Aspects of this technical solution can receive, via a sensor located about a medical environment, video of a medical procedure, where the video includes at least one of medical staff, a patient, a robotic system, instrument, or the medical environment, identify, using a model configured to detect one or more features in the video, a state indicative of at least one of the robotic system, the instrument, or the medical environment, determine, based at least on the state, a parameter of the sensor, where the parameter corresponds to a configuration of the sensor, and update, based at least on the parameter, the sensor to correspond to the configuration.
2.
INTELLIGENT DATA COLLECTION FOR MEDICAL ENVIRONMENTS
The arrangements disclosed herein relate to receiving a plurality of streams of multimodal data comprising robotic system data of a robotic medical system, instrument data of an instrument, video data of a medical environment, and depth data of a medical environment, determining at least one phase and at least one task in each of the at least one phase using the plurality of streams of the multimodal data, determining a trigger event based at least in part on the at least one phase and the at least one task, and enabling recording or disable recording of at least one stream of the plurality of streams of the multimodal data in response to the trigger event.
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 10/60 - ICT specially adapted for the handling or processing of patient-related medical or healthcare data for patient-specific data, e.g. for electronic patient records
G16H 15/00 - ICT specially adapted for medical reports, e.g. generation or transmission thereof
3.
MEDICAL TABLE ASSEMBLIES, AND RELATED DEVICES, SYSTEMS, AND METHODS
A table assembly for supporting a body of a patient comprises a base structure and a tabletop supported by the base structure. The tabletop comprises first and second sections coupled together and rotatable relative to each other about a pivot axis extending along a width dimension of the tabletop. The first and second sections are rotatable relative to each other between a neutral position and an angled position. In the neutral position, the first and second sections are at 180 degrees relative to each other and together define a patient support surface lying in a plane at a first height and the pivot axis is in a first position relative to the plane. In the angled position, the first and second sections are at a non-parallel angle relative to each other and are each completely at or above the first height, to together define an angled patient support surface.
A61G 13/06 - Adjustable operating tablesControls therefor raising or lowering of the whole table surface
A61G 13/08 - Adjustable operating tablesControls therefor the table being divided into different adjustable sections
A61G 13/12 - Rests specially adapted thereforArrangements of patient-supporting surfaces
A61G 7/015 - Beds specially adapted for nursingDevices for lifting patients or disabled persons having adjustable mattress frame divided into different adjustable sections, e.g. for Gatch position
A61G 7/012 - Beds specially adapted for nursingDevices for lifting patients or disabled persons having adjustable mattress frame raising or lowering of the whole mattress frame
A61G 7/07 - Rests specially adapted therefor for the head or torso
4.
SURGICAL INSTRUMENT PRESENCE DETECTION WITH NOISY LABEL MACHINE LEARNING
A technical solution provides a framework to generate and use noisy label-tolerant ML models to detect objects in robotic procedure videos. The framework can identify a series of frames of a video of a medical procedure captured by a robotic medical system. The framework can identify a model trained based on frames of a plurality of videos captured for medical procedures labeled with data identifying installation of instruments of robotic medical systems. The framework can determine, using the model, a per-frame label for each frame of the series of frames, the per-frame label indicative of a probability of presence of one or more types of instruments. The framework can display, via a graphical user interface, an indication of a presence of a type of instrument based at least in part on a time stamp in the video on the per- frame label of the series of frames determined via the model.
Technical solutions for implementing surgeon-side and patient-side triangulation in robotic surgeries is provided. A processor can be configured to identify at least one of a type of task or a type of phase of a medical procedure. The processor can determine vertices associated with a first manipulator component, a second manipulator component, and an optical device that are used to perform the at least one of the type of task or the type of phase of the medical procedure. The processor can generate, via a triangulation function, a metric based on the vertices. The processor can provide a visual indication of a performance of the medical procedure based on a comparison of the metric with a threshold established for the type of task or the type of phase.
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A computer-assisted system including a manipulator assembly configured to support an instrument with a tension member to actuate a degree of freedom of the instrument. The manipulator assembly is configured to modulate a tension metric of the tension member. The computer-assisted system further includes a control system. The control system configured to make a first determination of whether the tension metric corresponds to a high-tension state, make a second determination of whether a tension drop of the tension metric corresponding to the high-tension state occurs at a rate exceeding a rate threshold, and make a third determination of whether, after the tension drop, the tension metric is below a low-tension threshold. The control system is further configured to determine, based on the first, second, and third determinations, whether there is a break in the tension member, and perform an action in response to a determined break in the tension member.
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
The present disclosure describes a computer-assisted robotic system and a method for performing a dissection. The system includes a memory and a controller communicatively coupled to the memory. The controller receives, from an ultrasound sensor, first ultrasound images showing a first anatomical structure and generates, based on the first ultrasound images, a first model of the first anatomical structure. The controller also moves, based on a first user input, a first surgical instrument and moves, based on the first model and the movement of the first surgical instrument, at least one of the ultrasound sensor or a camera.
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
8.
FOCAL THERAPY MEDICAL DEVICES AND METHODS FOR DEEP-SEATED TARGETS
A medical device includes body members movable relative to one another to provide both surface and penetrating focal therapy treatments. The medical device includes electrodes to provide surface focal therapy treatments and needles that can be selectively extended distally of a distal end portion of the medical device to provide penetrating focal therapy treatments.
The present disclosure describes a computer system and method for manipulating models. The computer system includes a display, a first user input device, a second user input device, a memory, and a processor communicatively coupled to the memory. The processor presents, on the display, a model of an object and rotates the model based on rotational movement of at least one of the first user input device or the second user input device within a virtual shape. The processor resists, at an edge of the virtual shape, the rotational movement of at least one of the first user input device or the second user input and translates the model and the virtual shape based on translational movement of at least one of the first user input device or the second user input device.
G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
G06F 3/0338 - Pointing devices displaced or positioned by the userAccessories therefor with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
G06F 3/0346 - Pointing devices displaced or positioned by the userAccessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
10.
MACHINE LEARNING BASED MEDICAL PROCEDURE IDENTIFICATION AND SEGMENTATION
A system of a technical solution to implement ML based procedure identification and segmentation can receive a data stream capturing a procedure performed with a robotic medical system. The system can input the data stream into ML models trained to generate a first prediction of an anatomy, a second prediction of an instrument, and a third prediction of an object associated with the procedure. The system can apply a mapping function to the first, the second and the third predictions to determine a temporal boundary of a surgical activity performed via the robotic medical system in the procedure. The system can provide, for overlay in a display, a portion of the data stream, an indication of the temporal boundary, the surgical activity and the first, the second and the third predictions used to determine the surgical activity.
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
G16H 30/40 - ICT specially adapted for the handling or processing of medical images for processing medical images, e.g. editing
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 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
Fluidics assemblies for transferring fluids with a medical instrument include a connection assembly, a suction conduit, a fluid delivery assembly, and a fluid valve. The fluid valve is actuatable to control the flow of fluid with the medical instrument. Robotic medical systems include the fluidic assemblies with a medical instrument. The systems can also include a robotic drive system and an input device to command the robotic drive system.
A61M 1/00 - Suction or pumping devices for medical purposesDevices for carrying-off, for treatment of, or for carrying-over, body-liquidsDrainage systems
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 1/015 - Control of fluid supply or evacuation
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
Examples described herein include visualization techniques for ablation. In some examples, the ablation includes a combination of electrolysis and electroporation. Tissue within a zone of a target region is treated using endoluminal or other ablation. Imaging devices may be used to image the zone to identify treated regions within the zone by observing the treated tissue that changes color. In some examples, the imaging may be performed before, during, and after treatment. Confirmation of treatment can be obtained by observing coloration of treated tissue in images. Regions of tissue that were not treated, or were insufficiently treated, may be identified using their different coloration in contrast to treated regions. Based on a location of the treated regions, additional endoluminal ablation may be performed at selected additional regions within the zone that were missed, using either manual techniques, or partially or wholly automated techniques.
