In some implementations, a device may obtain operational information of an implement of a robot for a robotically-assisted procedure, wherein the operational information is associated with one or more operations of the implement for the robotically-assisted procedure. The device may detect, based on the operational information and a surgical plan for the robotically- assisted procedure, an event that indicates that the implement is not suitable for the robotically- assisted procedure. The device may perform, based on the event, one or more actions associated with the implement.
In some implementations, a device may obtain a surgical plan that is associated with a robotically-assisted procedure that is associated with a robot, wherein the surgical plan indicates one or more planned operations of one or more robotic arms of the robot, and wherein the surgical plan is associated with one or more anatomical elements. The device may determine, using medical imaging data of a patient of the robotically-assisted procedure, anatomical information of the patient associated with the one or more anatomical elements. The device may generate, using configuration information associated with the robot and the anatomical information, a modeling of a surgical field associated with the robotically-assisted procedure. The device may determine, using the modeling, feedback information for the surgical plan based on a simulation of the one or more planned operations. The device may perform, based on the feedback information, one or more actions.
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
3.
SURGICAL GUIDANCE SYSTEM AND PATIENT PLATFORM MOVEMENT INDICATORS
Surgical guidance systems, platforms, and methods for detecting movement are provided. The method may include attaching a reference frame including at least two tracking markers to a stationary surgical device. The method also includes receiving at least one image, the at least one image depicting a surgical area, wherein the at least one image comprises the at least two tracking markers arranged in a first position on the stationary surgical device relative to the reference frame. The method further includes determining and registering a location of each of the at least two tracking markers in relation to the reference frame; monitoring the at least two tracking markers during the surgical procedure; and in response to detecting movement above a threshold of any of the at least two tracking markers during the surgical procedure, performing an action and updating the location of each of the at least two tracking markers.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
4.
SYSTEMS USING SURGICAL TOOLS FOR REMOVING SOFT TISSUE
Systems and methods using surgical tools for removing soft tissue are provided. The surgical tool may include a drive assembly for rotating at least one cutting sprocket or cutting tool. The drive assembly may include a roller chain having one or more extended pins that are received in corresponding valleys between adjacent teeth of the at least one cutting sprocket. Rotation of the roller chain thus rotates the at least one cutting sprocket.
Systems and methods for changing an end effector are provided. A connecting plate may have a first side, a second side opposite the first side, and a kinematic interface. The kinematic interface may include at least one projection extending from both the first side and the second side. A robot flange may have a first kinematic receiver including at least one recess for receiving a corresponding projection of the at least one projection of the first side. An end effector may have a second kinematic receiver and a locking assembly. The second kinematic receiver may include at least one recess for receiving a corresponding projection of the at least one projection of the second side. The locking assembly may be configured to releasably secure the end effector to the robot flange.
A61B 46/10 - Draps de chirurgie spécialement adaptés aux instruments
B25J 19/00 - Accessoires adaptés aux manipulateurs, p. ex. pour contrôler, pour observerDispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
H01R 13/62 - Moyens pour faciliter l'engagement ou la séparation des pièces de couplage ou pour les maintenir engagées
H01R 33/00 - Dispositifs de couplage spécialement conçus pour supporter un appareil et munis d'une pièce de couplage assurant la fonction de support et la connexion électrique par l'intermédiaire d'une pièce complémentaire qui est structurellement associée à l'appareil, p. ex. supports de lampesLeurs pièces détachées
A method according to one embodiment of the present disclosure comprises receiving a first image of a patient's anatomy, the first image generated at a first time and depicting a plurality of rigid elements; receiving a second image of the patient's anatomy, the second image generated at a second time after the first time and depicting the plurality of rigid elements; determining a transformation from the first image to the second image for each one of the plurality of rigid elements to yield a set of transformations; calculating a homography for each transformation in the set of transformations to yield a set of homographies; and identifying, using the set of homographies, a common portion of each transformation attributable to a change in camera pose, and an individual portion of each transformation attributable to a change in rigid element pose.
G06T 7/33 - Détermination des paramètres de transformation pour l'alignement des images, c.-à-d. recalage des images utilisant des procédés basés sur les caractéristiques
G06V 10/25 - Détermination d’une région d’intérêt [ROI] ou d’un volume d’intérêt [VOI]
G16H 30/20 - TIC spécialement adaptées au maniement ou au traitement d’images médicales pour le maniement d’images médicales, p. ex. DICOM, HL7 ou PACS
G16H 30/40 - TIC spécialement adaptées au maniement ou au traitement d’images médicales pour le traitement d’images médicales, p. ex. l’édition
7.
SYSTEMS AND METHODS FOR TRAINING AND USING AN IMPLANT PLAN EVALUATION MODEL
Systems and methods for training an implant plan evaluation model is provided. A first implant plan option having a first set of parameters and a second implant plan option having a second set of parameters may be received. The first set of parameters and the second set of parameters may be inputted into a model configured to score the first implant plan option based on the first set of parameters and the second implant plan option based on the second set of parameters. The score of the first implant plan option and the score of the second implant plan option may be compared. when the score of the second implant plan option is higher than the score of the first implant plan option the model may be adjusted to score the first implant plan option higher than the second implant plan option.
A61F 2/46 - Outils particuliers pour l'implantation des articulations artificielles
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
G16H 20/40 - TIC spécialement adaptées aux thérapies ou aux plans d’amélioration de la santé, p. ex. pour manier les prescriptions, orienter la thérapie ou surveiller l’observance par les patients concernant des thérapies mécaniques, la radiothérapie ou des thérapies invasives, p. ex. la chirurgie, la thérapie laser, la dialyse ou l’acuponcture
G16H 50/50 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour la simulation ou la modélisation des troubles médicaux
8.
AUTOMATIC ROBOTIC PROCEDURE FOR SKIN CUTTING, TISSUE PATHWAY, AND DILATION CREATION
A robotic surgical system according to at least one embodiment of the present disclosure includes a robot arm including a proximal end and a distal end and a surgical tool that attaches to the distal end of the robot arm via a robot mount flange on the surgical tool. The surgical tool includes a blade support tip that extends from a first end and a rod that extends from a second end opposite the first end. The rod may include a blunt tip end and an actuation end, where the blunt tip end extends from the second end. Accordingly, the surgical tool may be rotatable about a tool rotation axis between a cutting position disposing the blade support tip in proximity to a target site and a tissue pathway creation position disposing the blunt tip end in proximity to the target site.
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A method and system are disclosed for acquiring image data of a subject. The image data can be collected with an imaging system in a selected manner and/or motion. More than one projection may be combined to generate and create a selected view or visualization of the subject.
A61B 6/00 - Appareils ou dispositifs pour le diagnostic par radiationsAppareils ou dispositifs pour le diagnostic par radiations combinés avec un équipement de thérapie par radiations
A61B 6/40 - Agencements pour générer des radiations spécialement adaptés au diagnostic par radiations
A61B 6/02 - Agencements pour établir un diagnostic dans des plans différents successifsDiagnostic stéréoscopique utilisant des radiations
A method and system are disclosed for acquiring image data of a subject. The image data can be collected with an imaging system in a selected manner and/or motion. More than one projection may be combined to generate and create a selected view or visualization of the subject.
Systems and methods for transforming supine three-dimensional geometry to standing position measurements. An example system may include an electronic processor. The electronic processor is configured to retrieve a scan of a spinal region in a supine position and process the scan using a machine learning model trained to produce standing spinal measurements from supine spinal scans. The electronic processor is configured to receive, from the machine learning model, a plurality of weight-bearing measurements for the spinal region and generates, based on the plurality of weight¬ bearing measurements for the spinal region, a weight-bearing two-dimensional scan of the spinal region. The electronic processor is configured to provide as training data to a second machine learning model the scan of the spinal region in a supine position and the two-dimensional scan of the spinal region.
