Disclosed are techniques for stapler reload detection and identification. A manipulator is configured to have an instrument mounted thereto. The instrument includes an end effector configured to receive a replaceable stapler cartridge. An actuator is drivingly coupled with the pusher member. A control unit is configured to control operation of the actuator to move the pusher member from a first position toward a second position; determine a distance that the pusher member moves from the first position toward the second position before a force limit for the actuator is exceeded; and determine, based on the distance that the pusher member moves, an operational status of the instrument relating to the replaceable stapler cartridge.
A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A passive preload system may maintain minimum tensions in the tendons.
In vivo visualization systems are described which facilitate tissue treatment by a user in utilizing real time visualized tissue images with generated three-dimensional models of the tissue region of interest, such as the left atrial chamber of a subject's heart. Directional indicators on the visualized tissue as well as the imaging systems may be utilized while other variations may utilize image rotation or manipulation of visualized tissue regions to facilitate catheter control. Moreover, visualized tissue regions may be combined with imaged tissue regions as well as navigational information to further facilitate tissue treatments.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 1/015 - Control of fluid supply or evacuation
A61B 1/05 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
A61B 1/313 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
4.
ANATOMICAL STRUCTURE COMPLEXITY DETERMINATION AND REPRESENTATION
Various of the disclosed embodiments contemplate systems and methods for assessing structural complexity within an intra-surgical environment. For example, in some embodiments, surface characteristics from three-dimensional models of a patient interior, such as a colon, bronchial tube, esophagus, etc. may be used to infer the surface's level of complexity. Once determined, complexity may inform a number of downstream operations, such as assisting surgical operators to identify complex regions requiring more thorough review, the automated recognition of healthy or unhealthy tissue states, etc. While some embodiments apply to generally cylindrical internal structures, such as a colon or branching pulmonary pathways, etc., other embodiments may be used within other structures, such as inflated laparoscopic regions between organs, joints, etc. Various embodiments also consider graphical and feedback indicia for representing the complexity assessments.
G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods
G16H 50/50 - ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for simulation or modelling of medical disorders
5.
DEVICES AND METHODS FOR CREATING UNIFORM ILLUMINATION
With optical fiber-based illumination, uniform perceived illumination at an image capture device can be achieved with an input-angle-dependent intensity distribution at the input to the optical fiber. Disclosed are various apparatus and associated methods of operation that achieve such an angular intensity distribution, either statically or via programmable or controllable devices. Example embodiments utilize spatial intensity modulation of the light at a transform plane preceding the input to the optical fiber, light emission by multiple individually controllable emitters at different distances from or different angles relative to an optical axis, and/or beam sweeping across a range of input angles in synchronization with intensity control to generate the desired angular intensity distribution.
A61B 1/07 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements using light-conductive means, e.g. optical fibres
A61B 1/04 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
A61B 1/06 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
6.
SYSTEMS AND METHODS FOR OPTICAL FIBER CLEANING AND INTERFACE PARTICLE REDUCTION
A system comprises an optical fiber, a manipulator assembly, and a control unit. The manipulator assembly comprises a chassis, an optical fiber cleaning assembly housed within the chassis, and a drive mechanism housed within the chassis. The optical fiber cleaning assembly comprises a cleaning tape, a first spool on which the cleaning tape is wound, and a second spool onto which the cleaning tape is drawn after use. The drive mechanism is configured to advance the cleaning tape from the first spool to the second spool such that a portion of the cleaning tape wipes a face of the optical fiber. The control unit is configured to control the drive mechanism to advance the cleaning tape.
An instrument system includes actuators, an instrument, and a control system. The instrument includes joints and transmission systems that couple the joints with the actuators. A first joint is distal to a second joint, a first transmission system passes through the second joint to couple to the first joint, and a second transmission system couples to the second joint. The control system is programmed to determine a first tension to be applied by the first transmission system, determine a first estimate of an interaction response that results at the second joint from applying the first tension by the first transmission system, determine a second tension to be applied by the second transmission system based on a first set of parameters, the first set of parameters including the first estimate, and command the actuators such that the first and second transmission systems apply the first and second tensions, respectively.
Integrated table motion includes a computer-assisted device. The computer-assisted device includes articulating means; means for receiving, via a means for communicatively coupling the computer-assisted device with a table means, a table movement request from a table command means, the table means being separate from the computer-assisted device; means for determining whether the table movement request should be allowed; and means for allowing the table means to perform the table movement request based on determining that the table movement request should be allowed.
A computer-assisted medical system includes a manipulator, an instrument holder physically coupled to the manipulator arm, and a controller that includes a computer processor. The instrument holder includes an instrument holder carriage configured to releasably couple to an instrument and translate the instrument along a longitudinal axis. The controller applies a signal that represents a movement for the instrument along the longitudinal axis to a filter to differentiate between a first and a second motion component of the movement along the longitudinal axis, and causes the instrument to move in accordance with the movement along the longitudinal axis by commanding the manipulator arm to move based on the first motion component of the movement along the longitudinal axis. The controller further commands, based on the second motion component of the movement along the longitudinal axis, the instrument holder carriage to move relative to the manipulator arm.
Systems, methods, and tangibly-implemented software instructions for supporting a teleoperated surgical system (TSS). A surgical input that includes monitored events of the TSS, is received. A current stage of the surgical procedure is autonomously determined based on the surgical input. A call for surgeon assistance may be detected, in response to which context-relevant assistance may be provided to a surgeon console of the TSS, the context-relevant assistance being stage-synchronized with the surgical procedure.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
G09B 23/28 - Models for scientific, medical, or mathematical purposes, e.g. full-sized device for demonstration purposes for medicine
G16H 20/30 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
G16H 40/67 - ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
G16H 50/50 - ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for simulation or modelling of medical disorders
11.
SYSTEMS AND METHODS FOR SAFE OPERATION OF A DEVICE
A control system for a device comprises a processor configured to receive, via one or more sensors, a contact signal indicating that an operator is in contact with an input control of an input control console coupled to the control system. The processor is further configured to determine whether the contact signal is an activation signal. The processor is further configured to receive an input representing a commanded motion of the device at the input control. The processor is further configured to execute the commanded motion if the processor determines that the contact signal is the activation signal.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
12.
SYSTEMS AND METHODS FOR A DUAL-CONTROL SURGICAL INSTRUMENT
A method comprises receiving a surgical instrument into engagement with a grip actuator of a teleoperational activation system. The surgical instrument includes movable jaws, and the surgical instrument is received in a prearranged gripping configuration with the jaws gripping a surgical accessory. The method includes generating a first control signal for manipulating the surgical instrument while maintaining the surgical instrument in the prearranged gripping configuration. The method further includes generating a second control signal for manipulating the surgical instrument to move from the prearranged gripping configuration to a second configuration.