The present disclosure describes a computer system and method for adding a virtual reference object to a video of an anatomical structure. The computer system includes a memory and a processor communicatively coupled to the memory. The processor receives the video of the anatomical structure. The video shows a first view. The processor also receives a selection of a point and a vector in the first view, adds a first virtual geometry to the first view based on the point and the vector, detects a movement that causes the first view to change to a second view, and presents the first virtual geometry in the second view such that a pose of the first virtual geometry is maintained from the first view to the second view.
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
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
14.
GRAPHICAL PRE-RENDERING OF VIRTUAL CONTENT FOR SURGICAL SYSTEMS
The present disclosure describes a computer system and method for providing an image of an anatomical structure. The computer system receives a video of the anatomical structure. The video includes a first frame, a second frame, and a third frame. The computer system also detects (i) a first plurality of features of the anatomical structure shown in the first frame and (ii) a second plurality of features of the anatomical structure shown in the second frame and generates (i) a first image of the anatomical structure shown in the first frame and (ii) a second image of the anatomical structure shown in the second frame. The computer system further detects a third plurality of features of the anatomical structure shown in the third frame and displays the first image of the anatomical structure while displaying the third frame.
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
15.
SYSTEMS AND METHODS FOR SENSOR DATA GENERATION IN MEDICAL ENVIRONMENTS
The embodiments disclosed herein relate to receiving first input data of a first modality and second input data of a second modality, determining, using a first encoder, first encoder output with the first input data applied as an input into the first encoder, determining, using a second encoder, second encoder output using the second input data applied as an input into the second encoder, determining a first loss between the first encoder output and the second encoder output, determining, using a multi-modal decoder, a decoder output using the first encoder output and the second encoder output applied as inputs into the multi-modal decoder, the decoder output being of the first modality, determining a second loss for the decoder output, and updating a machine learning model using the first loss and the second loss.
A medical device includes a distal body and an elongate inner body extending proximally from the distal body and including an outer surface. An elongate outer tube extends proximally from the distal body and includes an inner surface. A fluid port is included in the distal body or the outer tube. An axial flow director is on the outer surface of the inner body, or on the inner surface of the outer tube. The outer tube surrounds the inner body to define a gap between the outer surface of the inner body and the inner surface of the outer tube and the axial flow director is positioned to direct fluid from the fluid port proximally within the gap.
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 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 1/015 - Control of fluid supply or evacuation
17.
JOINT STRUCTURES FOR ARTICULATABLE MECHANISMS, AND RELATED DEVICES AND METHODS
A joint structure that is configured to provide articulation between two links coupled by the joint structure comprises a pair of complementary joint features. One of the pair of complementary joint features comprises an elongated slot defined by a pair of protrusions extending in a direction of elongation of the slot and defining side walls of the slot. Another of the pair of complementary joint features comprises a male gear feature terminating in a rounded head. The rounded head is received in and moveable relative to the slot, and through a range of motion of articulation of the joint structure, the rounded head remains at a position within the slot bounded by the pair of protrusions.
An articulatable mechanism includes a first link comprising a first pair of joint features. Each joint feature of the first pair of joint features comprises a pair of male joint features and a first bearing surface between the pair of male joint features. The articulatable mechanism also includes a second link comprising a second pair of joint features. Each joint feature of the second pair of joint features comprising a pair of female joint features and a second bearing surface between the pair of female joint features. The male joint features of the first pair of joint features and the female joint features of the second pair of joint features matingly engage with each other so as to form a joint structure and the first and second bearing surfaces are in rolling contact with each other during relative rotation of the first and second links about the joint structure.
A medical device includes a plurality of rotary to linear force articulation members each have a first end respectively coupled to elongate rotatable drive elements and a second end operatively coupled to a distal end of the medical device. Each rotary to linear force articulation member is distally spaced from a force transmission member via an elongate shaft and indirectly connected to the force transmission member via the plurality of elongate rotatable drive elements. In response to the force transmission member, the plurality of rotary to linear force articulation members drive actuation of a distal end of the medical device by coordinating length adjustments determined by a relative rotation between their first end and the second ends. The length adjustments may have a substantially linear relationship to one or more rotatable inputs of the force transmission member as a result over overtwisting.
An instrument actuation system comprises a first and second platforms, a first elongate threaded member extending between the platforms, a second elongate threaded member extending between the platforms, and a third elongate threaded member extending between the platforms. The system also comprises a first actuation mechanism including a first connector removably coupled with a first instrument device. The first actuation mechanism moves along the first elongate threaded member The system also comprises a second actuation mechanism including a second connector removably coupled with a second instrument device. The second actuation mechanism moves along the second elongate threaded member. The system also comprises a third actuation mechanism including a third connector removably coupled with a third instrument device. The third actuation mechanism moves along the third elongate threaded member. The first, second, and third actuation mechanisms move independently of each other along the respective elongate threaded member.
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 17/00 - Surgical instruments, devices or methods
A61B 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 OF MACHINE LEARNING BASED SPATIAL LAYOUT OPTIMIZATION VIA 3D RECONSTRUCTIONS
Machine learning-based spatial layout optimization via 3-dimensional (3D) reconstructions is provided. A system receives sensor data associated with a medical session and captured by a set of sensors situated in a medical environment. The system generates a three dimensional (3D) reconstruction of the medical environment based on the sensor data. The system identifies a phase of the medical session based on the 3D reconstruction and via one or more models. The system determines a metric indicative of quality of a spatial layout of the medical environment during the phase via the one or more models. The system determines an action based on the metric. The one or more processors can perform the action.
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 40/20 - 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
22.
MINIATURE CAPSTAN ACTUATORS FOR SURGICAL INSTRUMENTS
A medical device includes one or more capstans distally spaced from a force transmission member and coupled to one or more elongate rotatable drive elements. The medical device further includes one or more tension elements that are each coupled to one of the one or more capstans and to a distal end of the medical device. A length of each of the one or more tension elements is configured to wrap around the capstan to which it is coupled, consequently exerting an axial force on the distal end of the medical device.
A manual user interface system comprises a knob movable in at least one rotational degree of freedom and at least one translational degree of freedom and an actuator system coupled to the knob and responsive to a plurality of movements of the knob to operate a plurality of instrument devices of a robotically-assisted instrument system through a plurality of predetermined stages of a sequential workflow.
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
24.
ELECTRODE TREATMENT DEVICE WITH ACTUATABLE DEPLOYMENT SYSTEM AND RELATED METHODS OF DEPLOYMENT AND TREATMEN
An electrode treatment device (300, 600, 700, 800, 900, 902, 1000, 1100, 1200, 1300, 1400, 1400', 1400a, 1400b, 1400c, 1600, 1600', 1800, 1900, 2000, 2100, 2200, 2300, 2400) for treating gastrointestinal tissue or other tissue includes an actuatable electrode deployment system (310, 610, 710, 810, 910, 912, 1010, 1110, 1210, 1310, 1410, 1410', 1410a, 1410b, 1410c, 1610, 1610', 1810, 1910, 2010, 2110, 2210, 2310, 2410) that is attachable to an endoscope (320) and that moves a flexible electrode (366, 666, 766, 1066, 1166, 1266, 1366, 1466, 2466), such as a flexible printed circuit strip, from a stowed configuration to a deployed configuration in apposition with tissue. The electrode may be at least partially coiled within a housing (1316, 1416, 1616, 2016, 2116) when in the stowed configuration, and an actuation element (1314, 1414, 1414a, 1414b, 1414c, 1614) mounted at a proximal end (1306) of the endoscope or forwardly of a distal end (328) of the endoscope and at least partially within the housing. Deployment of the electrode may be automatically halted or controlled based on electric current drawn by the actuation element indicative of mechanical resistance encountered by the electrode. The electrode treatment system may include a shaft (370, 770, 870, 970, 972, 1370, 1470, 2470) threaded through a working channel (372) of the endoscope and electrically and/or mechanically connected to a controller (14) and/or actuation element at the proximal end.
