of the flexible elongate device and a target structure, determine, based on the 3D image, a two-dimensional (2D) imaging plane for viewing movement of the distal portion of the flexible elongate device from a first position captured in the 3D image to a second position that points toward the target structure, receive 2D images in the 2D imaging plane captured over time, and control the manipulator assembly to move the distal portion of the flexible elongate device from the first position to the second position based on the 2D images.
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
A system may receive a first signal representative of light collected by a first pixel included in a two-by-two array of pixels, the first signal comprising data representative of a combination of a first color component of visible light and fluorescence illumination; receive a second signal representative of light collected by a second pixel included in the two-by-two array of pixels, the second signal representative of a second color component of the visible light; receive a third signal representative of light collected by a third pixel included in the two-by-two array of pixels, the third signal representative of a combination of the second color component and the fluorescence illumination; and receive a fourth signal representative of light collected by a fourth pixel included in the two-by-two array of pixels, the fourth signal representative of a combination of a third color component of the visible light and the fluorescence illumination.
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
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 1/04 - 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 1/05 - 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 characterised by the image sensor, e.g. camera, being in the distal end portion
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
85.
SURGICAL INSTRUMENT WITH LINEAR AND PURSE STRING SUTURE STAPLES
A surgical stapling instrument is configured to dissect tissue, apply a linear staple line along one side of the tissue dissection and apply a suture, such as a purse string suture, to the other side of the tissue dissection. The instrument comprises an elongate shaft, first and second jaws configured to open and close and a cutting element. The instrument includes a first row of staples in each of the first and second jaws having a suture extending therethrough and a second row of staples in the second jaw. A drive member is configured to translate distally through the end effector to dissect tissue with the cutting element, drive the second row of staples into the tissue on one side of the dissection and to apply the first row of staples and suture in combination to form a purse string suture on the other side of the tissue dissection.
A61B 17/115 - Staplers for performing anastomosis, e.g. in a single operation
A61B 17/11 - Surgical instruments, devices or methods for closing wounds or holding wounds closedAccessories for use therewith for performing anastomosisButtons for anastomosis
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
87.
SYSTEMS AND METHODS FOR CONFIGURING COMPONENTS IN A MINIMALLY INVASIVE INSTRUMENT
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
88.
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 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
90.
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 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
95.
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.
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
patents