A method is provided to control actuation of a click event by a hand-actuated selector moveably mounted to a mount structure, comprising: in a first control state, imparting a maintaining force to the hand-actuated selector; in a second control state, imparting a haptic force to the hand-actuated selector that increases as a function of increasing displacement of the hand-actuated selector from the neutral displacement position; imparting a click event signal to cause an occurrence of the click event at a display system, in a third control state, imparting a haptic force to the hand-actuated selector that decreases in magnitude to a reduced magnitude.
A system comprises a teleoperational assembly including an operator control system and a first teleoperational manipulator configured for operation by an operator control device of the operator control system. The first teleoperational manipulator is configured to control the operation of a first medical instrument in a surgical environment. The system also comprises a processing unit including one or more processors. The processing unit is configured to display an image of a field of view of the surgical environment and display a menu proximate to an image of the first medical instrument in the image of the field of view. The menu includes at least one icon representing a function for the first medical instrument.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
15.
SURGICAL PLATFORM SUPPORTED AND CONTROLLED BY MULTIPLE ARMS
A surgical module is supported by manipulators that are removably attached to the surgical module. The surgical module may enable operation of surgical tools by providing an integration between actuating mechanisms of the manipulators and actuating mechanisms of the surgical tools. Alternatively or additionally, the surgical module may enable operation of the surgical tools by providing physical access for deploying surgical tools that are operatively connected to the manipulators.
A robotic system comprises an input device movable by an operator and a processing unit. An operator reference frame is defined relative to the operator. The processing unit is configured to present, to the operator, a first image of a first tool captured by an imaging device, receive, from the operator, a first indication that a first axis of the input device is aligned with a corresponding axis of the first tool in the first image, and in response to the first indication, determine a first alignment relationship between the imaging device and the first tool based on a second alignment relationship between the operator reference frame and the input device.
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
Surgical instruments, such as clamping and cutting instruments, are provided. In one aspect, a surgical stapling instrument comprises first and second jaws and a drive member configured to move in a distal direction through at least one of the jaws. The instrument further includes a locking member movable between a first position permitting distal translation of the drive member, and a second position impeding distal translation of the drive member, and a switch movable from a proximal position to a distal position. When the switch is in the proximal position, it releasably maintains the locking member in the first position, and when the switch is in the distal position, it allows the locking member to move to the second position. This inhibits or prevents actuation of a knife when there is a spent or previously fired cartridge loaded in the instrument.
A surgical apparatus includes a housing, a test port retainer, a pressure test chamber, and an image capture assembly. The housing includes a pressure test port. The test port retainer includes a test port retainer housing, a probe seal, and a liquid exclusion barrier. In one aspect, the test port retainer also includes a hydrophobic membrane mounted within the test port retainer housing. The pressure test chamber includes a manifold and a central tube. The first end of the central tube is affixed to the image capture assembly to form a pressure seal, and the second end of the central tube is coupled to the test port retainer so that the pressure test port communicates with the interior volume of the central tube through the test port retainer.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 1/04 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
Techniques for motion mode management include a computer-assisted device having an input control, a repositionable structure, and a controller coupled to the input control and the repositionable structure. The controller is configured to detect motion of the input control for teleoperating the repositionable structure and in response to determining that the motion of the input control includes a component of motion used to change a mode of operation of the computer-assisted device, temporarily disable changes in the mode of operation of the computer-assisted device based on motion of the input control.
G06F 3/0346 - Pointing devices displaced or positioned by the user; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
A system may comprise a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to record shape data for an instrument during an image capture period of an imaging system and receive image data from the imaging system corresponding to the image capture period. A portion of the image data corresponds to the instrument. The computer readable instructions further cause the system to identify a target in the image data, segment the portion of the image data, register the image data to the shape data by comparing the shape data to the portion of the image data corresponding to the instrument, and update a location of the target from a pre-operative location to an intra-operative location based upon the image data.
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A medical system comprises a display system, an elongate device, an imaging probe configured to extend within the elongate device, and a control system communicatively coupled to the display system. The control system is configured to display a graphical user interface via the display system. The graphical user interface includes a virtual navigation view and a fluoroscopic view. The control system is further configured to: display an image of the elongate device in the virtual navigation view; determine a position of an imaging probe marker in the virtual navigation view based on a position of the imaging probe displayed in the fluoroscopic view; determine a plane of orientation of the imaging probe marker in the virtual navigation view based on an orientation of the imaging probe displayed in the fluoroscopic view; and determine an orientation indicator for the imaging probe marker in the virtual navigation view.
The technology described herein can be embodied in a stereoscopic endoscope in which the orientation of the two eyes may be determined dynamically as the endoscope is moved and rotated. This may enable an improved user-experience when using an angled stereoscopic endoscope even when it is rotated, for example, to view the sides of a cavity.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
G02B 23/24 - Instruments for viewing the inside of hollow bodies, e.g. fibrescopes
A surgical system includes a surgical instrument that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument is coupled to motors in a surgical instrument manipulator assembly via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly. From the drive output disk in the surgical instrument manipulator assembly to the driven disk of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.
A medical system may comprise a display system and a control system. The control system may include a processing unit including one or more processors. The processing unit may be configured to display, on the display system, an image of a field, generated by an imaging component, of view of a surgical environment. The processing unit may also be configured to generate a three-dimensional synthetic indicator for a position of an instrument outside of the field of view of the surgical environment and display the three-dimensional synthetic indicator with the image of the field of view of the surgical environment.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
25.
DEVICES AND METHODS FOR FORCE SENSING UNIT WITH SHAFT TRANSLATION AND ROLL
A surgical instrument includes a support structure, a shaft, a shaft translation carriage including a shaft roll carrier, a shaft roll drive group, and a force sensor unit. The shaft comprises a proximal end and a distal end, and a shaft axis is defined by the proximal and distal ends. The shaft is coupled to the support structure by the shaft roll carrier. The shaft roll drive group is configured to rotate the shaft about the shaft axis and comprises a shaft roll driver, a shaft roll drive receiver, and a shaft roll drive coupling. The shaft roll drive receiver translates along the shaft axis relative to the shaft roll driver as the shaft translates along the shaft axis. The force sensor unit is configured to produce a the shaft axis.
Methods and systems of registering a model of one or more anatomic passageways of a patient to a patient space are provided herein. An exemplary method may include accessing a set of model points of the model of the passageways, the model points being associated with a model space, collecting measured points along a length of a catheter inserted into the passageways of the patient, the measured points determined by a shape of the catheter, and assigning points of the first set to a plurality of subsets. The exemplary method may further include registering each of the subsets with the model points to produce a plurality of registration candidates, comparing the candidates to identify an optimal subset associated with an optimal registration of the plurality of candidates that translates the set of model points and at least one set of the sets of measured points into a common space.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
G06F 30/23 - Design optimisation, verification or simulation using finite element methods [FEM] or finite difference methods [FDM]
G06T 3/00 - Geometric image transformation in the plane of the image
G06T 7/33 - Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
G06T 17/20 - Wire-frame description, e.g. polygonalisation or tessellation
27.