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 18/00 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
25.
ENCODER ARRANGEMENTS IN ROTARY DEVICES, RELATED SYSTEMS AND METHODS
A rotary device can include a drive rotor; a rotatable component coupled to the drive rotor, the rotatable component configured to be driven in rotation about an axis of rotation by the rotor; a first encoder operably coupled to the rotor so as to detect rotational kinematic information about the rotor; and a second encoder operably coupled to the rotatable component so as to detect rotational kinematic information about the rotatable component. The axis of rotation defines an axial dimension and a radial dimension is perpendicular to the axial dimension. The first encoder and the second encoder are arranged such that at least one of the first and second encoders is at least partially nested along the radial dimension relative to the other of the first and second encoders.
A medical system includes a manipulator assembly for controlling movements of a medical instrument and a control system for the manipulator assembly. The control system executes a first session of the medical system for a procedure. Executing the first session involves completing one or more medical instrument operations for the medical instrument. The control system, subsequent to completing the one or more medical instrument operations, executes a mid-procedure restart of the medical system, and subsequent to executing the mid-procedure restart the medical system, executes a second session of the medical system for the procedure. Executing the second session involves skipping the one or more medical instrument operations completed in the first session based on comparing one or more first parameters of the medical system associated with the first session with one or more second parameters of the medical system associated with the second session.
A computer-assisted system includes a robotic manipulation system and a control system. The robotic manipulation system includes a manipulator arm including a non-driven joint, including a joint sensor configured to sense joint movement of the non-driven joint, and a brake that applies a braking force to the non-driven joint. The control system is configured to modulate the braking force of the brake based on a current usage situation of the computer-assisted system such that a force or torque at the non-driven joint causes a movement of the non-driven joint, the force or torque being caused by a collision of the manipulator arm distal to the non-driven joint and exceeding a force or torque threshold set based on the current usage situation, and determine whether a collision has occurred based on whether the movement of the non-driven joint is detected by the joint sensor.
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
Computer-assisted systems and methods for performing instrument targeting therewith are provided. The computer-assisted system includes a first repositionable structure configured to support a first instrument and a control system comprising one or more processors. The control system may be communicatively coupled to the first repositionable structure. To perform the instrument targeting, the control system (1) determines a target in a workspace for positioning the first instrument supported by the first repositionable structure; (2) defines a first target axis based on the target and an entry site location; (3) determines a configuration of the first plurality of joints that aligns the first instrument with the first target axis such that the first instrument is able to be advanced towards the target along the first target axis; and (4) commands the first plurality of joints based on the determined configuration.
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
A61G 13/04 - Adjustable operating tablesControls therefor tiltable around transverse or longitudinal axis
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
29.
COMPUTER ASSISTED REGISTRATION AND TRACKING OF MODELS OF ANATOMICAL OBJECTS
The present disclosure describes a computer system and method for adjusting models of anatomical objects during an operation. The computer system includes a memory and a processor communicatively coupled to the memory. The processor receives a first image of a plurality of anatomical objects and segments the first image into a plurality of segments. A first segment of the plurality of segments shows an anatomical object of the plurality of anatomical objects. The processor also receives a user selection of the first segment and receives a model that includes a submodel of the anatomical object shown in the first segment. The processor further moves the model until the submodel of the anatomical object aligns with the anatomical object shown in the first segment.
Apparatuses, systems, and methods are disclosed for providing controlled delivery of electrolysis products and cellular permeabilization treatment to a tissue site. The systems, apparatuses, and methods may include designs with features for efficiently deploying a flexible substrate with an electrode at a tissue site for treatment and for facilitating retraction of the electrode back into a housing after completion of treatment for removal. The systems, apparatuses, and methods may further include an expansion member for radially expanding the flexible substrate to aid in positioning the electrode adjacent the tissue to facilitate treatment.
A system may comprise a flexible elongate device including one or more signal transmitters and a tool configured to extend from a distal end of the flexible elongate device. The tool may comprise a body portion defining a window and a localization sensor coupled to the body portion. At least a portion of the localization sensor is exposed by the window to receive a signal from the one or more signal transmitters through the window. The system may also comprise a control system configured to determine a location of the tool based on the signal received by the localization sensor from the one or more signal transmitters.
A61B 8/12 - Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
A61B 8/00 - Diagnosis using ultrasonic, sonic or infrasonic waves
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 17/00 - Surgical instruments, devices or methods
Implementations of a suturing device related methods are provided. The suturing device (100) includes a housing (110) that defines an arcuate needle track (120) having a first end (122) and a second end (124) and a gap (112) between the first end and second end of the arcuate needle track. The suturing device further includes a drive system to advance an arcuate needle (200) about the arcuate needle track and across the gap along a first direction. The device can further include a needle tip delivery passageway (180) intersecting the arcuate needle track. The needle tip delivery passageway can be configured to direct a distal portion of a needle tip delivery mechanism into the arcuate needle track.
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 17/06 - NeedlesHolders or packages for needles or suture materials
A61B 17/00 - Surgical instruments, devices or methods
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
Implementations of suturing needles, suturing devices, and related methods are provided. In accordance with some aspects of the present disclosure, a suturing needle is provided including a needle body having a leading end and a trailing end. The needle body can define at least one opening in the needle body. A distal end of a length of suturing material can be received through the at least one opening. The needle body further defines a deflectable tab in an outer surface of the needle body. The deflectable tab can be configured to be deflected to trap the distal end of the length of suturing material within the at least one opening.
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
Systems and methods for providing an intelligent event system during a medical session in a medical environment include determining, based on at least one data stream, a non¬ operative activity during the medical session in the medical environment, the at least one data stream captured using at least one sensor located in the medical environment, predicting, using a machine learning model and based at least on the non-operative activity and metadata associated with the medical session, a time remaining to a milestone associated with the medical session, and performing action responsive to predicting the time remaining to the milestone.
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 40/63 - 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
Surgical systems can include a repositionable structure, an instrument holder, and a probe holder. A control system can be configured to insert an instrument and move a sensing probe to keep the instrument within a field of view as the instrument moves, where movement of the repositionable structure moves both the instrument holder and probe holder. A control system can be configured to impose a set of constraints on degrees of freedom of motion of the system when controlling movement about a remote center and not imposing the set of constraints during an initial scan with a sensing probe. Surgical systems can include an instrument driver, a needle coupled to the instrument driver, a high frequency vibration mechanism coupled to the needle, and a low frequency vibration mechanism coupled to the needle.
A61B 90/11 - 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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
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 8/00 - Diagnosis using ultrasonic, sonic or infrasonic waves
A system receives from an imaging device a set of two-dimensional projection images associated with respective projection angles. The projection images contain projections of an anatomical structure with a flexible elongate device disposed therein, an anatomical target, and, possibly, fiducial markings. The system may reconstruct from the set of two-dimensional projection images a three-dimensional image. In some examples, prior to the reconstruction, the system may detect and in-paint pixels (within the projection images) associated with the fiducial markings, the flexible elongate device, and/or other objects. The system may enhance the reconstruction using a style transfer model. Furthermore, the system may receive shape data, in the sensor/instrument coordinate system, associated with the flexible elongate device. The system may compute a transformation between the imaging coordinate system and the instrument coordinate system, identify a target within the reconstructed image, and, using the computed transformation, update target location in the instrument coordinate system.
A surgical training model includes a base layer having hydrogel. Harvested porcine tissue is carried by the base layer. A mesh may be coupled to the base layer.
An image processing system may process a frame of captured image data at each image processing stage of a plurality of image processing stages of an image processing pipeline to generate a frame of processed image data. Based on the processing the frame of captured image data at each image processing stage of the plurality of image processing stages, the image processing system may determine a value of a variance component of noise for a pixel in the frame of processed image data. The image processing system may generate a frame of adjusted image data comprising a pixel having a signal value that is based on the processed image data and the value of the variance component of noise for the pixel in the frame of processed image data.