G16H 50/50 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour la simulation ou la modélisation des troubles médicaux
G16H 30/40 - TIC spécialement adaptées au maniement ou au traitement d’images médicales pour le traitement d’images médicales, p. ex. l’édition
A61B 5/00 - Mesure servant à établir un diagnostic Identification des individus
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
G16H 50/20 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour le diagnostic assisté par ordinateur, p. ex. basé sur des systèmes experts médicaux
12.
MULTIPLE END EFFECTOR INTERFACES COUPLED WITH DIFFERENT KINEMATICS
A robotic system according to at least one embodiment of the present disclosure includes a robot arm including a proximal end and a distal end, a mount flange rotationally connected to the robot arm at the distal end along a rotation axis, and an end effector interconnected to the mount flange via an attachment interface disposed between the mount flange and the end effector. The attachment interface fixedly arranges the end effector in one of at least two select positions. A first position of the at least two select positions orients a surgical tool axis of the end effector at a first angle relative to the rotation axis, and a second position of the at least two select positions orients the surgical tool axis of the end effector at a second angle relative to the rotation axis. The second angle is different from the first angle.
Systems and methods for accurate determination of the position of an anatomic part of a subject in robotic assisted image-based surgery, using an inertial measurement unit (IMU) to determine the position and orientation of the anatomical part of the subject. The intrinsic drift of the IMU, which would make the IMU position measurements inaccurate, can be reset to zero regularly, at points of time when the subject's body is stationary. This can be achieved when motion from the subject's breathing and from the heartbeat are essentially zero. Such positions occur respectively when the respiratory signal shows the position of the breathing cycle to be at the end of the expiration phase, and the heartbeat signal represents a time in the diastole period of the subject's electrocardiographic cycle. When these two signal moments coincide, the IMU is essentially stationary, and its drift reset to zero.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 5/0205 - Évaluation simultanée de l'état cardio-vasculaire et de l'état d'autres parties du corps, p. ex. de l'état cardiaque et respiratoire
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
An example system may include a robot including a robotic arm. A system may include a surgical tool coupled to the robotic arm. A system may include an electronic processor coupled to the robot and configured to receive a scan of an anatomical element; perform a sub-anatomical segmentation on the scan to determine a segmented part; analyze the segmented part to determine a bone removal limit for the segmented part; control the robotic arm according to a user input to remove a volume of bone from the segmented part with the surgical tool; and, when the volume exceeds the bone removal limit, prevent the surgical tool from interacting with the segmented part.
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
15.
MULTI-ARM ROBOTIC SYSTEMS AND METHODS FOR CALIBRATING AND VERIFYING CALIBRATION OF THE SAME
A system for calibrating a multi-arm robotic system includes a memory including instructions and at least one processor that executes the instructions to receive a set of pose data that is indicative of a pose of a first robotic arm and a pose of a second robotic arm when each image of a plurality of images of a calibration object is captured, to receive a set of location data that is indicative of a location of the calibration object within each image, and to calibrate the multi-arm robotic system or verify calibration of the multi-arm robotic system based on the set of pose data and the set of location data. The calibration object has a known dimension, and each image is captured from a different perspective relative to the calibration object with a first imager and a second imager.
Systems and methods according to embodiments of the present disclosure include: receiving registration data including information about a location of an anatomical element in a surgical environment; defining, based on the registration data, a three-dimensional (3D) volume in the surgical environment including the anatomical element; and controlling a robotic arm inside the surgical environment based on the defined 3D volume such that at least the robotic arm or one or more components attached to the robotic arm avoids passing through the defined 3D volume during a movement of the robotic arm.
A method for predicting a movement of an anatomical element. The method includes receiving a surgical plan including a predetermined trajectory for a robot and a predetermined position of a second anatomical element, receiving, from a tracking system, data representing a movement of a first anatomical element, and determining a predicted movement of the second anatomical element with a machine learning model using data including the movement of the first anatomical element. The method also includes, based on the predicted movement of the second anatomical element and the predetermined position of the second anatomical element, determining a predicted position of the second anatomical element and, when the predetermined position of the second anatomical element is different from the predicted position of the second anatomical element, updating the predetermined trajectory, the predetermined position of the second anatomical element, or both based on the predicted position of the second anatomical element.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
18.
SYSTEMS AND METHODS FOR DETERMINING AND APPLYING A DEFLECTION COMPENSATION TO ROBOTIC SYSTEMS
Systems and methods for determining and applying a deflection compensation are provided. Sensor data may be received from a sensor and may correspond to a load exerted on a robotic system or one or more components of the robotic system. Pose information corresponding to a pose of the robotic system or the one or more components may be received. A deflection compensation may be determined based on the pose information and the load and the deflection compensation may be applied to the robotic system or the one or more components of the robotic system.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
19.
SYSTEMS AND METHODS FOR TESTING ATTACHMENT OF AN END EFFECTOR TO A TOOL CHANGER
An assembly for a robotic arm includes a tool changer configured to attach to and transfer power to an end effector, and a tracking system that facilitates tracking of the robotic arm within an environment. The tracking system includes at least one processor and memory including instructions that when executed by the at least one processor cause the at least one processor to generate and send a first signal to the tool changer in response to receiving an indication that the end effector has been attached to the tool changer, enable the tool changer to transfer power to the end effector in the presence of feedback from the tool changer that is based on the first signal, and block the tool changer from transferring power to the end effector in the absence of the feedback from the tool changer.
A robotic surgical system includes a tracking system including a tracking device configured to facilitate tracking of a robotic arm within a coordinate system, and a force-torque sensor. The system includes a tool changer configured to connect to the tracking system via a rotational force applied to a first connection between the tool changer and the tracking system, and to connect to an end effector via a second connection between the tool changer and the end effector. The force-torque sensor is configured to generate sensor data indicative of the rotational force applied to the first connection when connecting the tool changer to the tracking system via the first connection. The system includes at least one processor configured to issue a first alert when the sensor data indicates that the rotational force reaches a first threshold.
A system comprises a robotic arm in a robotic arm coordinate system, a camera in a fixed pose in a navigation coordinate system, at least one processor, and memory including instructions that when executed by the at least one processor, cause the at least one processor to determine a pose of the robotic arm within the navigation coordinate system, map the robotic arm coordinate system to the navigation coordinate system based on the pose of the robotic arm, and control, based on output of the camera, the robotic arm in the navigation coordinate system.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
22.
SYSTEMS AND METHODS FOR NAVIGATED SURGICAL RESECTION OF ANATOMICAL ELEMENTS
A system according to at least on embodiment of the present disclosure includes: a robotic arm couplable to a first surgical tool; a processor; and a memory storing data thereon that, when processed by the processor, enable the processor to: receive a three-dimensional (3D) model of an anatomical element; determine, based on the 3D model, a plane that at least partially bisects the anatomical element into a first portion and a second portion; track the robotic arm as the first surgical tool resects the first portion of the anatomical element; determine, based on the tracking of the robotic arm, that the first surgical tool has reached the plane; and generate, when the first surgical tool has reached the plane, an alert.
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
23.
RIGIDITY-BASED ROBOTIC ARM POSITION SELECTION AND COMPENSATION
An example system may include a robot including a robotic arm. The system may include a surgical tool coupled to a distal end of the robotic arm. The system may include an electronic processor coupled to the robot, and configured to receive a desired position for a tool center point of the surgical tool. The electronic processor is configured to determine a plurality of solutions for the robotic arm based on the desired position. The electronic processor is configured to, for each of the plurality of solutions, determine a rigidity for the robotic arm. The electronic processor is configured to select, from the plurality of solutions, a preferred solution, the preferred solution based on the rigidity. The electronic processor is configured to control the robotic arm based on the preferred solution.