SYSTEMS AND METHODS FOR TEMPERATURE CONTROL IN DELIVERY OF THERMAL LIQUID TREATMENT
A heated liquid system may comprise a catheter including a liquid delivery channel for delivery of a treatment liquid from a distal end portion of the catheter. The catheter may also include a circulation supply channel extending along the liquid delivery channel. The circulation supply channel may be configured to convey a heated liquid from a heated liquid source toward the distal end portion of the catheter. The catheter may also include a circulation return channel extending along the liquid delivery channel. The circulation return channel may be configured to convey the heated liquid from the distal end portion toward a proximal end portion of the catheter. The heated liquid may be used to maintain a temperature of the treatment liquid.
A medical instrument includes an instrument shaft with exit holes near a distal end of the shaft, a tool coupled to the distal end of the shaft, and a backend. The backend may include a mechanism that manipulates a drive element that extends through the shaft and couples to the tool, a fluid inlet, and a fluid channel assembly providing fluid communication between the fluid inlet and the proximal end of the shaft. Cleaning fluid is directed into the fluid inlet, through the fluid channel assembly, and into the shaft. A chassis or other structural piece of the backend may form part of the fluid channel assembly.
A medical system may include an elongated flexible body including a channel extending through the elongated flexible body. The elongated flexible body includes an articulable portion extending along at least a portion of a length of the elongated flexible body. The medical system may include an instrument configured to be received in the channel of the elongated flexible body, a magnetic field generator configured to generate a magnetic field within the channel, and a magnetic field sensor configured to detect the magnetic field generated by the magnetic field generator.
A medical instrument includes a tool having a mating tool portion with a first set of angled flats and a flexible elongated body having a mating channel portion with a second set of angled flats. When the tool is inserted into a channel of the flexible elongated body, the first set of angled flats engages with the second set of angled flats. The first and second sets of angled flats may be configured such that the tool is oriented into one of a plurality of predetermined orientations relative to the flexible elongated body when the first and second sets of angled flats are engaged during tool insertion.
A61B 1/018 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor for receiving instruments
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
The present disclosure provides a surgical instrument, such as a tissue sealing instrument, with an elongate shaft and an end effector movably coupled to the shaft with a joint or wrist assembly. The wrist assembly includes a first outer link, a second outer link, and an inner link. The first outer link is connected to the elongated shaft and movably coupled to the second outer link by the inner link. The inner link includes a pair of posts, and the first and second outer links each include a recess configured to receive a respective one of the pair of posts. The posts and recesses defining a rocking hinge, which permits the wrist assembly to accommodate a reduction in the size of the rolling radius to reduce the likelihood of grabbing and pinching tissue during articulation of the end effector without sacrificing the internal bend radius of the hinge joint.
Various of the disclosed embodiments provide Graphical User Interfaces (GUIs) for reviewing prior surgical procedures. Specifically, the GUI may allow a user, such as surgeon, to review sensor data, including video data, acquired during various of the surgeon's past surgical procedures. Some sensor data may be organized into metrics referred to herein as objective performance indicators (OPIs). Similarly, procedures may be discretized into specific tasks. By organizing and presenting data in OPI form at the task level, the GUI may facilitate efficient and coordinated review of the surgeon's progress over time across multiple procedures. In some embodiments, corresponding data from expert surgeons may also presented in the interface so that the user may gauge the surgeon's relative performance.
G16H 15/00 - ICT specially adapted for medical reports, e.g. generation or transmission thereof
G16H 10/60 - ICT specially adapted for the handling or processing of patient-related medical or healthcare data for patient-specific data, e.g. for electronic patient records
G16H 50/70 - ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for mining of medical data, e.g. analysing previous cases of other patients
A medical instrument includes a tool extender used to retain and move a tool relative to a flexible elongate device. The tool extender includes a slider that allows a user to move the tool relative to a flexible elongate device with one hand using a portion of the slider that is configured to be engaged and manipulated by the user's hand or fingers. A portion of the slider is attached to the tool shaft such that moving the slider moves the tool relative to the tool extender and to the flexible elongate device
A method of planning a procedure to deploy an interventional instrument comprises receiving a model of an anatomic structure. The anatomic structure includes a plurality of passageways. The method further includes identifying a target structure in the model and receiving information about an operational capability of the interventional instrument within the plurality of passageways. The method further comprises identifying a planned deployment location for positioning a distal tip of the interventional instrument to perform the procedure on the target structure based upon the operational capability of the interventional instrument.
Modified animal tissues, organs, and organ systems for use in simulated surgical procedures are disclosed. The tissues, organs, and/or organ systems can be modified by enhancing their electrical conductivity, by including simulated contents mimicking what would normally be present in live animals, and by having fake blood perfusing through them. Portions of different tissues, organs, or organ systems, which can be from the same or different animals, can be adhered to provide hybrid/chimeric tissues, organs, or organ systems, and also used for simulated surgical procedures. These modifications can provide surgeons with a more realistic experience during a simulated surgical procedure.
A surgical port includes an end face comprising a channel extending through the end face, the channel having a cross section shaped to receive a surgical instrument cannula, and a lateral wall extending around a perimeter of the end face, the lateral wall and end face enclosing an open volume. An end portion of a wound retractor is received in the open volume of the surgical port and in engagement with an inner surface of the lateral wall, and the surgical port is configured to abut a body wall in an inserted position of the wound retractor through the body wall.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A non-transitory machine-readable media stores instructions that, when run by one or more processors, cause the one or more processors to store a deformable model of a patient anatomy and deform the deformable model based on a measured deformation of a branched anatomical structure of the patient anatomy. The deformable model includes a skeleton tree of nodes and linkages representing the branched anatomical structure of the patient anatomy. Each of the nodes is located at a respective bifurcation of the branched anatomical structure, and at each respective bifurcation the corresponding linkages include an orientation. The deformable model is deformed by modifying the orientations of the linkages of the branched anatomical structure.
A system includes a sensor to sense a change in a position of an input control component and a tool; a storage medium embodies a collection of respective motion pictures, which show tool movement imparted by the control component in response to manual input provided by users, indexed based upon a metric; a storage medium embodies a set of instructions that cause a processor to perform operations comprising: determining a user's performance; recording a motion picture of the tool movement imparted by the master control component by the individual user; indexing the recorded motion picture to the collection of motion pictures; generating a user interface providing an interactive visual index; and displaying a selected motion picture on the display screen in response to user input at the interactive visual index.
G09B 5/02 - Electrically-operated educational appliances with visual presentation of the material to be studied, e.g. using film strip
G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
G06F 3/0346 - Pointing devices displaced or positioned by the user; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
G06F 3/0482 - Interaction with lists of selectable items, e.g. menus
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
G16H 70/20 - ICT specially adapted for the handling or processing of medical references relating to practices or guidelines
A system includes a memory and a processing unit coupled to the memory. The processing unit is configured to receive first image data from a first image sensor exterior to a body, the first image data including data of an object; receive second image data from a second image sensor interior to the body, the second image data including data of the object; track the object moving across a body wall of the body based on the first and second image data to generate a tracking result to indicate a status of movement of the object across the body wall.