Systems and methods are described for ultrasound guided robotic percutaneous instrument insertion into a subject. The method may include (i) obtaining images of a target volume of a subject, the images obtained by a sensing probe physically positioned by a probe holder that is coupled to a repositionable structure; (ii) reconstructing a three-dimensional (3D) representation of the target volume from the images of the target volume; (iii) segmenting the 3D representation of the target volume to identify one or more objects, boundaries, or features in the 3D representation of the target volume; (iv) determining an instrument insertion pathway including an insertion site and a treatment site; and (v) controlling the repositionable structure and an instrument holder to advance an instrument along the insertion pathway.
A61B 90/11 - 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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
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 8/00 - Diagnosis using ultrasonic, sonic or infrasonic waves
A system receives from an imaging device a set of two-dimensional projection images associated with respective projection angles. The projection images contain projections of an anatomical structure with a flexible elongate device disposed therein, an anatomical target, and, possibly, fiducial markings. The system may reconstruct from the set of two-dimensional projection images a three-dimensional image. In some examples, prior to the reconstruction, the system may detect and in-paint pixels (within the projection images) associated with the fiducial markings, the flexible elongate device, and/or other objects. The system may enhance the reconstruction using a style transfer model. The system or another system may train the style transfer model by generating two-dimensional projections for a training set based on a three-dimensional ground truth image.
Various of the disclosed embodiments provide systems and methods for training a machine learning system to anticipate semantic features of surgical theater data, even in the absence of fully-labeled data. Specifically, embodiments may compress, then reconstruct, the available surgical theater data, even if unlabeled, and in doing so, teach an encoding and decoding machine learning system to recognize semantic features salient to downstream training and applications. In addition, many of the disclosed embodiments accommodate a wide variety of surgical theater data modalities, e.g., pairs of visual intensity video surgical theater data and depth frame video surgical theater data. Masking, losses, and other disclosed features may further improve the system's ability to infer semantic correlations. Using various of the disclosed embodiments, machine learning applications may be made possible that would be otherwise unfeasible in low-data surgical theater data regimes.
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 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
G16H 50/70 - 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
42.
CONDITIONAL BRAKE ENGAGEMENT TO INHIBIT BACK-DRIVING OF SYSTEM COMPONENTS
A medical system includes a manipulator assembly and a control system coupled to the manipulator assembly. The manipulator assembly includes an actuator for driving a medical instrument along an insertion axis of the manipulator assembly and a brake for inhibiting movement of the medical instrument along the insertion axis. The control system is configured to determine whether the medical system is in a first operation mode involving actuator driven movement of the medical instrument along the insertion axis or a second operation mode involving no actuator-driven movement of the medical instrument along the insertion axis, and based determining that the medical system is in the second operation mode, control the brake to inhibit movement of the medical instrument along the insertion axis caused by an external force.
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 90/90 - Identification means for patients or instruments, e.g. tags
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
43.
SYSTEMS AND METHODS FOR CONTROL OF A SURGICAL SYSTEM
Systems and methods are provided for control of a surgical system. Accordingly, a controller of the surgical system detects a number of instances of a deviation of a sensor signal from a design sensor signal. An error rate is then determined for the sensor signal, and on a condition that the error rate exceeds an error rate threshold, an error tolerant mode is entered in which a normal operational mode of the surgical system is stopped and a resolution timer is initiated. If a resolution signal is received prior to the expiration of the resolution timer, the normal operational mode is resumed, but if the resolution signal is not received prior to the expiration of the resolution timer, a fault mode is entered.
Systems and methods are provided for control of computer‑assisted system. Accordingly, an output signal is received from a force sensor unit. The output signal corresponds to a sensed force exerted on a distal end portion of a medical instrument of the surgical system. A force vector corresponding to a magnitude and direction of the sensed force is determined. A first haptic output based on the force vector and a second haptic output indicative of a limiting operating condition are concurrently provided.
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
45.
ATLAS-BASED PLANNING AND NAVIGATION FOR MEDICAL PROCEDURES
Systems and method of visualizing patient anatomy during planning or executing a medical procedure are described. The systems and methods are directed to labeling anatomical regions of interest with ill-defined or poorly visible boundaries based on reference images with labels for the corresponding reference images. The example methods include obtaining an image of patient anatomy and obtaining a plurality of reference images with labels of one or more anatomical regions of interest (ROIs). The example methods further include computing transformations between the image of patient anatomy and reference images. Still further, the example methods include generating sets of one or more labels of ROIs within the image of patient anatomy. Still further, the example methods include displaying a graphical user interface (GUI) depicting anatomical ROIs (computed based on reference image) within patient anatomy.
Systems and methods for generating an age determination model based on sets of experimental data of testing instruments. A control system of a computer-assisted system is configured to use the age determination model to provide a change in instrument age of an operating instrument under its control. The control system may provide guidance to a user based on the age of the operating instrument, and may perform one or more remedial actions when an updated instrument age of the operating instrument exceeds an age threshold.
G16H 40/40 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the management of medical equipment or devices, e.g. scheduling maintenance or upgrades
G16H 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
A61B 34/00 - Computer-aided surgeryManipulators or robots specially adapted for use in surgery
The present disclosure describes a system and method for using machine learning to assist in mucosal ablation procedures. The system includes a camera, a catheter, a memory, and a processor communicatively coupled to the memory. The camera produces a video of a mucosa of an organ and the catheter is positioned in the organ. The processor generates, using the video from the camera, a map of the organ and identifies, using a neural network and the video from the camera, a first portion of the mucosa to be ablated. The processor also determines, using the map and motion of the catheter, that the catheter is positioned by the first portion of the mucosa and in response to determining that the catheter is positioned by the first portion of the mucosa, ablates, using the catheter, the first portion of the mucosa.
An endosuturing system includes a cinch linearly moveable along a longitudinal axis, the cinch including an inner cinch member and an outer cinch member selectively movable relative to one another to provide a suture lock. The endosuturing system also including a suture needle having a distal needle tip and an opposite, proximal end, the suture needle having a nested position within the inner cinch member of the cinch. The endosuturing system further including a needle driver coaxial with the cinch and linearly moveable along the longitudinal axis, and a needle collet coaxial with the cinch and configured to releasably couple to the proximal end of the suture 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 17/06 - NeedlesHolders or packages for needles or suture materials
The present disclosure relates to computer assisted volume reduction procedures. The computer system includes a memory and a processor. The processor determines, based on a first video of a stomach and a patient profile, a plan for a volume reduction procedure on a stomach. The processor also generates, based on a second video of the stomach, a map of the stomach and presents, on a display during the volume reduction procedure, at least one of the second video or the map. The processor further determines, based on the map and the plan, a location where a suture should be applied to the stomach, generates, based on the plan, an overlay that indicates the location, and presents the overlay on the display to indicate, on at least one of the second video or the map, the location in the stomach to place the suture.
G16H 50/20 - ICT specially adapted for medical diagnosis, medical simulation or medical data miningICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for computer-aided diagnosis, e.g. based on medical expert systems
G16H 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
The present disclosure relates to a computer system and method for guiding sutures. The computer system includes a memory and a processor communicatively coupled to the memory. The processor receives a video of an inside of a stomach and determines, based on the video and using a neural network, a first location on the stomach where a first suture should be applied. The processor also presents, on a display, the video and an overlay that indicates the first location on the stomach.
G16H 50/20 - ICT specially adapted for medical diagnosis, medical simulation or medical data miningICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for computer-aided diagnosis, e.g. based on medical expert systems
G16H 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
The present disclosure relates to a computer system and method for estimating stomach volume. The computer system includes a memory and a processor communicatively coupled to the memory. The processor receives a video of an inside of a stomach and generates, based on the video, a map of the stomach. The processor also calculates, based on the map of the stomach, a volume of the stomach and detects, based on the video and using a neural network, a suture applied to the stomach during an endoscopic sleeve gastroplasty procedure that causes a change to a shape of the stomach. The processor further updates the map of the stomach based on the change to the shape of the stomach and updates the calculated volume of the stomach based on the update to the map of the stomach.