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
24.
SYSTEMS AND METHODS FOR ATTACHING A DRAPE TO ONE OR MORE PORTIONS OF A ROBOTIC ARM
A system according to at least one embodiment of the present disclosure includes: a robotic arm; a tracked portion attached to the robotic arm and tracked by a navigation system; a sterile drape that covers the robotic arm and the tracked portion; and an attachment device that attaches the sterile drape to the tracked portion such that a portion of the sterile drape disposed over a surface of the tracked portion is substantially smooth.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 18/00 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A robotic surgical system comprising at least two robotic arms having co-ordinate systems known relative to each other, one of the arms carrying an X-ray source, and the other an imaging detector plate. The arms are disposed to enable an image to be generated on the region of interest of a subject. One of the arms can additionally or alternatively carry a surgical tool or tool holder, such that the pose of the tool is known in the same co-ordinate system as that of an image generated by the X-ray source and detector. Consequently, any surgical procedure planned on such an X-ray image can be executed by the tool with high accuracy, since the tool position is known in the image frame of reference. This enables the surgeon to accurately position his tool in a real-time image without the need for an external registration procedure.
A61B 6/00 - Appareils ou dispositifs pour le diagnostic par radiationsAppareils ou dispositifs pour le diagnostic par radiations combinés avec un équipement de thérapie par radiations
A61B 8/00 - Diagnostic utilisant des ondes ultrasonores, sonores ou infrasonores
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
An adaptor assembly (300, 700, 1100, 1800) comprising a plurality of spacers (722, 724, 726, 728, 1126, 1128, 1130) configured to contact a plurality of contact points of an imaging device (100) and a plurality of holders (120) configured to be adjustable in one or more directions and to support the plurality of spacers (722, 724, 726, 728, 1126, 1128, 1130). The adaptor assembly (300, 700, 1100, 1800) is configured to couple a corrector assembly (104) to an imaging device (100). The plurality of holders (120) may comprise a bracket (702) and at least one side bracket (704); a plurality of arms (304, 306, 308), each arm comprising a first link (314) pivotably connected to a base (312) and a second link (316) pivotably connected to the first link (314); at least one clamp assembly (1102, 1104, 1106); or at least one belt assembly (1802, 1804, 1806).
A61B 6/00 - Appareils ou dispositifs pour le diagnostic par radiationsAppareils ou dispositifs pour le diagnostic par radiations combinés avec un équipement de thérapie par radiations
27.
SYSTEMS AND METHODS FOR MONITORING AND CONFIRMING SURGICAL EQUIPMENT STABILITY
A method according to at least one embodiment of the present disclosure includes receiving, from a sensor, position-related data, determining, based on the position-related data, an angle associated with a device is within a predetermined range, instructing a user to move the device, monitoring the position-related data, detecting, based on the position-related data, movement, in response to detecting movement, providing a first notification to the user, during a procedure, monitoring the position-related data, detecting, based on the position-related data, movement during the procedure, and in response to detecting movement during the procedure, one or more of halting a movement of the device, retracting the device, and providing a second notification to the user.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
Techniques are disclosed for processing image data to determine spinal characteristics. A system, device, and method support receiving an image, executing a first neural network to perform a first landmark detection using the image and executing a second neural network to perform a second landmark detection using the image. The first neural network may generate a vertebra patch, a sacrum region of interest (ROI), and/or a femoral ROI. The second neural network may generate vertebra center data, vertebra corner data, vertebra labeling data, sacrum endplate data, and/or femoral head data.
Systems, methods, and devices for defining a path for a robotic arm are provided. One or more no-fly zones may be generated. The one or more no-fly zones correspond to a section of a work volume defined as inaccessible to a robotic arm and the work volume is defined as accessible to the robotic arm. A pose of an object may be determined and an obstacles map based on the determined pose and known dimensions of the object may be generated. A path for the robotic arm may be defined that avoids collision with the object identified in the obstacles map and avoiding the one or more no-fly zones.
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
Systems and methos for determining movement of one or more anatomical elements are provided. First pose information of a first anatomical element may be obtained and used to determine second pose information of a second anatomical element adjacent to the first anatomical element. An updated first pose information may be obtained and compared with the first pose information. Movement of the first anatomical element may be determined when a difference between the first pose information and the updated pose information exceeds a predetermined threshold. Movement of the second anatomical element may be determined based on the movement of the first anatomical element.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
31.
SYSTEMS AND DEVICES FOR SETTING AND FIXING ONE OR MORE ANATOMICAL ELEMENTS
Systems and methods for setting and fixing one or more anatomical elements are provided. One or more fixation devices configured to be secured to corresponding one or more anatomical elements may be provided. A connector may also be provided that connects each fixation device to an adjacent fixation device of the one or more fixation devices. The connector may be configured to be in a flexible state when positioning the one or more fixation devices and a rigid state to fix the one or more fixation devices, thereby fixing the one or more anatomical elements.
A61B 17/70 - Dispositifs de mise en position ou de stabilisation de la colonne vertébrale, p. ex. stabilisateurs comprenant un liquide de remplissage dans un implant
A61B 17/88 - Moyens ou procédés pour implanter ou pour extraire des dispositifs de fixation interne
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
32.
SYSTEMS AND METHODS FOR PLANNING AND UPDATING TRAJECTORIES FOR IMAGING DEVICES
Systems and methods for planning and updating one or more trajectories for imaging device(s) are provided. A first trajectory for a first robotic arm orienting a first component of an imaging device and a second trajectory for a second robotic arm orienting a second component of the imaging device may be determined based on patient information. At least one first image may be obtained from the imaging device using the first trajectory and the second trajectory. The first trajectory and the second trajectory may be updated based on the first image and a second image may be obtained from the imaging device using the updated first trajectory and the updated second trajectory.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
33.
NON-UNIQUE LED PATTERN GEOMETRY AND IDENTIFICATION FOR ROBOTICS NAVIGATION
An example system may include a robot including a robotic arm and a robotic tracking unit (RTU) coupled to a distal end of the robotic arm, the RTU including a plurality of LEDs. The system may include a navigation system including a camera positioned to capture images of the RTU. The system may include an electronic processor coupled to the robot, the RTU, and the navigation system, and configured to perform a calibration routine by selecting a tracking pattern for the RTU from a plurality of non-unique tracking patterns; controlling the plurality of LEDs to illuminate based on the tracking pattern; receiving, from the navigation system, a captured image of the RTU; detect, in the captured image, the tracking pattern; determining, based on the tracking pattern, an orientation of the RTU; and controlling the robotic arm based on the orientation of the RTU.
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
34.
DYNAMIC CALIBRATION OF X-RAY SOURCE AND DETECTOR USING RETRIEVED IMAGES
Disclosed systems include a source configured to emit a beam, a detector configured to detect the beam, and an electronic processor coupled to the source and the detector. The electronic processor is configured to control the source to emit the beam and to receive an image from the detector, the image including a shape formed by the beam, and analyze the shape to determine a geometric center for the beam. The electronic processor is configured to generate a calibration value based on the geometric center for the beam and a center point for an imaging plane of the detector. The electronic processor is configured to control the source to emit a second beam, receive a second image from the detector, the second image produced by the detector detecting the second beam, and process the second image based on the calibration value to generate a compensated image.