Devices, systems, methods, and computer program products for performing a medical procedure are disclosed herein. In some embodiments, a system for performing a medical procedure in an anatomic region includes a medical instrument configured to be inserted within the anatomic region, the medical instrument including an image capture device. The system can also include a positional sensor associated with the medical instrument. The system can be configured to receive a model of the anatomic region. The system can obtain image data from the image capture device and a set of coordinate points from the positional sensor. The system can generate a registration between the model and the anatomic region based on the image data and the coordinate points.
G06T 7/33 - Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
Surgical stapling instruments include mechanisms for identifying and/or deactivating stapler cartridges for use with the instruments. The stapling instrument includes a drive member for actuating a staple cartridge and a locking member movable from a disabled position permitting distal translation of the drive member through a staple firing stroke, to a locking position inhibiting distal translation of the drive member through the staple firing stroke. The staple cartridge may include a switch movable in a lateral direction to either maintain the locking member in the disabled position or to allow the locking member to move into the locking position.
A surgeon training apparatus includes a cassette, which includes biological tissue repurposed into a form consistent with the anatomical configuration of abdominal hernias, affixed into an anatomically correct silicon framework which replicates the abdominal anatomy. The framework positions the cassette in an anatomically correct position within the abdominal cavity, enabling surgeons to train using a properly positioned representation of the target anatomy, thus requiring the surgeon to properly use surgical tools to correct the pathologic condition caused by the hernia. The cassette is formed by applying biologic tissue to a specially designed “plate,” which affixes the tissue block into the anatomic framework, and is adapted for connection to a grounding device so the surgeon can use cautery during the simulated hernia repair. The cassette can be positioned inside a manikin, and can be used to train surgeons to repair human hernias using multiple techniques, including robot assisted and laparoscopic methods.
Systems and methods for responding to faults in a robotic system are provided herein. In some embodiments, the system includes an elongate body having a proximal end and a distal end, a backend housing coupled to the proximal end of the elongate body, and a control system. The backend housing includes one or more actuators configured to manipulate the distal end of the elongate body. The control system is configured to control the robotic system by performing operations including: determining an operational state of the medical robotic system, detecting a fault in one or more components of the medical robotic system, classifying the fault according to one or more heuristics, and imposing a fault reaction state on the medical robotic system based on the one or more heuristics to mitigate the fault.
A medical system comprises a display system, an elongate device, an imaging probe configured to extend within the elongate device, and a control system communicatively coupled to the display system. The control system is configured to display a graphical user interface via the display system. The graphical user interface includes a virtual navigation view. The control system is further configured to receive imaging data from the imaging probe. The control system is further configured to determine a target location based on the imaging data. The control system is further configured to determine a position of a distal end of the elongate device. The control system is further configured to display a graphical marker in the virtual navigation view indicating a direction to steer the elongate device from the position of the distal end of the elongate device to the target location.
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
45.
FLUORESCENCE EVALUATION APPARATUSES, SYSTEMS, AND METHODS
A fluorescence evaluation apparatus includes a substrate configured to be inserted into a body through a channel having an inside diameter between about 5 millimeters (mm) and about 30 mm and a plurality of fluorescence swatches of a fluorescence imaging agent, each fluorescence swatch being arranged on the substrate and having a different concentration of the fluorescence imaging agent.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 1/04 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
A61B 1/06 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
46.
SYSTEMS FOR DYNAMIC IMAGE-BASED LOCALIZATION AND ASSOCIATED METHODS
Devices, systems, methods, and computer program products for performing medical procedures are disclosed herein. In some embodiments, a system for performing a medical procedure includes a medical instrument configured to be inserted within the anatomic region, the medical instrument including an image capture device. The system can be configured to obtain, from the image capture device, image data of an anatomic landmark within the anatomic region. The system can identify, based on the image data, an association between the anatomic landmark and a corresponding model landmark in a model of the anatomic region. The system can determine a localization state of the medical instrument based on the identified association, the localization state including an estimated location and an uncertainty parameter associated with the estimated location. The system can dynamically update the localization state as the medical instrument navigates within the anatomic region.
A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
47.
SYSTEMS AND METHODS FOR REGISTRATION OF A MEDICAL DEVICE USING A REDUCED SEARCH SPACE
A medical system includes an elongate instrument, a tracking system, and one or more processors. The tracking system is disposed along at least a portion of the elongate instrument. The one or more processors are coupled to the tracking system and are configured to: receive a model of a set of connected passageways of a patient anatomy; receive shape information from the tracking system, the shape information indicating a shape of at least a portion the elongate instrument when the portion is disposed in the set of connected passageways; register the shape information to the model; and display a composite image including the model and an instrument image of the elongate instrument.
Devices and methods for minimally invasive suturing are disclosed. One suturing device for minimally invasive suturing includes a proximal section a distal end, and an intermediate region therebetween. The device includes a suture head assembly having a suturing needle with a pointed end and a second end. The suturing needle is capable of rotating about an axis approximately perpendicular to a longitudinal axis of the device, wherein the pointed end of the suturing needle is positioned within the suture head assembly prior to deployment of guides that are adapted and configured to guide the needle around a circular path when advanced by a drive mechanism having a needle driver for engaging and rotating the suturing needle.
A61B 17/04 - Surgical instruments, devices or methods, e.g. tourniquets for closing wounds, or holding wounds closed, e.g. surgical staples; Accessories for use therewith for suturing wounds; Holders or packages for needles or suture materials
To sense the shape of a multicore optical fiber sensor, light reflected in a center and two or more helixed outer cores of the optical fiber sensor is measured, and phases associated with strain in the center and helixed outer cores is tracked along the length of the fiber sensor. Further, a wobble signal indicative of a variation in the spin rate of the fiber sensor is determined. Based on the tracked phases and the wobble signal, the fiber shape is computed.
G01B 11/24 - Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
G01B 11/16 - Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
G01L 1/24 - Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis
G01M 11/00 - Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
A medical system comprises an instrument comprising a position sensor and a radiopaque fiducial. The system further comprises a tracking system to receive position data from the sensor, and a processor coupled to the instrument and the tracking system. The position data is in an instrument reference frame. The processor is configured to: receive external image data of a patient anatomy with the instrument disposed therein—the external image data is in an image reference frame; based on the position data, determine a first orientation of the instrument in the instrument reference frame; identify the radiopaque fiducial in the external image data; based on the identified radiopaque fiducial, determine a second orientation of the instrument in the image reference frame; and register the instrument reference frame to the image reference frame by comparing the first orientation in the instrument reference frame to the second orientation in the image reference frame.
A61B 6/00 - Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
Surgical systems and related methods for detecting whether a surgical instrument lacks a surgical cartridge in an unfired condition. A method of detecting that a surgical instrument lacks a surgical cartridge in an unfired condition mounted to the surgical instrument includes commanding a movement of the actuation output in a direction opposite to a firing direction for the surgical cartridge, detecting that an actuation amount of the actuation output as a result of the commanded movement is at or above a threshold actuation amount, and in response to detecting that the actuation amount of the actuation output is at or above the threshold actuation amount, determining that the surgical instrument lacks a surgical cartridge in the unfired condition mounted to the surgical instrument.