G06V 10/26 - Segmentation of patterns in the image fieldCutting or merging of image elements to establish the pattern region, e.g. clustering-based techniquesDetection of occlusion
A61B 5/107 - Measuring physical dimensions, e.g. size of the entire body or parts thereof
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
G06T 7/62 - Analysis of geometric attributes of area, perimeter, diameter or volume
G06V 10/82 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
G06V 10/94 - Hardware or software architectures specially adapted for image or video understanding
52.
SYSTEMS AND METHODS FOR ENDOSCOPIC TISSUE SUTURING
An apparatus comprises a delivery tube extending through a working channel of an elongate device. An outer portion of a termination member is coupled to a distal end portion of the delivery tube. The apparatus may also comprise a capture device. The capture device includes a first control member and a suture strand engagement portion coupled to an end of the first control member. The apparatus also includes an inner portion of the termination member coupled to an end portion of a second control member. The first control member is actuatable to extend the suture strand engagement portion distally of the delivery tube to capture a suture strand and draw the suture strand within the outer portion of the termination member. The second control member is independently actuatable to move the inner portion of the termination member into the outer portion of the termination member to clamp the suture strand.
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 17/06 - NeedlesHolders or packages for needles or suture materials
A61B 17/00 - Surgical instruments, devices or methods
53.
SYSTEMS AND METHODS FOR ENDOSCOPIC TISSUE SUTURING
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 17/06 - NeedlesHolders or packages for needles or suture materials
A61B 17/00 - Surgical instruments, devices or methods
54.
FLEXIBLE ELONGATE DEVICE ARTICULATION CONTROL BASED ON TOOL INSERTION DISTANCE
Medical systems and methods include a flexible elongate device having an articulable body portion and an actuator configured to control articulation of the articulable body portion of the flexible elongate device. A control system determines an insertion distance or location of a tool inserted into the flexible elongate device and controls operation of the actuator to change an articulation state of the articulable body portion.
Systems and methods are described for segmenting medical image data. The method may include (i) obtaining a plurality of image data depicting a portion of a subject; (ii) inputting, the plurality of image data into a deep learning model trained to generate a confidence map; (iii) generating a first binary map based on the confidence map and a first confidence threshold and a second binary map based on the confidence map and a second confidence threshold; (iv) discarding one or more connected components of the second binary map below a threshold size; and (v) causing a display device to display a graphical user interface (GUI) based on at least a portion of the plurality of image data, wherein the portion of the plurality of image data is labeled based on the first binary map and the second binary map. The method may be implemented by the system.
G06V 10/26 - Segmentation of patterns in the image fieldCutting or merging of image elements to establish the pattern region, e.g. clustering-based techniquesDetection of occlusion
G06V 10/28 - Quantising the image, e.g. histogram thresholding for discrimination between background and foreground patterns
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
A bi-directional endosuturing device, including a housing defining an endoscope aperture and having an axis. The endosuturing device further including a first plication arm and a second plication arm extending distally from the housing, the first plication arm and second plication arm facing one another and configured to engage tissue disposed therebetween. Additionally, the endosuturing device includes a first needle receiver disposed adjacent the first plication arm, the first needle receiver configured to releasably secure a needle and orient needle transverse to the axis; and a second needle receiver disposed adjacent the second plication arm, the second needle receiver configured to releasably secure the needle and orient the needle transverse to the axis, the first and second needle receiver aligned with one another to pass the needle therebetween.
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 17/06 - NeedlesHolders or packages for needles or suture materials
Implementations of a suturing device related methods are provided. The suturing device includes a housing that defines an arcuate needle track having a first end and a second end and a gap between the first end and second end of the arcuate needle track. The suturing device further includes a drive system to advance an arcuate needle along the arcuate needle track that includes a drive member operably coupled to an elongate flexible member. The elongate flexible member can reciprocate over at least one bearing surface that directs the elongate flexible member from a first path laying in a first plane that is parallel to a centerline of the arcuate needle track to a second path laying in a second plane different from the first plane.
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 17/06 - NeedlesHolders or packages for needles or suture materials
A computer-assisted system includes a manipulator structure configured to support an imaging instrument having a field of view that defines a view frame, and a control system. The manipulator structure and the imaging instrument together have an aggregate set of joints. The control system, in an imaging instrument movement mode: receives a user input to move the field of view with a desired motion, determines, based on the desired motion, a motion command that moves the field of view in accordance with a first alignment relationship that establishes a first one-to-one mapping between first, second, and third translational and rotational degrees of freedom of the input device in an input device base frame and respective first, second, and third translational and rotational degrees of freedom of the field of view in the view frame, and commands the aggregate set of joints based on the motion command.
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
Disclosed is determining to command reach assist motion for a computer-assisted system including a repositionable assembly. The repositionable assembly includes a proximal repositionable structure having a distal portion, a distal repositionable structure that supports an instrument, a sensor system, an input device, and a control system. The control system is configured to command motion of a plurality of joints that pivots the distal portion about a remote center of motion in response to receiving a motion command from the input device. The control system is further configured to determine, based on sensor signals generated by the sensor system, to reconfigure the proximal repositionable structure and command, in response to determining to reconfigure the proximal repositionable structure, the proximal repositionable structure to move the distal portion relative to the workspace such that the reachable space of the instrument is moved relative to the workspace.
Systems and methods for navigating during a medical procedure are described. A processing unit receives, from a sensing system, indications of positions, in a first coordinate system, of a first sensor and a second sensor disposed at a flexible elongate device. The processing unit further receives imaging data from an imaging unit and determines, based on the imaging data, an indication of position, in a second coordinate system, of a fiducial of the flexible elongate device. The fiducial is disposed at the flexible elongate device at a separation distance from the first sensor. The processing unit then registers the first coordinate system to the second coordinate system based on the received imaging data and the received sensor system data.
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
61.
SYSTEMS AND METHODS FOR IMPLEMENTING A ZOOM FEATURE ASSOCIATED WITH AN IMAGING DEVICE IN AN IMAGING SPACE
An illustrative system includes a memory storing instructions and a processor communicatively coupled to the memory. The processor may be configured to execute the instructions to perform a process comprising receiving an instruction to move an imaging device, which is located within an imaging space and coupled to a robotic manipulating arm of a computer-assisted surgical system, towards an object in the imaging space, determining, based on the instruction, that the imaging device is located at a position that is at or near a threshold distance from the object in the imaging space, preventing the imaging device from moving closer to the object than the threshold distance, and automatically activating, in response to preventing the imaging device from moving closer to the object than the threshold distance, an image zoom feature to zoom in a view of the imaging space.
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
62.
POSITIONING AN IMAGING DEVICE TO VIEW A PORTION OF AN INSTRUMENT DURING INSERTION OF THE INSTRUMENT
A computer-assisted system includes a first repositionable structure configured to support a first instrument comprising an imaging device with a field of view, a second repositionable structure configured to support a second instrument; and a control system. The first repositionable structure a first plurality of links coupled by a first plurality of joints. The control system is configured to, while the first repositionable structure is supporting the first instrument: in response to detecting an indication to track an insertion of the second instrument into a workspace, determine a configuration of the first plurality of joints that poses the field of view to include an intermediate position for a distal portion of the second instrument as the second instrument is inserted into the workspace, and, in response to determining the configuration, command the first plurality of joints toward the configuration.
Various of the disclosed embodiments provide systems and methods for assessing surgical team performance during nonoperative periods within the surgical theater. Particularly, one or more sensors placed throughout the surgical theater may acquire data during the nonoperative period, and in some embodiments, over the course of several procedures and nonoperative periods within the theater. Disclosed embodiments segment and analyze this data to infer undesirable or inefficient behavior, as well as progress in improving behaviors, during the periods between surgical procedures. A plurality of topologies and metrics for assessing nonoperative periods are also disclosed, as well as systems and methods for monitoring and providing feedback.