Systems and methods for registration using one or more fiducials are provided. First image data depicting a fiducial and at least a portion of an anatomical element may be received and a registration process based on the fiducial may be performed. Second image data depicting the fiducial and at least the portion of the anatomical element may be received. Movement of the anatomical element that exceeds a threshold distance may be determined based on the fiducial and the registration of the anatomical element may be updated in response to determining the movement exceeds the threshold distance.
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A method for predicting a movement of an anatomical element. The method includes receiving a surgical plan including a predetermined trajectory for a robot and a predetermined position of a second anatomical element, receiving, from a tracking system, data representing a movement of a first anatomical element, and determining a predicted movement of the second anatomical element with a machine learning model using data including the movement of the first anatomical element. The method also includes, based on the predicted movement of the second anatomical element and the predetermined position of the second anatomical element, determining a predicted position of the second anatomical element and, when the predetermined position of the second anatomical element is different from the predicted position of the second anatomical element, updating the predetermined trajectory, the predetermined position of the second anatomical element, or both based on the predicted position of the second anatomical element.
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
37.
SYSTEMS AND METHODS FOR REGISTERING ONE OR MORE ANATOMICAL ELEMENTS
Systems and methods for registering one or more anatomical elements are provided. The system may comprise an imaging device and a navigation system configured to track a pose of a marker coupled to an object and configured to identify the marker. A first image may be received from a surgical plan. Pose information describing the pose of the marker and a marker identification of the marker may be obtained from the navigation system. An object identification based on the marker identification may be retrieved from a database. Image data of a second image depicting an anatomical element and the object may be obtained from the imaging device. The image data, the pose information, and the object identification may be input into a registration model. The registration model may be configured to register the anatomical element to the first image based on the pose information and the object identification.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
G16H 30/20 - TIC spécialement adaptées au maniement ou au traitement d’images médicales pour le maniement d’images médicales, p. ex. DICOM, HL7 ou PACS
Systems, methods, and devices for planning a path are provided. A work volume and one or more no-fly zones may be mapped. The work volume may define a volume in which a robot may access and each of the one or more no-fly zones may define at least one volume in which a robot is restricted from accessing. Information may be received about a position of at least one instrument and a void volume may be calculated based on the position of the at least one instrument. The work volume may be updated to include the void volume to yield an updated work volume. A path may be calculated for a robotic arm of a robot from outside a patient anatomy to within the patient anatomy that is within the updated work volume and avoids the one or more no-fly zones.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 17/02 - Instruments, dispositifs ou procédés chirurgicaux pour maintenir les blessures ouvertes, p. ex. rétracteursÉcarteurs
A robotic registration kit according to at least one embodiment of the present disclosure includes an elongate arm (304) extending from a proximal end (302) to a distal end (306) including a target receiving surface (308) and a robot mount bracket (312) including a robot attachment surface (358), a clamp screw (316), including a bracket contact surface in contact with the robot mount bracket (312) and a threaded outer surface (322), rotationally attached to the robot mount bracket (312) allowing the clamp screw (316) to rotate and preventing axial movement of the clamp screw (316), and a clamp (320) including a plate (324) with a threaded hole (328) running therethrough and a finger (332) extending a distance to a clamp end including a hook portion (336) disposed proximally past the robot attachment surface (358) of the robot mount bracket (312). The clamp (320) is moveable between a clamped state and an unclamped state by a rotational movement of the clamp screw (316) relative to the clamp (320).
A drape assembly (100) for a surgical instrument (108) is provided. The assembly (100) comprises a covering (106) having an outer perimeter and an opening (118) defining an inner perimeter. The covering (106) is configured to cover an instrument (108). The assembly (100) also comprises a housing (102) positioned within the opening (118) and connected to the inner perimeter. The housing (102) is configured to removably couple to the instrument (108). The assembly (100) also comprises an optical element (104) positioned within the housing (102).
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
G03B 11/00 - Filtres ou autres intercepteurs spécialement adaptés pour les besoins photographiques
A method of aligning an imaging device in connection with robotic surgery includes causing a robot to position a reference target over a body of a patient; receiving image data from an imaging device; identifying, with an image processing algorithm, at least a first portion of an anatomical element in the image data; identifying, with a target detection algorithm, at least a first portion of a reference target in the image data; comparing a determined location of the imaging device, the reference target, and the anatomical element to yield a location determination and causing at least one of the robot to re-position the reference target or the imaging device to re-position.
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A surgical system including an imaging system configured to acquire an image of an area within a line-of-sight of the imaging system. A robotic arm is movable relative to the area. A robotic arm control module is configured to control movement of the robotic arm and to prevent the robotic arm from moving into the line-of-sight.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
An imaging device control module is configured to segment portions of an image, such as soft tissue in a MRI image, and generate a segmented image of the image. Further configured to identify a no-go zone for an instrument in the segmented image. A tracking system control module is configured to plot an execution path for the instrument to perform a procedure at the surgical site and determine whether the execution path includes the no-go zone or modify the execution path to exclude the no-go zone upon determining that the execution path includes the no-go zone.
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
44.
METHODS AND SYSTEMS FOR PLANNING A SURGICAL PROCEDURE
Systems and methods for planning a surgical procedure are provided. Information corresponding to an examination of a patient and an image of patient may be received. The information and the image may be inputted into an analytical model figured to identify a pathology location. A needed surgical modification of the patient anatomy may be automatically identified. At least a portion of an anatomical element in a three-dimensional model of the patient anatomy may be automatically labeled.
G06T 7/70 - Détermination de la position ou de l'orientation des objets ou des caméras
G06T 19/00 - Transformation de modèles ou d'images tridimensionnels [3D] pour infographie
G06V 10/75 - Organisation de procédés de l’appariement, p. ex. comparaisons simultanées ou séquentielles des caractéristiques d’images ou de vidéosApproches-approximative-fine, p. ex. approches multi-échellesAppariement de motifs d’image ou de vidéoMesures de proximité dans les espaces de caractéristiques utilisant l’analyse de contexteSélection des dictionnaires
G16H 20/40 - TIC spécialement adaptées aux thérapies ou aux plans d’amélioration de la santé, p. ex. pour manier les prescriptions, orienter la thérapie ou surveiller l’observance par les patients concernant des thérapies mécaniques, la radiothérapie ou des thérapies invasives, p. ex. la chirurgie, la thérapie laser, la dialyse ou l’acuponcture
G16H 30/20 - TIC spécialement adaptées au maniement ou au traitement d’images médicales pour le maniement d’images médicales, p. ex. DICOM, HL7 ou PACS
G16H 30/40 - TIC spécialement adaptées au maniement ou au traitement d’images médicales pour le traitement d’images médicales, p. ex. l’édition
G16H 50/20 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour le diagnostic assisté par ordinateur, p. ex. basé sur des systèmes experts médicaux
G16H 50/50 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour la simulation ou la modélisation des troubles médicaux
45.
SYSTEMS AND METHODS FOR INSERTING AN IMPLANT USING A SURGICAL DEVICE
Systems and methods for inserting an implant using a surgical device are provided. The systems and methods may include surgical device for orienting and inserting an implant into a patient. The surgical device has at least one sensor configured to generate sensor data corresponding to at least one of axial forces or torque applied to the implant and at least one motor for driving the implant into the patient. A robotic arm is also configured to automatically orient and operate the surgical device.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A system and method are described. An illustrative method includes receiving first image information from a camera at a first point in time, where the first image information provides a first view of a surgical space and surgical navigation trackers positioned within the surgical space. The method may further include determining, based on the first image information, that a position of the camera at the first point in time is suboptimal with respect to the surgical space, determining, based on the first image information, a physical motion for the camera that improves the position of the camera with respect to the surgical space, and generating a camera movement signal configured to move the camera according to the physical motion. The method may further include transmitting the camera movement signal to a motorized control unit configured to physically move the camera.