A system may access an image that is captured by an imaging device and that depicts an operational scene illuminated by close-range light. The system may also access a depth map of the operational scene. Based on the image and the depth map, the system may generate a processed image depicting the operational scene as being illuminated by a virtual light source that is to be simulated to be illuminating the operational scene and may provide the processed image for presentation on a display screen. Corresponding systems and methods are also disclosed.
Precision control systems for tissue visualization and manipulation assemblies are described herein where such devices may utilize a variety of apparatus and methods for facilitating advancement, articulation, control, navigation, etc. of systems which may be used to visual and/or treat tissue regions. Additionally, methods and devices for enhancing navigation of the device through a patient body are also described.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 1/015 - Control of fluid supply or evacuation
A61B 1/018 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor for receiving instruments
A61B 1/04 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
A61B 5/02 - Measuring pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography; Heart catheters for measuring blood pressure
54.
SYSTEMS AND METHODS FOR GENERATING VIRTUAL REALITY GUIDANCE
A system comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to receive an image of a medical environment and identify a medical component in the image of the medical environment. The medical component may be disposed in a first configuration. The computer readable instructions, when executed by the processor also cause the system to receive kinematic information about the medical component and generate virtual guidance based on the kinematic information. The virtual guidance may include a virtual image of the medical component disposed in a second configuration.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
55.
GRAPHICAL USER INTERFACE FOR DISPLAYING GUIDANCE INFORMATION DURING AN IMAGE-GUIDED PROCEDURE
A method for displaying guidance information during an image-guided surgical procedure comprises receiving, by one or more hardware processors, data from a tracking system associated with an elongate device comprising a flexible body and calculating, by the one or more hardware processors, at least one condition along a length of the flexible body based on the data. The method further comprises determining, by the one or more hardware processors, supplemental guidance information based on the at least one condition and augmenting, by the one or more hardware processors, one or more images with the supplemental guidance information to produce one or more augmented images. The method further comprises displaying the one or more augmented images on a display device at a surgeon console.
Systems and methods for operating an end effector include an end effector for grasping a material, a drive system coupled to the end effector, a user interface, and a processor. The processor is configured to actuate the drive system to clamp the material using the end effector and in response to detecting successful clamping of the material, display a timer on the user interface. The timer provides an indication of when conditions will be safe to proceed with stapling of the material clamped by the end effector.
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 17/072 - Surgical staplers for applying a row of staples in a single action
A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
A system may comprise a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, may cause the system to generate a procedure plan for performing a procedure with a robot-assisted manipulator. The procedure plan may be based on a first plurality of procedure inputs. The system may also generate a performance metric from the implementation of the procedure, evaluate the implemented procedure based on the performance metric to generate procedure evaluation information, and store the procedure evaluation information. The system may also generate a second procedure plan based on the stored procedure evaluation information and a second plurality of procedure inputs.
G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
G16H 40/20 - ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the management or administration of healthcare resources or facilities, e.g. managing hospital staff or surgery rooms
G16H 10/60 - ICT specially adapted for the handling or processing of patient-related medical or healthcare data for patient-specific data, e.g. for electronic patient records
58.
SYSTEMS AND METHODS FOR ANATOMIC MOTION COMPENSATION
A method of modeling a cyclic anatomical motion comprises receiving a pose dataset for an identified point on an interventional instrument retained within and in compliant movement with a cyclically moving patient anatomy for a plurality of time parameters. The method also includes determining a set of pose differentials for the identified point with respect to a reference point at each of the plurality of time parameters and identifying a periodic signal for the cyclic anatomical motion from the set of pose differentials.
A61B 5/00 - Measuring for diagnostic purposes ; Identification of persons
A61B 5/06 - Devices, other than using radiation, for detecting or locating foreign bodies
A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A surgical method is provided for use with a teleoperated surgical system (surgical system), the method comprising: recording surgical instrument kinematic information indicative of surgical instrument motion produced within the surgical system during the occurrence of the surgical procedure; determining respective kinematic signatures associated with respective surgical instrument motions; producing an information structure in a computer readable storage device that associates respective kinematic signatures with respective control signals; comparing, during a performance of the surgical procedure surgical instrument kinematic information during the performance with at least one respective kinematic signature; launching, during a performance of the surgical procedure an associated respective control signal in response to a match between surgical instrument kinematics during the performance and a respective kinematic signature.
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
G16H 50/50 - ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for simulation or modelling of medical disorders
G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
G16H 40/67 - ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
60.
SURGICAL INSTRUMENTS AND METHODS OF CLEANING SURGICAL INSTRUMENTS
A cleaning device for a surgical instrument can include a body; at least one passage extending through the body from a first open end of the body to a second open end of the body. The first and second open ends and the at least one passage can be dimensioned to receive and guide a shaft of a surgical instrument during a cleaning procedure. At least one aperture in flow communication with a port and the at least one passage can define a cleaning fluid path from the port to the passage.
A surgical instrument includes one or more cables constructed of individual tungsten wires having polished surfaces. As a result, rate of loss of instrument quality of motion over time is significantly reduced, and so instrument usable life is significantly increased.
Systems for performing a medical procedure and associated methods and devices are disclosed herein. In some embodiments, a system for performing a medical procedure includes an elongate flexible device including a proximal portion, a distal portion, and a lumen extending therebetween. The lumen is configured to receive a medical instrument positioned within a target when the elongate flexible device is positioned toward the target. The system is configured to perform operations comprising determining the pose of the distal portion of the elongate flexible device based on sensor data from a sensor system; retracting, via a control system, the elongate flexible device relative to the medical instrument and away from the target; and adjusting, via the control system, the pose of the distal portion of the elongate flexible device so the distal portion remains oriented toward the target.
Techniques are disclosed for imaging device control in a computer-assisted device that includes a repositionable structure configured to support an imaging device, and a control system coupled to the repositionable structure. The control system is configured to: determine a position of a reference point offset from a display unit, convert the position of the reference point to a target position of another reference point offset from the imaging device, determine a movement command of the first repositionable structure that moves the imaging device such that the another reference point moves toward the target position, and cause actuation of the repositionable structure based on the movement command.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
64.
IMAGING DEVICE CONTROL VIA MULTIPLE INPUT MODALITIES
Techniques are disclosed for imaging device control in a computer-assisted device that includes a repositionable structure configured to support an imaging device, and a control system configured to determine a position of a first reference point associated with a first input modality; in a first mode, determine a position of a target reference point for the imaging device based on the first reference point; in a second mode, determine a position of a second reference point associated with a second input modality, and determine the position of the target reference point based on the position of the first reference point and the position of the second reference point; determine a movement of the first repositionable structure that moves the imaging device such that a third reference point associated with the imaging device moves toward the target reference point; and cause actuation of the repositionable structure based on the movement.
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
65.