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 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
G06Q 10/06 - Resources, workflows, human or project managementEnterprise or organisation planningEnterprise or organisation modelling
G06Q 10/0639 - Performance analysis of employeesPerformance analysis of enterprise or organisation operations
64.
DIGITAL MANAGEMENT AND COORDINATION OF SURGICAL THEATER TASKS
Various of the disclosed embodiments provide guidance to team members in a surgical theater and improve surgical theater efficiency by providing dynamic and context- aware action assignments to various of the theater team members. Real-time monitoring of the surgical theater with one or more sensors located within the surgical theater may facilitate identification of personnel, the state of the personnel's respective task actions, and the general state of the theater. This monitoring may be coupled with tailored task overlap model management and rendering systems disclosed herein to provide team members with immediate feedback, as well as to encourage gradual adjustments nudging team members to more optimal performances.
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 telescoping arm, such as for a surgical manipulator, includes a first arm portion and a second arm portion. An interior surface of the first arm portion defines a helical groove and a plurality of axial grooves. A drive assembly for the telescoping arm includes a helical drive assembly having a helical member moveably engaging and constrained by the helical groove of the first arm portion and a rotational drive assembly having a plurality of axial members moveably engaging and constrained by the plurality of axial grooves of the first arm portion.
Systems and methods provide a cooling air flow path to a surgical manipulator having a draped disposed thereover. The systems and methods can include constricting the air flow path within the drape to direct the air flow path through a fan and operating the fan to move air away from a procedural site within the drape. The system and methods can also include directing the air flow path along an exterior of a housing of the surgical manipulator within the drape and directing the air flow path into an interior of the housing of the surgical manipulator through a housing air flow inlet defined therein.
While one or more sensors may be placed within a surgical theater to acquire data from which properties of the theater may be inferred, often too little of such data is adequately labeled so as to facilitate training of a machine learning system for various desired downstream applications. Despite this limitation, various of the disclosed embodiments contemplate training processes applicable to unlabeled data suitable for familiarizing the machine learning system with various semantic characteristics of the surgical theater data. In some embodiments, this process may avail itself of both visual image and depth frame data, so as to infer semantic content in the theater data. Following such initial training, the system may be then amenable to more application-specific training, with much less labeled data than may have been otherwise required.
G06V 10/82 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
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
G06V 10/80 - Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
68.
SYSTEMS AND METHODS FOR FLEXIBLE MEDICAL DEVICE ARTICULATION
A counter motion mechanism comprises a flexible elongate device that includes a first articulation section including a serial flexible links bendable along a translational direction and a second articulation section including serial flexible links bendable along the translational direction. A transition section extends between the first and second articulation sections. A control member extends between the first and second articulation sections and wraps approximately 180 degrees about a central axis at the transition section. The control member bends the first articulation section in a first direction as the second articulation section bends in a second direction opposite the first direction while a first link of the first articulation section and a second link of the second articulation section are maintained in parallel. A translational distance between the first and second links includes distances for the first and second articulation sections and the transition section.
An illustrative dynamic measurement system may be configured to determine, based on positions of instruments within a scene, positions of points on anatomy in the scene, determine distance values representative of physical distances between sequential points, and determine a cumulative measurement value representative of a distance along the anatomy between the points. The cumulative measurement value may dynamically update as points are determined within the scene.
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.
SYSTEM AND METHOD FOR DETECTING AND REMOVING NON-SURGICAL DATA
Systems and methods to detect and remove non-surgical information include receiving a data stream associated with an activity at least partially performed with assistance of a robotic medical system, receiving an event stream from the robotic medical system indicating whether one or more tools are connected to the robotic medical system, determining, based at least on the data stream and whether the one or more tools are connected, that non-surgical information is present in the data stream, and modifying the data stream in response to determining that the non-surgical information is present in the data stream.
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
Systems and methods for universal phase recognition for intraoperative and postoperative applications are provided. The system receives a video stream that captures a procedure over a time interval with a robotic medical system. The system generates, from the video stream, sets of consecutive frames. A first set of consecutive frames can include a first temporal resolution, and a second set of consecutive frames can include a second temporal resolution. The system determines, via the sets of consecutive frames input into a first model trained with machine learning, phases of the procedure on a moment-to-moment basis over the time interval. The system inputs the phases of the procedure into a second model to generate phase segment over the time interval. The second model can be trained with machine learning based on historical workflows. The system provides an action based on a metric of the phase segment.
G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
G16H 30/40 - ICT specially adapted for the handling or processing of medical images for processing medical images, e.g. editing
G16H 40/20 - 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 50/20 - ICT specially adapted for medical diagnosis, medical simulation or medical data miningICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for computer-aided diagnosis, e.g. based on medical expert systems
G16H 50/70 - ICT specially adapted for medical diagnosis, medical simulation or medical data miningICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for mining of medical data, e.g. analysing previous cases of other patients
72.
SYSTEMS AND METHODS FOR DETERMINING IMAGING SYSTEM LOCALIZATION PARAMETERS
A system may comprise a fiducial panel including a plurality of arrays of three dimensional, radiopaque fiducial markers. Each array of the plurality of arrays may include a plurality of a first type of the fiducial markers and a plurality of a second type of the fiducial markers. The plurality of first type fiducial markers and the plurality of second type fiducial markers may form a fiducial tag pattern. The fiducial tag pattern for at least one of the plurality of arrays may be visible in a plurality of images generated by a rotating imaging 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 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 6/58 - Testing, adjusting or calibrating thereof
A61B 17/00 - Surgical instruments, devices or methods
73.
DETERMINING PLACEMENT QUALITY OF A COMPONENT BASED ON MOTION OF A REMOTE CENTER OF MOTION DURING A STRAIN RELIEF OPERATION
A computer-assisted system includes a repositionable structure configured to pivot a component about a remote center of motion (RCM) during operation, where the repositionable structure comprises a plurality of joints. The computer-assisted system further includes a processor system communicatively coupled to the repositionable structure, where the processor system is configured to: command the repositionable structure to perform a strain relief operation by floating one or more joints of the plurality of joints, wherein floating the one or more joints facilitates external manipulation of the repositionable structure that moves the RCM, determine a motion of the RCM occurring during the strain relief operation, and determine a placement quality of the component based on the motion of the RCM.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
74.
SURGICAL INSTRUMENTS FOR APPLYING MULTIPLE CLIPS TO TISSUE
A surgical instrument for applying surgical clips to tissue comprises an end effector having first and second jaws that are movable between open and closed positions. The instrument includes a clip cartridge within the shaft and comprising a first proximal clip and a second distal clip that are spaced from each other along the longitudinal axis. A drive member is configured to translate through the shaft to the end effector and includes first and second engagement elements for advancing the proximal and distal clips distally through the shaft. This allows the drive member to automatically advance the proximal clip(s) distally forward in the clip cartridge as the distal clip is delivered to the jaws, which increases the speed and efficiency of applying multiple clips to the target site and reduces disruption to the surgeon's workflow.
A61B 17/128 - Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord for applying or removing clamps or clips
A61B 17/122 - Clamps or clips, e.g. for the umbilical cord
A surgical instrument for applying surgical clips to tissue comprises an end effector having first and second jaws that are movable between open and closed positions. The instrument comprises a drive member configured for distal translation from the shaft into the end effector to deliver one or more clips to the first and second jaws. The instrument further comprises at least one actuator rod extending through the shaft lateral of the drive member relative to the longitudinal axis and configured to move the jaws between the open and closed positions. Positioning the jaw actuator lateral of the drive member provides space for the drive member to deliver multiple clips to the jaws without interfering with the opening and closing of the jaws.