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A surgical system according to at least one embodiment of the present disclosure includes: a robotic arm including an adapter on a distal end thereof; a navigation system to track a pose of the robotic arm; and an end effector including: an interface connectable to the adapter of the robotic arm to mechanically couple the end effector and the robotic arm; a processor; and a memory storing data thereon that, when processed by the processor, enable the processor to: determine that the interface of the end effector is connected to the adapter of the robotic arm; and transmit information stored in the memory and associated with the end effector to the navigation system, where the information transmitted to the navigation system supports the navigation system in tracking the pose of the robotic arm.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/90 - Moyens d’identification pour les patients ou les instruments, p. ex. étiquettes
A61B 90/98 - Moyens d’identification pour les patients ou les instruments, p. ex. étiquettes utilisant des moyens électromagnétiques, p. ex. transpondeurs
A61B 5/00 - Mesure servant à établir un diagnostic Identification des individus
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
48.
SYSTEMS AND METHODS FOR VERIFYING ONE OR MORE SEGMENTATION MODELS
Systems and methods for verifying one or more segmentation models are provided. Image data depicting an anatomical element may be received and the image data may be inputted into the one or more segmentation models. The one or more segmentation models may be configured to segment the image data and output segmented image data. At least one numerical measurement and at least one model measurement of the anatomical element may be received. The at least one model measurement may be compared with the at least one model measurement and an error based on the difference between the at least one numerical measurement and the at least one model measurement may be determined. The one or more segmentation models may be verified as a result of determining that the error is less than a predetermined error threshold.
Systems and methods for monitoring a surgical procedure are provided. A coordinate system of a first robotic arm and a second robotic arm may be co-registered or correlated to each other. One or more poses of an imaging device may be determined to provide real-time intraoperative imaging of a region of interest during a surgical procedure. Anatomical elements may be identified in the real-time images of the region of interest from which a surgical tool should maintain a predetermined distance. The surgical tool may be prevented from approaching the identified anatomical elements by less than a predetermined distance using the co-registration of the coordinate systems.
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A method according to embodiments of the present disclosure includes receiving a computed tomography (CT) image of a patient; segmenting a first set of anatomical elements from the CT image; receiving a plurality of fluoroscopy images of the patient; segmenting a second set of anatomical elements from the plurality of fluoroscopy images; and creating a registration between the CT image and the plurality of fluoroscopy images based on the segmented first set of anatomical elements and the segmented second set of anatomical elements.
A system according to at least one embodiment of the present disclosure includes a processor; and a memory storing instructions thereon that, when executed by the processor, cause the processor to: identify, based on first imaging data associated with an object, a boundary region corresponding to a shape of the object; identify at least one voxel included in second imaging data associated with the object, where the at least one voxel is located outside the boundary region; and generate a multidimensional image volume corresponding to the object using the second imaging data, where generating the multidimensional image volume is with respect to one or more criteria associated with voxels located outside the boundary region.
G06T 7/521 - Récupération de la profondeur ou de la forme à partir de la télémétrie laser, p. ex. par interférométrieRécupération de la profondeur ou de la forme à partir de la projection de lumière structurée
G06T 7/55 - Récupération de la profondeur ou de la forme à partir de plusieurs images
52.
SYSTEMS, DEVICES, AND METHODS FOR MONITORING A ROD REDUCTION PROCESS
Methods and systems for monitoring a rod reduction process is provided. The methods and systems include determining, based on at least one parameter, a threshold for forces exerted by a tool on a rod or a pedicle screw and receiving data corresponding to a magnitude of the forces exerted by the tool on the pedicle screw or the rod during reduction of the rod into a head of the pedicle screw. A surgical plan may be updated when the monitored magnitude meets the threshold.
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 17/56 - Instruments ou procédés chirurgicaux pour le traitement des os ou des articulationsDispositifs spécialement adaptés à cet effet
A61B 17/70 - Dispositifs de mise en position ou de stabilisation de la colonne vertébrale, p. ex. stabilisateurs comprenant un liquide de remplissage dans un implant
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A surgical cutting tool with anti-skiving properties and systems for using the surgical cutting tool are provided. The cutting tool may have a cannula and a guide pin positioned in the cannula. A motor may be configured to rotate the cutting tool and the guide pin. One or more actuators may be configured to extend the guide pin and the cutting tool and to also extend the guide pin beyond a tip or an end of the cutting tool.
A spinal stabilization system includes a plurality of anchors and at least one bridge. Each anchor includes a clamp configured to engage an anatomical element, the clamp movable between a fully open position and a fully closed position; a locking screw configured to selectively prevent the clamp from being moved into the fully open position; and a bridge interface. The at least one bridge is a rigid member having a first end and a second end opposite the first end, each of the first end and the second end having an anchor interface. The bridge interface is configured to receive the anchor interface.
A61B 17/70 - Dispositifs de mise en position ou de stabilisation de la colonne vertébrale, p. ex. stabilisateurs comprenant un liquide de remplissage dans un implant
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
Disclosed is a system for assisting in guiding and performing a procedure on a subject. A tracking device may be used to track a subject in a space. The tracking device may be moved relative to a tracking fixation member. A tracking system may track movement of the tracking device relative to a fixation portion.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
An interbody tool may include an upper portion with an upper contact surface and a plurality of upper legs; a lower portion with a lower contact surface and a plurality of lower legs, each of the lower legs moveably connected to one of the upper legs; a plurality of gauges, each gauge configured to measure a position of one of the plurality of upper legs relative to a corresponding one of the plurality of lower legs; at least one actuator configured to selectively push the upper portion away from the lower portion; and at least one sensor for measuring a force exerted by the at least one actuator.
A hand held robotic system that remains stiff so long as it is operating within allowed limits, but which become actively controlled once the operator exceeds those limits. The system thus corrects deviations by more than a predetermined amount of the operator's hand motions, so that the tool remains in the allowed region even when the operator's hand deviates from the planned trajectory. The pose and path of the robotic operating head is ascertained by means of a navigation or tracking system, or by means of a proximity device to measure the closeness of the operating head to a damage sensitive feature. As the tool deviates from its predetermined path or pose, or comes too close to the hazardous area, the robot control acts to move the tool back to its predetermined pose or path, or away from the hazardous region, independently of user's hand movement.
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 17/16 - Instruments pour réaliser une ostéoclasieForets ou ciseaux pour osTrépans
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A system and method for generating a corrected image is provided. A plurality of poses for an imaging device may be calculated based on information about an object within a patient's anatomy. An image may be received from the imaging device at each pose of the plurality of poses to yield an image set. Each image may depict at least a portion of an anatomical element of the patient and an object. A set of saturated areas in which the object has caused saturated attenuation, and a set of unsaturated areas in which the object has not caused saturated attenuation may be identified in the images of the image set. A corrected image may be generated by combining data from the set of unsaturated areas, the corrected image depicting the anatomical feature with fewer than all of the saturated areas in the set of saturated areas.
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
59.
SYSTEMS AND METHODS FOR CALIBRATING AN IMAGING DEVICE
Systems and methods for calibrating an imaging device are provided. Output data may be received and a calibration model may be generated using the output data. The calibration model may be configured to extrapolate calibration values. The calibration model may be applied to an imaging device having a limited dynamic range. The calibration model may also be configured to extrapolate calibration values outside of the limited dynamic range.
A61B 6/00 - Appareils ou dispositifs pour le diagnostic par radiationsAppareils ou dispositifs pour le diagnostic par radiations combinés avec un équipement de thérapie par radiations
60.