SYSTEMS AND METHODS OF REGISTRATION COMPENSATION IN IMAGE GUIDED SURGERY
A method performed by a computing system comprises receiving shape information for an elongate flexible portion of a medical instrument. The medical instrument includes a reference portion movably coupled to a fixture having a known pose in a surgical reference frame. The fixture includes a constraint structure having a known constraint structure location in the surgical reference frame. The elongate flexible portion is coupled to the reference portion and is sized to pass through the constraint structure. The method further includes receiving reference portion position information in the surgical reference frame; determining an estimated constraint structure location in the surgical reference frame from the reference portion position information and the shape information; determining a correction factor by comparing the estimated constraint structure location to the known constraint structure location; and modifying the shape information based upon the correction factor.
A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 1/267 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the respiratory tract, e.g. laryngoscopes, bronchoscopes
Surgical stapling instruments include mechanisms for identifying and/or deactivating stapler cartridges for use with the instruments. The stapling instrument includes a drive member for actuating a staple cartridge and a locking member movable from a disabled position permitting distal translation of the drive member through a staple firing stroke, to a locking position inhibiting distal translation of the drive member through the staple firing stroke. The staple cartridge may include a switch movable in a lateral direction to either maintain the locking member in the disabled position or to allow the locking member to move into the locking position. The instrument may further include a stapler cartridge including an annular pin configured to be engaged by a drive member at a an axial position to create a detectable resistance for reload detection by a control unit to identify the type of stapler cartridge present in the surgical stapling instrument.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 90/90 - Identification means for patients or instruments, e.g. tags
67.
Efficient Image Demosaicing and Local Contrast Enhancement
An exemplary method includes receiving a frame of raw pixels captured by an image capture sensor, a particular location in the frame of raw pixels including a captured color pixel value of a first color component of a first color space; generating, for the particular location in the frame of raw pixels, a vertical color difference signal and a horizontal color difference signal using information from the frame of raw pixels; determining that the particular location is missing a color pixel value of a second color component of the first color space; generating a reconstructed color pixel value of the second color component based on the vertical color difference signal and the horizontal color difference signal; and transforming the vertical color difference signal and the horizontal color difference signal into chrominance pixel values in a second color space that is different from the first color space.
Robotic surgery systems include a floor supported surgical robot with offset links. A robotic surgery system includes a surgical robot and a control system. The surgical robot includes a manipulator and a floor/pedestal mount. The manipulator includes a mounting base, a yaw joint, an offset extension link, a parallelogram linkage assembly, and an instrument holder. The floor/pedestal mount is configured for supporting the mounting base in a fixed position and orientation relative to a patient and includes set-up joints operable to reposition and reorient the mounting base to reposition a remote center of manipulation relative to the patient prior to conducting surgery on the patient via the manipulator. The manipulator includes offset links. The control system is configured to electronically communicate with and control operation of the manipulator to articulate a surgical instrument during surgery.
A system comprises a medical function unit comprising a connector interface configured to be operably coupled to control a medical function of a medical instrument, a control system operably coupled to control the medical function unit, a first user interface and a second user interface each operably coupled to the control system. The first user interface comprises one or more first control settings mapping to one or more corresponding settings of the medical function unit. The second user interface comprises one or more second control settings mapping to the one or more corresponding settings of the medical function. The second user interface is operable during a condition of the first user interface being inoperable.
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61M 13/00 - Insufflators for therapeutic or disinfectant purposes
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
Systems and methods for moveable element indication include a system. The system includes a robotic assembly configured to support an instrument and a processor. The instrument includes an end effector and a moveable element. The end effector includes a first jaw and a second jaw. The moveable element is moveable from a first position to a second position. The processor is configured to display, on a user interface display, an image of the instrument clamping a material using the first jaw and the second jaw; and superimpose, on the image, a visual indicator of a position of the moveable element relative to the end effector.
Described are optical fibers, e.g., for use in stress-sensing or shape-sensing applications, that use overlapping grating configurations with chirped gratings to facilitate strain delay registration. In accordance with various embodiments, a fiber core may, for instance, have two overlapping sets of chirped gratings that differ in the direction of the chirp between the first and second sets, or a set of chirped gratings overlapping with a single-frequency grating. Also described are strain sensing systems and associated computational methods employing optical fibers with overlapping gratings.
G01D 5/353 - Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using optical means, i.e. using infrared, visible or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells influencing the transmission properties of an optical fibre
A medical device includes an elbow, a first low-flow medical fluid fitting, and a first high-flow medical fluid fitting. The elbow includes a first end, a second end opposite the first end, and a bend between the first end and the second end. The first low-flow medical fluid fitting is coupled to the first end of the elbow and configured to be coupled to and seal with a complimentary second low-flow medical fluid fitting at a proximal end of a pneumocavity needle. And, the first high-flow medical fluid fitting is coupled to the second end of the elbow and configured to be coupled to and seal with a complimentary second high-flow medical fluid fitting of a high-flow medical fluid line.
A surgical training model for simulating human prostate surgery may include a harvested porcine urethra. A harvested porcine vagina surrounds a portion of the harvested porcine urethra to define a simulated human prostate.
A system includes a control means for receiving an input from a user, a manipulator means configured to support a tool having a tool frame, and processing means configured to perform a method. The method involves receiving, from an image capturing system with an image frame, one or more images. The tool is visible in the one or more images. The method further involves determining an estimated frame transform based on the one or more images. The estimated frame transform is used in defining an unknown frame transform between the image frame and the tool frame. The method also involves determining, in response to the input received at the control means, an output movement for the tool based on the estimated frame transform, and causing movement of the tool based on the output movement.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A method of using a medical instrument can include applying a distally-directed or proximally-directed load via a drive member to an end effector coupled to an elongated shaft via a wrist assembly so as to actuate the end effector; and reacting the distally-directed or proximally-directed load to an inner link of the wrist assembly that is pivotally coupled to a first outer link and a second outer link. The wrist assembly can be actuatable via drive cables and reacting the load maintains the first outer link interfaced with the second outer link in the absence of tension in the drive cables.
A medical tool comprises an elongated tubular section comprising a body wall. The body wall includes a plurality of slits. The tool further comprises a rigid needle tip coupled to a distal end of the elongated tubular section. The tool further comprises a flexible jacket covering at least a portion of the elongated tubular section. The tool further comprises an elongated flexible member coupled to a proximal end of the elongated tubular section. A distal portion of the elongated flexible member covers a proximal portion of the flexible jacket, and a proximal portion of the elongated flexible member extends into at least a portion of the plurality of slits.
Disturbance compensation in computer-assisted devices include an articulated arm comprising one or more first joints and one or more second joints and one or more processors coupled to the articulated arm. The articulated arm is configured to support an end effector. The one or more processors when executing instructions are configured to: detect a disturbance to the one or more first joints, the disturbance causing a point of interest associated with the end effector to move; determine a predicted motion of the point of interest based on the detected disturbance; and drive the one or more second joints to move the point of interest based on an error in a position of the point of interest indicated by the predicted motion.