A61B 17/128 - Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord for applying or removing clamps or clips
A61B 17/122 - Clamps or clips, e.g. for the umbilical cord
A surgical instrument for applying surgical clips to tissue comprises a shaft comprising a proximal end and a distal end, a wrist mechanism coupled to the distal end of the shaft and configured to articulate relative to the shaft in one or more degrees of freedom and an end effector supported by the wrist mechanism. The end effector comprises a pair of opposing jaw members configured to move relative to each other between open and closed positions. A path configured to receive and permit advancement of a medical clip into engagement with the jaw members is defined through the wrist mechanism and end effector. The instrument allows a surgeon, for example, to deliver one or more surgical clips onto tissue or vessels without having to exchange the instrument or to change the orientation of the jaws during clip advancement, which reduces disruption to the surgeon's workflow.
A61B 17/128 - Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord for applying or removing clamps or clips
A61B 17/122 - Clamps or clips, e.g. for the umbilical cord
A surgical instrument for applying surgical clips to tissue comprises an end effector having first and second jaws that are movable between open and closed positions. The end effector is rotatably coupled to the shaft around at least one axis substantially perpendicular to the shaft. The instrument comprises a drive member configured for distal translation from the shaft into the end effector to deliver one or more clips to the first and second jaws. The instrument allows a surgeon, for example, to deliver one or more surgical clips onto tissue or vessels without having to exchange the instrument or to change the orientation of the jaws during clip advancement, which reduces disruption to the surgeon's workflow.
A61B 17/128 - Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord for applying or removing clamps or clips
A61B 17/122 - Clamps or clips, e.g. for the umbilical cord
A surgical clip comprises a main body having first and second arms pivotally coupled to each other about a hinge between open and closed positions. The first arm comprises a hook with a slot and the second arm comprises a latch sized to advance into the slot to secure the latch to the hook in the closed position. This configuration provides a clip with a narrower profile than conventional surgical clips that include boss protrusions to lock the clip. The clip also comprises one or more engagement elements configured to remain coupled to a drive member of a surgical instrument after the clip has been delivered to the jaws of the instrument, thereby allowing user the surgeon to fully open the clips after they have been advanced into the jaws and/or to retain and control the clip as the jaw is opened, closed or articulated relative to the instrument shaft.
A61B 17/122 - Clamps or clips, e.g. for the umbilical cord
A61B 17/128 - Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord for applying or removing clamps or clips
A surgical instrument for applying surgical clips to tissue comprises an end effector having first and second jaws that are movable between open and closed positions. The end effector is rotatably coupled to the shaft around at least one axis substantially perpendicular to the shaft. The instrument comprises a drive member configured for distal translation from the shaft into the end effector to deliver one or more clips to the first and second jaws. The instrument allows a surgeon, for example, to deliver one or more surgical clips onto tissue or vessels without having to exchange the instrument or to change the orientation of the jaws during clip advancement, which reduces disruption to the surgeon's workflow.
A61B 17/122 - Clamps or clips, e.g. for the umbilical cord
A61B 17/128 - Surgical instruments, devices or methods for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord for applying or removing clamps or clips
A61B 17/00 - Surgical instruments, devices or methods
A61B 34/20 - Surgical navigation systemsDevices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
80.
SURGICAL STAPLE CARTRIDGE INSERTION AND PROTECTION DEVICES
A device for inserting a staple cartridge into a surgical stapler instrument that has a first jaw with an anvil and a second jaw with a cavity for receiving the staple cartridge, the first and second jaws being movable between open and closed positions. The staple cartridge insertion device comprises a main body sized for positioning between the first and second jaws of the stapler instrument when the first and second jaws are in the open position and a coupling element for removably attaching the main body to the staple cartridge. The insertion device further comprises at least one alignment feature, e.g., a lateral, vertical, rotational or longitudinal alignment feature, configured to engage at least one of the first and second jaws so as to align the staple cartridge with the first and second jaws during insertion of the staple cartridge. The insertion device may also be employed with a bottom retainer for protecting the staple cartridge and that is removably attached to the insertion device and detachable prior to insertion between the jaws of the surgical instrument. The insertion device may also be employed with a retainer guide block that is removably attached to the insertion device and that helps provide vertical alignment of the insertion device and staple cartridge as they are inserted between the first and second jaws.
A system may comprise a light sensor, a light source configured to generate a light beam, and a light probe. The light probe may include a first end portion configured to extend into the light beam to receive a light sample from the light beam and may include a second end portion coupled to the light sensor to deliver the light sample to the light sensor. The first end portion of the light probe may be configured to divert a reflected light, from a reflective member, away from the light sensor.
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
Various of the disclosed embodiments provide systems and methods for correlating and presenting surgical theater playback data so as to facilitate more insightful analysis and feedback. Specifically, various embodiments present kinematics and system event data collected during the surgery in parallel with wider theater context data as may be captured by, e.g., visual imaging systems or depth imaging systems within the surgical theater. In this manner, reviewers may more readily cross-reference the types of data during playback, distinguishing inefficiencies consistently affecting surgical outcomes from one-time anomalous events. Recognizing such distinctions may facilitate the reviewer's providing more actionable feedback to members of the surgical team. Metrics for assessing surgical performance using cross-referenced data are also disclosed.
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
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
G16H 40/20 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the management or administration of healthcare resources or facilities, e.g. managing hospital staff or surgery rooms
83.
SYSTEMS AND METHODS FOR INTRAOPERATIVELY UPDATING A GRAPHICAL USER INTERFACE BASED ON INTRAOPERATIVE IMAGING DATA
A system comprises a display system, an elongate device, a medical instrument, and a control system. The control system is configured to display, in a graphical user interface (GUI) on the display system, intraoperative imaging data of a patient anatomy received from an external imaging system; display a graphical indicator overlaid on the intraoperative imaging data; register the intraoperative imaging data to the elongate device; based on the registration, transform the graphical indicator from an intraoperative imaging data reference frame to an elongate device reference frame; and based on a target position of a distal tip of the medical instrument displayed via the graphical indicator, provide navigation guidance to guide the elongate device to a target location in the patient anatomy. When the elongate device is positioned at the target location, the target position of the distal tip of the medical instrument is within a deployment range of the instrument.
Surgical stapling instruments and components of those instruments are provided herein. Novel processes for producing such components and instruments are also provided. The components are manufactured through additive manufacturing, metal injection molding (MIM) and/or similar processes. The products are then post-processed with a laser to provide hardness and surface smoothness that meets certain performance requirements. The overall process reduces cost and lead times compared to conventional machining processes.
Methods and systems to identify slack in pull wires coupled to an articulable body portion of a flexible elongate device include a control system determining a minimum tension for the pull wires based on a bending parameter of the flexible elongate device.
A61B 1/012 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor characterised by internal passages or accessories therefor
86.
SYSTEM AND METHOD FOR CONTROLLED ULTRASONIC SEALING AND CUTTING
In various embodiments, a computer-assisted device comprising an end effector having a first jaw, a second jaw, and at least one transducer for delivering ultrasonic energy using at least one of the first jaw or the second jaw, and a processing system coupled to the end effector, the processing system being configured to control the first jaw and the second jaw to grasp a material, determine one or more first characteristics of the grasping, control a first energy delivered by the at least one transducer to seal the material based on the one or more first characteristics, and in response to completing sealing of the material, control at least a second energy delivered by the at least one transducer to cut the grasped material based on the one or more first characteristics.
A system for actuating an articulation mechanism can include a link extending along a longitudinal dimension from a proximal end portion to a distal end portion of the link. An articulation mechanism coupled to the distal end portion of the link is articulatable in pitch and yaw relative to the link. A first motor can be housed at least partially in the link and operably coupled to transmit force to actuate the articulation mechanism to articulate in pitch relative to the link, and a second motor can be housed at least partially in the link and operably coupled to transmit force to actuate the articulation mechanism to articulate in yaw relative to the link. The first motor and the second motor can be arranged consecutively along the longitudinal dimension such that the first motor is closer to the proximal end portion of the link than the second motor.