SYSTEMS FOR REAL-TIME DETECTION OF OBJECT COLLISION AND/OR OBJECT MOVEMENT
Systems and methods for real-time collision detection and/or detecting movement of an object are provided. Sensor data corresponding to a distance between an end effector and an object may be received. The sensor data may be processed to determine the distance. Whether a collision will occur may be determined between the end effector and the object based on the distance.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
Devices, systems, and methods for drilling an anatomical element are provided. A drill bit may comprise a coaxial hollow shaft in communication with a plurality of apertures disposed on a surface of the drill bit. A fluid inlet may be in fluid communication with the coaxial hollow shaft via a selectively openable valve. The fluid inlet may be configured to receive pressurized fluid. When the valve is opened, the pressurized fluid may be released into the coaxial hollow shaft, and when at least one of the plurality of apertures is not blocked, the pressurized fluid may be released through the at least one aperture of the plurality of apertures.
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A system according to at least one embodiment of the present disclosure includes a robotic arm, an end effector, a bone mount and a bone mount interface. The end effect has a proximal end and a distal end with the proximal end of the end effector being connected to the robotic arm. The bone mount is attachable to an anatomical element at one end of the bone mount and the bone mount interface is coupled to the distal end of the end effector via a proximal end of the bone mount interface and attached to another end of the bone mount via a distal end of the bone mount interface. The bone mount interface is configured to add a degree of freedom to the end effector.
Systems, methods, and devices for generating a corrected image are provided. A first robotic arm may be configured to orient a source at a first pose and a second robotic arm may be configured to orient a detector at a plurality of second poses. An image dataset may be received from the detector at each of the plurality of second poses to yield a plurality of image datasets. The plurality of datasets may comprise an initial image having a scatter effect. The plurality of image datasets may be saved. A scatter correction may be determined and configured to correct the scatter effect. The correction may be applied to the initial image to correct the scatter effect.
An imaging system according to at least one embodiment of the present disclosure includes: an image capture device; a processor coupled with the image capture device; and memory coupled with the processor and storing data thereon that, when executed by the processor, enable the processor to: initiate a long scan process for a patient anatomy using the image capture device; determine that at least some of the patient anatomy comprises a non-linear anomaly; implement a long scan adjustment that compensates for the non-linear anomaly; and output a final long scan image that depicts the patient anatomy including the non-linear anomaly.
A61B 6/00 - Appareils ou dispositifs pour le diagnostic par radiationsAppareils ou dispositifs pour le diagnostic par radiations combinés avec un équipement de thérapie par radiations
A surgical tool comprises a dilator, a cutter, a retractable brush, and at least one retractable drill. The dilator is configured to dilate tissue of a patient and can be positioned in an undilated configuration or a dilated configuration. The cutter is configured to cut the tissue and is disposed at a distal end of the dilator. The cutter is configured to move between a cutting position when the dilator is in the undilated configuration and a non-cutting position when the dilator is in the dilated configuration. The retractable brush is configured to brush a surface of an anatomical element of the patient to remove matter from the surface. The at least one retractable drill is configured to drill into the anatomical element.
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
67.
SURGICAL DEVICES, SYSTEMS, AND METHODS INCLUDING ADAPTIVE CONTROL
A surgical system having adaptive control includes a surgical cutting device, at least one sensor, and a controller. The surgical cutting device includes a cutting tool and a motor configured to drive movement of the cutting tool. The at least one sensor is configured to produce sensor data indicative of at least one property of the surgical cutting device during use. The controller is configured to receive the sensor data and determine a performance condition of the surgical cutting device based at least on the sensor data. The controller is further configured, where the determined performance condition is an adverse performance condition, to at least one of: adjust settings of the surgical cutting device or recommend a change relating to use of the surgical cutting device.
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
G16H 40/63 - TIC spécialement adaptées à la gestion ou à l’administration de ressources ou d’établissements de santéTIC spécialement adaptées à la gestion ou au fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement local
68.
SYSTEMS AND METHODS FOR IDENTIFYING ONE OR MORE TRACKING DEVICES
Systems and methods for identifying one or more tracking devices is provided. A tracking device may emit a signal having a frequency and the signal may be received and processed to obtain frequency information of the tracking device corresponding to the frequency. The tracking device may be identified based on the frequency information.
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 90/98 - Moyens d’identification pour les patients ou les instruments, p. ex. étiquettes utilisant des moyens électromagnétiques, p. ex. transpondeurs
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
69.
SYSTEMS AND METHODS FOR PREVENTING AND DETECTING SKIVING
Systems and methods for planning a cutting process to prevent skiving and for preventing skiving are provided. A three-dimensional model of a target anatomical element may be received. One or more inputs of the cutting process including a cutting plane may also be received. One or more parameters of the cutting process may be determined based on the cutting plane and the 3D model.
Systems and methods for generating and updating a surgical plan are provided. A surgical plan comprising a plurality of implant positions and information about an incision may be received. A patient position may also be received or obtained. The surgical plan may be updated including the information about the incision based on the patient position and the plurality of implant positions.
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A method according to at least one embodiment of the present disclosure includes: determining a desired location in which a robot is to be positioned; receiving information about a current location of the robot; rendering, to a display, a heatmap depicting at least one of the current location of the robot and the desired location of the robot; determining a difference between the desired location and the current location; and providing, based on the difference, a recommended adjustment to a pose of the robot to move the robot toward the desired location depicted by the heatmap.
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
72.
SURGICAL DEVICES, SYSTEMS, AND METHODS INCLUDING ADAPTIVE CONTROL
A surgical system having adaptive control includes a surgical cutting device, at least one sensor, and a controller. The surgical cutting device includes a cutting tool and a motor configured to drive movement of the cutting tool. The at least one sensor is configured to produce sensor data indicative of at least one property of the surgical cutting device during use. The controller is configured to receive the sensor data and determine a performance condition of the surgical cutting device based at least on the sensor data. The controller is further configured, when the determined performance condition is an adverse performance condition, to at least one of: adjust settings of the surgical cutting device or recommend a change relating to use of the surgical cutting device.
A surgical system (100), navigation system (118), and method are provided. The method includes obtaining, via a first imaging device (112a), a first image of an object in a surgical area; obtaining, via a second imaging device (112b), a second image of the first imaging device (112a), where the second image comprises one or more second tracking markers (412) arranged in a first position. The method further includes obtaining, via the first imaging device (112a), one or more additional first images of the object; obtaining, via the second imaging device (112b), one or more additional second images of the first imaging device (112a); and determining, based on the one or more additional first images and the one or more additional second images, whether the object has moved and/or whether the first imaging device (112a) has moved relative to the object.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A surgical system, navigation system, and method are provided. An illustrative system includes a robot mounted to a movable base, the robot including one or more robotic arms, a processor, and memory coupled with the processor. The memory includes data stored thereon that, when processed by the processor, enables the processor to: receive image data describing a position of the one or more robotic arms relative to a surgical target area; determine a current position of the robot is sub-optimal for enabling the robot to access the surgical target area; and provide at least one of instructions and animations for moving the movable base from the current position to a new position.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
75.
MULTI-ARM ROBOTIC SYSTEMS AND METHODS FOR MONITORING A TARGET OR PERFORMING A SURGICAL PROCEDURE
Multi-arm robotic systems and methods for monitoring a target are provided. The system may include a first robotic arm configured to orient a first component and a second robotic arm configured to orient a second component. The first robotic arm and the second robotic arm may be co-registered. The first robotic arm may be caused to orient the first component at a first pose. The second robotic arm may be caused to orient the second component at a second pose. At least one image may be received from the first component and the second component.