B25J 9/06 - Programme-controlled manipulators characterised by multi-articulated arms
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
A method comprises identifying a target location within a patient anatomy, receiving a position for a tip portion of an interventional instrument at a first location within the patient anatomy, and determining a three-dimensional distance between the first location and the target location. The method further comprises displaying on a display system an image that includes a symbol representing the target location and a symbol representing the tip portion of the instrument and displaying on the display system a rotational assist symbol indicating a rotational orientation of the tip portion. As the tip portion is actuated, the image is displayed so that the symbol representing the tip portion is a frame of reference for the image and the symbol representing the target location moves with respect to the symbol representing the tip portion to represent a new location of the tip portion relative to the target location.
Embodiments relate to a computer-assisted robotic system, In some embodiments, the system includes a head input device, the head input device comprising a head input sensor configured to provide head input signals indicative of a an operator's head inputs, and a foot input device comprising a foot input sensor configured to provide foot input signals indicative of the operator's foot inputs. The system further includes a controller, configured to process the head input signals and the foot input signals, and identify, based on the processed head and foot input signals, that the operator has provided a combination of head and foot inputs corresponding to a steerable viewer mode activation command. The controller is further configured to cause the robotic system to enter a steerable viewer mode in response to identifying that the operator has provided a combination.
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
80.
SYSTEMS AND METHODS FOR PLANNING A MEDICAL ENVIRONMENT
A system may comprise a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, may cause the system to receive spatial information for of a medical environment; determine a component for use in the medical environment; receive an indicator for a mode of operation of the component; receive a set of operation constraints for the component for the mode of operation; and generate an environment preparation plan based on the set of operation constraints and the spatial information.
G16H 40/40 - ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the management of medical equipment or devices, e.g. scheduling maintenance or upgrades
81.
COMPLEX IRRIGATION/SUCTION FLOW PATH IN A MEDICAL DEVICE
A valve system comprises a first valve plunger configured for insertion into a first valve plunger channel. The first valve plunger has a first latch member disposed at a distal end. A first sealing member and a first valve are opening disposed proximally from the first latch member. The valve system also comprises a second valve plunger configured for insertion into a second valve plunger channel. The second valve plunger includes a second valve opening that is longer than the first valve opening. The valve system also includes a valve body having the first and second valve plunger channels. The first and second valve plunger channels are configured to receive the first and second valve plungers, respectively.
A61M 1/00 - Suction or pumping devices for medical purposes; Devices for carrying-off, for treatment of, or for carrying-over, body-liquids; Drainage systems
A stereoscopic endoscope may comprise a first image capture sensor comprising a first surface and a second image capture sensor comprising a second surface. The endoscope also may comprise a first objective lens assembly to direct first light to the first surface. The first light extends along a first distal optical axis through the first objective lens assembly and extends along a first proximal optical axis after exiting. The first proximal optical axis intersects the first surface. The endoscope may also comprise a second objective lens assembly to direct second light to the second surface. The second light extends along a second distal optical axis through the second objective lens assembly and extends along a second proximal optical axis after exiting. The second proximal optical axis intersects the second surface. The first distal optical axis may be non-parallel to the second distal optical axis.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 1/05 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
An image capturing device comprises a first elongated body portion formed of a first material and a second elongated body portion coupled to a proximal end of the first body portion. The second body portion is formed of a second material having a greater heat conductivity than the first material. The device further comprises an imaging window coupled to a distal end of the first body portion, a first housing within the first body portion, an image sensor mounted to the first housing, and an image processor mounted to the first housing and coupled to receive electrical signals from the image sensor. The device further comprises a second housing within the first body portion. The second housing is coupled to the first housing and to the window such that heat generated by the image sensor and image processor is transmitted through the second housing to the window.
G03B 17/55 - APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR - Details of cameras or camera bodies; Accessories therefor with provision for heating or cooling, e.g. in aircraft
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 1/07 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements using light-conductive means, e.g. optical fibres
A61B 1/12 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with cooling or rinsing arrangements
G02B 23/24 - Instruments for viewing the inside of hollow bodies, e.g. fibrescopes
G03B 15/14 - Special procedures for taking photographs; Apparatus therefor for taking photographs during medical operations
84.
TECHNIQUES FOR ADJUSTING A DISPLAY UNIT OF A VIEWING SYSTEM
Techniques for adjusting a display unit (206) of a viewing system include repositionable structure (204) configured to support a display unit, first and second hand-input sensors (240) configured to receive inputs from the operator; and a control unit. The display unit is configured to display images viewable by an operator. The control unit is configured to receive a first input from the first hand-input sensor, receive a second input from the second hand-input sensor, and, in response to satisfaction of a criteria set including, determine a commanded motion based on the first and second inputs and command an actuator to move the repositionable structure based on the commanded motion. The criteria set includes that a first magnitude of the first input and a second magnitude of the second input are greater than a threshold.
Systems and methods of providing a haptic barrier for an instrument include a computer-assisted device. The computer-assisted device includes a grip input control, a repositionable arm configured to support an instrument, and one or more processors. The one or more processors are configured to detect a position of the grip input control in a first direction of a degree of freedom having In a first region, a second region, and a third region between the first and second regions; in response to determining that the detected position is in the first region, operate the instrument according to a first mode; in response to determining that the detected position is in the third region, provide a haptic barrier to resist movement of the grip input control through the third region; and in response to determining that the detected position is in the second region, operate the instrument according to a second mode.
G05B 19/4155 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A drape includes a first drape portion configured to receive a manipulator arm of a surgical system and a pocket coupled to a distal portion of the first drape portion. The pocket is configured to receive a manipulator of the surgical system. The pocket includes a flexible membrane positionable between an output of the manipulator and an input of a surgical instrument mountable to the manipulator. In some embodiments, the flexible membrane is located at a distal end of the pocket. In some embodiments, the flexible membrane is configured to allow an actuating force to be transmitted from the output of the manipulator to the input of the surgical instrument. In some embodiments, the pocket provides a sterile barrier between the manipulator and the surgical instrument. In some embodiments, the drape further includes a rotatable seal configured to couple a proximal opening of the pocket to the first drape portion.
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
B32B 3/12 - Layered products essentially comprising a layer with external or internal discontinuities or unevennesses, or a layer of non-planar form; Layered products essentially having particular features of form characterised by a discontinuous layer, i.e. apertured or formed of separate pieces of material characterised by a layer of regularly-arranged cells whether integral or formed individually or by conjunction of separate strips, e.g. honeycomb structure
H05K 1/18 - Printed circuits structurally associated with non-printed electric components
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 50/20 - Holders specially adapted for surgical or diagnostic appliances or instruments
A61B 50/30 - Containers specially adapted for packaging, protecting, dispensing, collecting or disposing of surgical or diagnostic appliances or instruments
An example method includes causing an illuminator to simultaneously illuminate tissue with a first visible color illumination component, a second visible color illumination component, and a fluorescence excitation illumination component; and causing a display unit to display, based on the illumination, a display scene that includes: a reduced color scene component corresponding to the first and second visible color illumination components, and a highlighted scene component corresponding to the fluorescence excitation illumination component.