A system includes a base, a proximal repositionable structure supported by the base and a distal repositionable structure having a proximal portion supported by the proximal repositionable structure and a distal portion. An actuator system is configured to move the base, the proximal repositionable structure, and the distal repositionable structure. A control system is coupled to the actuator system and is configured to facilitate external repositioning of the distal portion that moves a control feature relative to the base frame, detect first repositioning and based on a first geometric parameter characterizing the control feature after the first repositioning, determine a first base movement of the base and a first structure movement of the proximal repositionable structure, wherein performing the first base movement and the first structure movement together moves a reference feature relative to the control feature, the reference feature fixed relative to a portion of the proximal repositionable structure.
A medical device includes a proximal link, a distal link, a tool member, and at least one tension element. The proximal and distal links each include an arcuate link contact surface and an outer guide surface. The distal link rotates relative to the proximal link about a distal link rotation axis or a proximal link rotation axis throughout a rotation range. The arcuate link contact surfaces are in rolling contact throughout the rotation range. The tension element is coupled to the tool member and extends from the tool member and contacts the outer guide surfaces of the proximal and distal links. The proximal link outer guide surface is at a spaced distance from the proximal link rotation axis and the proximal link contact surface defines a radius of curvature that is substantially equal to the spaced distance of the proximal link outer guide surface from the proximal link rotation axis.
Surgical stapling instruments and control systems for use with those instruments are provided herein. A surgical stapling instrument comprises an elongate shaft and an end effector with an anvil on a first jaw and a staple cartridge coupled to a second jaw. The instrument further includes a first coupler for adjusting a distance between the distal ends of the anvil and the cartridge and a second coupler for adjusting a distance between the proximal ends of the anvil and the cartridge. This allows the user to independently adjust these distances or gaps to account for variations in tissue thickness across the length of the jaws. The instruments and control systems are particularly useful for dissecting and stapling a relatively long length of tissue, such as the stomach or the lung in sleeve gastrectomy and lung resection procedures.
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
91.
AUTOMATED DETERMINATION OF DEPLOYMENT SETTINGS FOR A COMPUTER-ASSISTED SYSTEM
A computer-assisted device includes a repositionable structure and a processing system. The processing system is configured to perform the steps of determining a location of the repositionable structure relative to a patient on an operating support; determining an imaging device orientation of an imaging device relative to the patient; determining a deployment for the repositionable structure based on the imaging device orientation and the location of the repositionable structure relative to the patient; and causing one or more instructions for configuring the repositionable structure to be displayed.
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
92.
SYSTEMS AND METHODS FOR PROVIDING NAVIGATION GUIDANCE FOR AN ELONGATE DEVICE
A system comprises a display system and a control system communicatively coupled to the display system. The control system is configured to display, in a graphical user interface (GUI) on the display system, one or more of: preoperative image data of a patient anatomy; or intraoperative image data of the patient anatomy received from an external imaging system. The control system is further configured to register the intraoperative image data to the preoperative image data. The control system is further configured to, based on the registration, transfer imaging information between a reference frame of the intraoperative image data and a reference frame of the preoperative image data. The control system is further configured to, based on the imaging information, provide navigation guidance to guide an elongate device to a target location in the patient anatomy.
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 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
93.
INSERTABLE TOOL IDENTIFICATION FOR FLEXIBLE ELONGATE DEVICES
Medical systems and methods include a flexible elongate device having an articulable body portion and a lumen extending therethrough. A control system utilizes data from one or more sensors to identify a tool inserted into a lumen of the flexible elongate device.
A61B 1/018 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopesIlluminating arrangements therefor characterised by internal passages or accessories therefor for receiving instruments
94.
SYSTEMS AND METHODS FOR MILESTONE DETECTION WITH A SPATIAL CONTEXT
A method for detecting procedure milestone events with a spatial context may comprise receiving a video input including a plurality of video frame images of a procedure and analyzing the video input using a neural network model that includes a multi-head attention mechanism. The method may also include generating, with a spatial context head of the multi-head attention mechanism, a spatial context indicator for at least a portion of the plurality of video frame images. The method may also include generating, with a classification head of the multi-head attention mechanism, a milestone indicator for at least one of the plurality of video frame images of the plurality of video frame images and generating a procedure evaluation output that includes the milestone indicator and the spatial context indicator.
An illustrative image generation system may be configured to access a first image depicting an anatomical object, generate, based on the first image and using a machine learning model, a second image depicting the anatomical object and having a resolution greater a resolution of the first image, and generate, based on the second image, a three-dimensional model of the anatomical object. The machine learning model may be trained to generate the second image using various techniques.
G06T 3/4046 - Scaling of whole images or parts thereof, e.g. expanding or contracting using neural networks
G06T 3/4053 - Scaling of whole images or parts thereof, e.g. expanding or contracting based on super-resolution, i.e. the output image resolution being higher than the sensor resolution
An illustrative system may be configured to determine a region of interest within an image depicting a scene that includes one or more anatomical objects, access a virtual model associated with the one or more anatomical objects, and present a combined image that includes the virtual model superimposed on the image. The combined image may be presented by directing a display device to display a first portion of the virtual model that is positioned within the region of interest of the image and abstain from displaying a second portion of the virtual model that is positioned outside the region of interest of the image.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
97.
SYSTEMS AND METHODS FOR CLASSIFYING BRANCHED ANATOMICAL STRUCTURES
An example method may include generating, by a computing device, a graph based on segmentation data representing a branched anatomical structure, the graph representing a plurality of possible paths to a branch of the branched anatomical structure, the plurality of possible paths comprising a plurality of additional branches. The method may further include applying, by the computing device, a graph analysis algorithm to the graph, wherein the applying the graph analysis algorithm includes generating, for a possible path of the plurality of possible paths to the branch, a path probability value based on link affinity values of pairs of the additional branches on the possible path to the branch. The method may further include classifying, by the computing device and based on the applying the graph analysis algorithm, a branch of the branched anatomical structure.
An illustrative property value system may be configured to provide, for display in a user interface, an image of an anatomical scene as captured by an imaging device and identify a reference location and an additional location in the image of the anatomical scene. The system may further be configured to determine a value of a property of an anatomical object at the additional location relative to the reference location and cause display, in the user interface together with the image of the anatomical scene, of output data representative of the reference location, the additional location, and the value of the property of the anatomical object at the additional location relative to the reference location.
A61B 5/00 - Measuring for diagnostic purposes Identification of persons
A61B 5/1455 - Measuring characteristics of blood in vivo, e.g. gas concentration or pH-value using optical sensors, e.g. spectral photometrical oximeters
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
99.
SYSTEMS AND METHODS FOR CALIBRATING AN IMAGE SENSOR IN RELATION TO A ROBOTIC INSTRUMENT
An illustrative system includes a memory storing instructions and a processor communicatively coupled to the memory. The processor may be configured to execute the instructions to perform a process comprising obtaining scanning data collected during a scanning movement in which an image sensor physically coupled to a robotic instrument is moved within an imaging space, the scanning data including images captured by the image sensor during the scanning movement and tracking data for the robotic instrument during the scanning movement; determining, based on the images captured by the image sensor during the scanning movement, first motion data for the image sensor; determining, based on the tracking data for the robotic instrument, second motion data for the robotic instrument; and determining, based on the first motion data and the second motion data, a calibration of the image sensor in relation to the robotic instrument in the imaging space.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 17/00 - Surgical instruments, devices or methods
Medical systems and methods include a flexible elongate device having an articulable body portion and an actuator configured to control articulation of the articulable body portion of the flexible elongate device. A control system determines an expected position of the articulable body portion, determines tool data associated with a tool insertable within a lumen of the flexible elongate device, determines adjustment data based on a model of the flexible elongate device with the tool data to cause an actual position of the articulable body portion to correspond with the expected position when the tool is inserted within the lumen, and operates the actuator to control articulation the articulable body portion according to the adjustment data.
patents