G16H 50/20 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicalesTIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour le diagnostic assisté par ordinateur, p. ex. basé sur des systèmes experts médicaux
Methods and systems for providing a safety mechanism for a robotically controlled surgical tool. Embodiments of the methods use sensors to detect parameters that vary by the tissue traversed by a surgical tool. The sensors detect signals arising from the interaction of the surgical tool with the tissue and provide this information to a robotic controller. For example, during drilling, the sensors may measure power, vibration, sound frequency, mechanical load, electrical impedance, and distance traversed according to preoperative measurements on a three-dimensional image set used for planning the tool trajectory. By comparing the detected output with that expected for the tool position based on the planned trajectory, identified discrepancies in output would indicate that the tool has veered from the planned trajectory. The robotic controller may then alter the tool trajectory, change the speed of the tool, or discontinue power to the tool, thereby preventing damage to underlying tissue.
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux
A61B 17/17 - Dispositifs de guidage pour les forets
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
G16H 20/40 - TIC spécialement adaptées aux thérapies ou aux plans d’amélioration de la santé, p. ex. pour manier les prescriptions, orienter la thérapie ou surveiller l’observance par les patients concernant des thérapies mécaniques, la radiothérapie ou des thérapies invasives, p. ex. la chirurgie, la thérapie laser, la dialyse ou l’acuponcture
G16H 40/63 - TIC spécialement adaptées à la gestion ou à l’administration de ressources ou d’établissements de santéTIC spécialement adaptées à la gestion ou au fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement local
77.
SYSTEM AND METHOD FOR DETERMINING A PROBABILITY OF REGISTERING IMAGES
A method and system is disclosed for acquiring image data of a subject. The image data can be collected with an imaging system using various selection techniques. The selection techniques may be used to assist in generating selected images for viewing.
G06V 10/24 - Alignement, centrage, détection de l’orientation ou correction de l’image
G06V 10/82 - Dispositions pour la reconnaissance ou la compréhension d’images ou de vidéos utilisant la reconnaissance de formes ou l’apprentissage automatique utilisant les réseaux neuronaux
A system for tracking the position of a surgical tool manipulated by a surgical robotic system, to determine that the tool is correctly positioned and orientated. Miniature 3-D tracking cameras are mounted on the end effector of the robotic system, one viewing markers on the surgical tool, and the other markers attached to the anatomy part being operated on. The initial spatial position and orientation of the surgical tool on the surface of the anatomy part is measured, and the progress of the surgical tool into the anatomic body part is tracked using one of the miniature cameras. The cameras or sensors are close to the surgical region of interest, and all the mechanical and sensor elements necessary for the system operation are mounted within the realm of the robot. The system thus avoids interruption of communication between a remotely positioned navigation camera and the robot or patient.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 17/16 - Instruments pour réaliser une ostéoclasieForets ou ciseaux pour osTrépans
A61B 17/17 - Dispositifs de guidage pour les forets
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
Registering a robotic coordinate system defined by a robotic system and a navigation coordinate system defined by a tracking system localizer. The registration includes: determining a robotic coordinate system between a first portion of the robotic system and a subject separate from the first portion of the robotic system; connecting a fiducial marker at a first known position relative to the robotic coordinate system and relative to the first portion of the robotic system; acquiring a fiducial image at an initial time with an imaging system of the fiducial marker; detecting the acquisition of the fiducial image with the imaging system at the initial time with a detector; and sending a command to determine or record an initial position of at least one of the first portion of the robotic system or the robotic coordinate system at the initial time.
Registering a robotic coordinate system defined by a robotic system and a navigation coordinate system defined by a tracking system localizer. The registration includes: determining a robotic coordinate system between a first portion of the robotic system and a subject separate from the first portion of the robotic system; connecting a fiducial marker at a first known position relative to the robotic coordinate system and relative to the first portion of the robotic system; acquiring a fiducial image at an initial time with an imaging system of the fiducial marker; detecting the acquisition of the fiducial image with the imaging system at the initial time with a detector; and sending a command to determine or record an initial position of at least one of the first portion of the robotic system or the robotic coordinate system at the initial time.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
81.
AUTOMATED MOVEMENT OF OPTICAL LOCALIZER FOR OPTIMAL LINE OF SIGHT WITH OPTICAL TRACKERS
A surgical navigation system including an optical tracking device, an optical localizer configured to optically track the optical tracking device, a mount assembly supporting the optical localizer, and a processor. The processor is configured to transmit commands to the mount assembly for actuating the mount assembly to position the optical localizer where there is line of sight between the optical localizer and the optical tracking device.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
82.
SYSTEMS AND METHODS FOR REGISTERING A TARGET ANATOMICAL ELEMENT
Systems and methods for registering a target anatomical element are provided. An image of patient anatomy including the target anatomical element and target pose information of the target anatomical element from the imaging device may be received. Robot pose information of a robotic arm supporting the imaging device may also be received. The target pose information and the robot pose information may be inputted into a registration model configured to register a robot coordinate system of the robot to a patient coordinate system based on the target pose information, the robot pose information, and the image.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
83.
AUTOMATED MOVEMENT OF OPTICAL LOCALIZER FOR OPTIMAL LINE OF SIGHT WITH OPTICAL TRACKERS
A surgical navigation system including an optical tracking device, an optical localizer configured to optically track the optical tracking device, a mount assembly supporting the optical localizer, and a processor. The processor is configured to transmit commands to the mount assembly for actuating the mount assembly to position the optical localizer where there is line of sight between the optical localizer and the optical tracking device.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
Disclosed is a system for assisting in guiding and performing a procedure on a subject. The subject may be any appropriate subject such as inanimate object and/or an animate object. The guide and system may include various manipulate or movable members, such as robotic systems, and may be registered to selected coordinate systems to assist in movement of the robotic systems.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
85.
SYSTEMS AND METHODS FOR DETECTING AND MONITORING A DRAPE CONFIGURATION
Systems and methods for detecting and monitoring a drape configuration are provided. The system may include a drape and one or more indicia. The one or more indicia may be visible when at least a portion of the drape is in a predetermined configuration. Information about the one or more indicia may be received and whether or not the portion of the drape is in the predetermined configuration may be determined based on the information.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 90/96 - Moyens d’identification pour les patients ou les instruments, p. ex. étiquettes utilisant des symboles, p. ex. du texte utilisant des codes-barres
Disclosed is a system for assisting in guiding and performing a procedure on a subject. The subject may be any appropriate subject such as inanimate object and/or an animate object. The guide and system may include various manipulable or movable members, such as robotic systems, and may be registered to selected coordinate systems to assist in movement of the robotic systems.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
87.
SYSTEMS AND METHODS FOR DETERMINING A SAFETY LAYER FOR AN ANATOMICAL ELEMENT
Systems and methods for determining a safety layer for an anatomical element are provided. A cutting tool contacting the anatomical element at a first surface may be detected and dimensional information about the anatomical element may be received. A safety layer may be determined for the anatomical element based on the dimensional information and the detected contact between the cutting tool and the anatomical element at the first surface.
Systems, methods, and devices for determining a tool pose are provided. A tracking device mounted to a tool may comprise a plurality of faces and a plurality of markers defining a plurality of sets of markers. Each set of markers may comprise one or more markers of the plurality of markers and each set of markers may be disposed on a corresponding face. Information about a set of markers of the plurality of markers may be received. A face of the plurality of faces having the set of markers disposed thereon may be determined. A pose of the tool based on the information and the determined face may be determined.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
Multi-arm surgical robotic platforms and systems are provided. The platforms and systems may comprise a support structure or a frame and an operating table mounted to the support structure or the frame. A plurality of robotic arms may be mounted to the support structure or the frame and may be capable of manipulating an emitter and a detector to obtain between and including 0 to 360-degree imaging of a patient on the operating table.
A61B 34/00 - Chirurgie assistée par ordinateurManipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
90.