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
A61B 1/04 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
A61B 1/05 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
A61B 1/06 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
H04N 23/10 - Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from different wavelengths
H04N 23/45 - Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
H04N 23/56 - Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
H04N 23/57 - Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
G06T 3/40 - Scaling of a whole image or part thereof
A support structure comprises a base joint coupling a proximal link of the support structure to a base. The proximal link is configured to rotate about a first axis associated with the base joint. The support structure further comprises a linkage mechanism. The linkage mechanism maintains an orientation of an instrument support relative to the base as the support structure is moved from a first configuration to a second configuration. In the second configuration, the support structure is rotated relative to the base about the first axis.
Example embodiments include an optical assembly for an optical interrogation system having a single core or a multicore sensing fiber, a measurement fiber to couple light into the sensing fiber, and a reference fiber arranged with the measurement fiber as part of an optical interferometer. A beam splitter combines light from the sensing fiber and with light from the reference fiber. A polarization beam splitting prism separates the combined light into first polarized light and second polarized light that is orthogonal to the first polarized light. The optical assembly can substantially reduce the size, complexity, or cost associated with the traditional optical components in an optical interrogation system that it replaces. Other example optical assemblies are described. Embodiments describe optical interrogation systems using the example optical assemblies.
G01D 5/353 - Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using optical means, i.e. using infrared, visible or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells influencing the transmission properties of an optical fibre
A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.
A method performed by a computing system comprises providing instructions to a teleoperational assembly to move an instrument within an anatomic passageway according to a commanded velocity profile. The method also comprises receiving a set of spatial information from the instrument positioned within the anatomic passageway and filtering the set of spatial information to select a quantity of spatial data records from the set of spatial information proportionate to the commanded velocity profile.
G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
G16H 30/40 - ICT specially adapted for the handling or processing of medical images for processing medical images, e.g. editing
A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
The primary interface system may include a primary display and a primary input device. The system may also include a secondary interface system. The secondary interface system may include a secondary display and a secondary input device. The system may also include a control system in communication with the primary interface system and the secondary interface system. The control system may include a processing unit including one or more processors. The processing unit may be configured to receive a plurality of teleoperational kinematic constraints for the primary input device and generate a plurality of simulated kinematic constraints, mimicking the teleoperational kinematic constraints, for the secondary input device. The processing system may also be configured to receive guidance information from the secondary input device and provide haptic guidance through the primary input device based on the guidance information.
Multi-view medical activity recognition systems and methods are described herein. In certain illustrative examples, a system accesses a plurality of data streams representing imagery of a scene of a medical session captured by a plurality of sensors from a plurality of viewpoints. The system temporally aligns the plurality of data streams and determines, using a viewpoint agnostic machine learning model and based on the plurality of data streams, an activity within the scene.
G06V 10/80 - Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
G06V 10/82 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
An example medical device may include a first component including an interface, a light feature surrounding at least part of the interface, and a controller coupled to the light feature and including a memory in which are stored instructions for the controller causing a first illumination state of the light feature corresponding to a first state of the interface, and the controller causing a second illumination state of the light feature corresponding to a second state of the interface.
Visibility metrics in multi-view medical activity recognition systems and methods are described herein. In certain illustrative examples, a system access imagery of a scene of a medical session captured by a plurality of sensors from a plurality of viewpoints, the imagery including first imagery captured by a first sensor of the plurality of sensors from a first viewpoint of the plurality of viewpoints. The system determines, during the medical session and based on the first imagery, a value of an activity visibility metric for the first sensor. The system facilitates, based on the value of the activity visibility metric, adjusting the first viewpoint of the first sensor.
G06V 10/98 - Detection or correction of errors, e.g. by rescanning the pattern or by human intervention; Evaluation of the quality of the acquired patterns
G06V 10/764 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
G06V 10/774 - Generating sets of training patterns; Bootstrap methods, e.g. bagging or boosting
H04N 23/695 - Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
A medical robotic assembly configured to support, insert, retract, and actuate a surgical instrument. The medical robotic assembly includes a surgical instrument carriage configured for detachably mounting a surgical instrument to the surgical instrument carriage. The surgical instrument carriage includes a motor housing, a first output assembly in the motor housing, a second output assembly in the motor housing, a first sensor assembly configured to sense a rotational orientation of a first output drive coupling, and a second sensor assembly configured to sense a rotational orientation of a second output drive coupling.
Approaches to addressing asymmetric loads at the distal end of a flexible elongate device are disclosed herein. In some embodiments, symmetry is recovered by mechanically redesigning the flexible elongate device to counter the asymmetric load. In other embodiments, symmetry is recovered by altering the controls scheme for managing the control elements in a flexible elongate device. Generally, a flexible elongate device includes a plurality of control elements able to actuate the distal section. The amount of force applied to each control element can be changed so that the plurality of control elements is able to collectively apply a bending moment that counters the asymmetric load.
A61B 1/018 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor for receiving instruments
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
98.
MEDICAL DEVICE USER CONTROL SYSTEM WITH AUTOMATIC SURGEON ANTI-STAGNATION SYSTEM
An example teleoperated surgery user control system includes a first user control and a controller. The first user control is configured to be used by a user to teleoperate one or more aspects of a surgical system. The first user control includes one or more portions configured to articulate and to support one or more body portions of a user. The controller is communicatively connected to the first user control. The controller is configured to execute instructions to automatically articulate the one or more portions periodically or continually during a surgical procedure teleoperated by the user with the surgical system.
G16H 40/67 - ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
A61B 90/60 - Supports for surgeons, e.g. chairs or hand supports
A system comprises a display configured to present a graphical user interface including a viewing area and one or more user interface elements. The system also comprises a gaze tracking device configured to detect a change in a gaze of a user while the user views the graphical user interface presented on the display. The system also comprises an audio input device configured to receive audio information. The system also comprises one or more processors configured to process the audio information received at the audio input device in accordance with a first mode to direct the received audio information as audio output to one or more audio output devices; and in response to the gaze tracking device detecting the change in the gaze of the user, process the received audio information in accordance with a second mode, the second mode being distinct from the first mode.
G16H 80/00 - ICT specially adapted for facilitating communication between medical practitioners or patients, e.g. for collaborative diagnosis, therapy or health monitoring
G06F 3/04817 - Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance using icons
100.
AXIAL SUPPORT STRUCTURE FOR A FLEXIBLE ELONGATE DEVICE
An axial support structure for a flexible elongate device includes a plurality of rigid links coupled by pin joints. Each of the plurality of rigid links comprises a shaft, a pair of male joint connectors extending axially from a first end of the shaft, and a pair of female joint connectors extending axially from a second end of the shaft opposite the first end. The female joint connectors are complementary to the male joint connectors and are rotated by 90 degrees relative to the male joint connectors. Each of the plurality of rigid links is rotated by 90 degrees with respect to neighboring links among the plurality of rigid links, thereby aligning each pair of male joint connectors with a neighboring pair of female joint connectors to form the pin joints.
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
patents