Systems, methods, and devices for multiple exposures imaging
Systems, methods, and devices for capturing a single image with multiple exposures is provided. An imaging device may be provided comprising a source configured to emit a wave for a time period and a detector configured to receive a signal indicative of the wave. A wave may be emitted for a time period and a signal may be received indicative of the emitted wave. A first image dataset may be saved with a first timestamp referencing a first time within the time period. A second image dataset may be saved with a second timestamp referencing a second time within the time period. The second time may occur after the first time.
G06T 5/50 - Amélioration ou restauration d'image utilisant plusieurs images, p. ex. moyenne ou soustraction
A61B 6/00 - Appareils ou dispositifs pour le diagnostic par radiationsAppareils ou dispositifs pour le diagnostic par radiations combinés avec un équipement de thérapie par radiations
G06T 5/90 - Modification de la plage dynamique d'images ou de parties d'images
91.
SYSTEMS, DEVICES, AND METHODS FOR RETRACTOR INTERFERENCE AVOIDANCE
Systems and methods for retractor interference avoidance is provided. At least one retractor includes a base and one or more elongate members extending from the base. The one or more elongate members are movable. A position of the at least one retractor may be determined and a trajectory of a surgical device may be received. At least one elongate member of the one or more elongate members positioned to interfere with movement of the device along a trajectory may be identified based on the position of the retractor and the trajectory of the surgical device.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 17/02 - Instruments, dispositifs ou procédés chirurgicaux pour maintenir les blessures ouvertes, p. ex. rétracteursÉcarteurs
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 90/50 - Supports pour instruments chirurgicaux, p. ex. bras articulés
92.
SYSTEMS AND METHODS FOR VOLUME RECONSTRUCTIONS USING A PRIORI PATIENT DATA
A system according to at least one embodiment of the present disclosure includes a processor; and a memory storing instructions thereon that, when executed by the processor, cause the processor to: identify, based on first imaging data associated with an object, a boundary region corresponding to a shape of the object; identify at least one voxel included in second imaging data associated with the object, where the at least one voxel is located outside the boundary region; and generate a multidimensional image volume corresponding to the object using the second imaging data, where generating the multidimensional image volume is with respect to one or more criteria associated with voxels located outside the boundary region.
A system according to at least one embodiment of the present disclosure includes a processor; and a memory storing instructions thereon that, when executed by the processor, cause the processor to: identify, based on first imaging data associated with an object, a boundary region corresponding to a shape of the object; identify at least one voxel included in second imaging data associated with the object, where the at least one voxel is located outside the boundary region; and generate a multidimensional image volume corresponding to the object using the second imaging data, where generating the multidimensional image volume is with respect to one or more criteria associated with voxels located outside the boundary region.
G06T 7/55 - Récupération de la profondeur ou de la forme à partir de plusieurs images
G06T 7/521 - Récupération de la profondeur ou de la forme à partir de la télémétrie laser, p. ex. par interférométrieRécupération de la profondeur ou de la forme à partir de la projection de lumière structurée
94.
GENERIC DEPTH INDICATOR FOR SURGICAL NAVIGATIONAL TOOLS
A depth-indicating device for determining the depth of insertion of a surgical tool comprising a pair of spaced apart end caps, separated by a compressed spring, with the surgical tool passing through axial openings in both end caps, and firmly attached to one of the end caps, but free to slide through the opening in the other. A guide tube is attached to the second endcap, such that the surgical tool can be guided to its operating position on a body part. The second end cap and guide tube are attached to a location having a known position relative to the body part. A tracking marker is attached to the first end cap such that its longitudinal position can be tracked using a remote racking camera. Since the surgical tool is attached to the first end cap, the tool position is also tracked by the tracking system.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 17/16 - Instruments pour réaliser une ostéoclasieForets ou ciseaux pour osTrépans
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 90/11 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures pour la chirurgie stéréotaxique, p. ex. système stéréotaxique à cadre avec des guides pour aiguilles ou instruments, p. ex. des glissières courbes ou des articulations à rotule
B23B 49/00 - Systèmes de mesure ou de calibrage des machines à aléser, pour le positionnement ou le guidage du foretDispositif pour indiquer les défauts des forets pendant l'alésageDispositifs à centrer les trous à aléser
A surgical platform and trolley assembly and an interface of a robotic system are provided. The surgical platform and trolley assembly includes a trolley portion and a surgical platform portion. The trolley portion supports the surgical platform portion, and affords positioning and repositioning of the surgical platform portion relative to the interface of the robotic system. An end portion of the surgical platform portion is attachable relative to the robotic system via engagement to the interface.
A system and techniques for creating a spine stress map are provided. The system may be configured to generate a multi-class segmentation for an anatomical element of a patient based on a plurality of magnetic resonance images of the anatomical element from a plurality of patients. Additionally, one or more stress maps may be generated based on simulating stresses on the anatomical element. In some embodiments, the simulated stresses may be simulated using a finite element analysis based at least in part on the multi-class segmentation. Additionally, the system may be configured to display one or more stress maps via a user interface, where the one or more stress maps are determined based on one or more deep learning models configured to predict multi-labeled masks and/or stress maps for the anatomical element.
Disclosed is a system for assisting in guiding and performing a procedure on a subject. The subject may be any appropriate subject such as inanimate object and/or an animate object. The guide and system may include various manipulable or movable members, such as robotic systems, and may be registered to selected coordinate systems.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
A61B 5/06 - Dispositifs autres que ceux à radiation, pour détecter ou localiser les corps étrangers
G06T 7/32 - Détermination des paramètres de transformation pour l'alignement des images, c.-à-d. recalage des images utilisant des procédés basés sur la corrélation
A minimally invasive system using a surgical robot as a three-dimensional printer for fabrication of biological tissues inside the body of a subject. A preoperative plan is used to direct and control both the motion of the robot and the robotic bio-ink extrusion. The robotic motion is coordinated with the ink extrusion to form layers having the desired thickness and dimensions, and use of different types of ink enables composite elements to be laid down. Such systems have a small diameter bio-ink ejecting mechanism, generally in the form of a piston driven cannula, enabling access to regions such as joints, with limited space. The robotic control is programmed such that angular motion takes place around a pivot point at the point of insertion into the subject. The bio-inks can be stored in predetermined layers in the cannula to enable sequential dispensing from one cannula.
A61B 34/20 - Systèmes de navigation chirurgicaleDispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p. ex. pour la stéréotaxie sans cadre
Systems and methods for programming a lead are provided. A first image of an anatomical region depicting an anatomical element and at least a portion of an initial lead and an initial lead parameter associated with the initial lead are received. A second image of the anatomical region depicting at least a portion of the anatomical element and at least a portion of an implanted lead is also received. An implanted lead parameter may be generated for the implanted lead based on a combination of the initial lead parameter and a correlation of the first image with the second image.
A61N 1/05 - Électrodes à implanter ou à introduire dans le corps, p. ex. électrode cardiaque
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p. ex. pour le traitement de la luxation ou pour la protection de bords de blessures
100.
Spine stress map creation with finite element analysis
A system and techniques for creating a spine stress map are provided. The system may be configured to generate a multi-class segmentation for an anatomical element of a patient based on a plurality of magnetic resonance images of the anatomical element from a plurality of patients. Additionally, one or more stress maps may be generated based on simulating stresses on the anatomical element. In some embodiments, the simulated stresses may be simulated using a finite element analysis based at least in part on the multi-class segmentation. Additionally, the system may be configured to display one or more stress maps via a user interface, where the one or more stress maps are determined based on one or more deep learning models configured to predict multi-labeled masks and/or stress maps for the anatomical element.
