Systems and methods are provided for control of a surgical system. Accordingly, haptic feedback is provided to an input device of the surgical system based on a force applied to an instrument of the surgical system. The instrument includes a force sensor unit that has a beam, a first strain sensor coupled to the beam, and a second strain sensor. A first signal is received from the first strain sensor and is associated with a deflection of the beam in response to an applied force. A second signal is received from the second strain sensor and is associated with contact between the beam and a hard stop structure. The magnitude of the applied force is determined based at least on the first signal and the second signal.
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 34/00 - Chirurgie assistée par ordinateur; Manipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p.ex. pour le traitement de la luxation ou pour la protection de bords de blessures
2.
IMAGE-BASED SEEDING FOR REGISTRATION AND ASSOCIATED SYSTEMS AND 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 an anatomic region and including an image capture device. The system can receive a three-dimensional (3D) model of the anatomic region, the 3D model including a model landmark corresponding to an anatomic landmark in the anatomic region. The system can obtain, via the image capture device, a plurality of images of the anatomic landmark, at least some of the images representing different views of the anatomic landmark. Based on the images, the system can determine a set of transformation parameters for aligning the anatomic landmark with the model landmark. The system can use the set of transformation parameters as a seed for registering the 3D model to the anatomic region.
A61B 34/20 - Systèmes de navigation chirurgicale; Dispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p.ex. pour la stéréotaxie sans cadre
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
3.
CONTROLLING SOFTWARE REMOTE CENTERS OF MOTION FOR COMPUTER-ASSISTED SYSTEMS SUBJECT TO MOTION LIMITS
A computer-assisted system includes a repositionable structure configured to support an instrument and a control unit. The control unit is configured to: while a remote center of motion (RCM) is set at a first position, receive a command to move the repositionable structure with a commanded motion; determine whether driving the plurality of joints to move the repositionable structure in accordance with the commanded motion while maintaining the remote center of motion RCM at the first position would violate a limit of the repositionable structure; and, in response: determine an alternative motion of the plurality of joints based on the commanded motion and the first position, wherein driving the plurality of joints in accordance with the alternative motion would not violate the limit, and would move the RCM to a second position different from the first position, and drive the plurality of joints in accordance with the alternative motion.
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.
Systems and methods are provided for control of a surgical system. Haptic feedback is provided to an input device of the surgical system. A moment at a reference location of a distal end portion of an instrument of the surgical system is determined. A deflection of the reference location is then determined based on the moment. On a first condition in which the deflection is greater than a deflection threshold, an indication is provided to an operator of the input device that a restriction of the haptic feedback is provided to, or is available to be provided to, the input device.
A61B 34/00 - Chirurgie assistée par ordinateur; Manipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p.ex. pour le traitement de la luxation ou pour la protection de bords de blessures
7.
SYSTEMS AND METHODS FOR CONTROL OF A SURGICAL SYSTEM
Systems and methods are provided for control of a surgical system. Accordingly, a first output signal is received from a force sensor unit in response to a first commanded movement of a distal end portion of a medical instrument within a cannula. A force sensor bias value is determined based on a difference between a portion of the first output signal and a baseline output signal for the force sensor. The validity of the force sensor bias value is determined based on a deviation magnitude between the second output signal, which is modified by the force sensor bias value, and the baseline output signal. On a condition that the force sensor bias value is valid, haptic feedback is provided to the user control unit based on a load indication from the force sensor unit as modified by the force sensor bias value.
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p.ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux, p.ex. tourniquets
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 pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p.ex. endoscopes; Dispositions pour l'éclairage dans ces instruments
A61B 1/015 - Commande de l'alimentation en fluide ou de l'évacuation de fluide
A61B 1/05 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p.ex. endoscopes; Dispositions pour l'éclairage dans ces instruments combinés avec des dispositifs photographiques ou de télévision caractérisés par le fait que le capteur d'images, p.ex. l'appareil photographique, est placé dans la partie de l'extrémité distale
A61B 1/313 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p.ex. endoscopes; Dispositions pour l'éclairage dans ces instruments pour l'introduction dans des incisions chirurgicales, p.ex. laparoscopes
9.
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 - Détermination de la position ou de l'orientation des objets ou des caméras utilisant des procédés basés sur les caractéristiques
G16H 50/50 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicales; TIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour la simulation ou la modélisation des troubles médicaux
10.
SURGICAL INSTRUMENT KINEMATICS PROCESSING, NAVIGATION, AND FEEDBACK
Various of the disclosed embodiments provide systems and methods for determining precise surgical instrument kinematics data, such as the pose of a colonoscope when examining a large intestine. The pose may then be used when constructing of a model of the patient interior from which reference geometries, such as a centerline, and navigational feedback, such as lacunae in the operator's review, may be produced. Some embodiments may also determine a data frame's suitability for downstream processing based upon the intraoperative field of view (e.g., downstream localization and mapping operations), such as whether the frame is undesirably blurred or depicts an obstruction. The operating surgeon, or reviewers of the surgical procedure, may then be presented, e.g., with metrics or graphical feedback related to one or more of: surgical instrument movement relative to the centerline, comprehensiveness of the operator's examination, and the amount of undesirable frames encountered during the examination.
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 three-dimensional primary image data from an imaging system with a field of view and generate a surface representation for a tissue surface in the field of view. The instructions may also cause the system to identify an area in the field of view with a fiducial marker, associate the fiducial marker with the surface representation, and move the surface representation and the fiducial marker in response to motion of the tissue surface in the field of view.
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 pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p.ex. endoscopes; Dispositions pour l'éclairage dans ces instruments avec dispositifs d'éclairement utilisant des moyens conduisant la lumière, p.ex. des fibres optiques
A61B 1/04 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p.ex. endoscopes; Dispositions pour l'éclairage dans ces instruments combinés avec des dispositifs photographiques ou de télévision
A61B 1/06 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p.ex. endoscopes; Dispositions pour l'éclairage dans ces instruments avec dispositifs d'éclairement
13.
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, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p.ex. pour le traitement de la luxation ou pour la protection de bords de blessures
G09B 23/28 - Modèles à usage scientifique, médical ou mathématique, p.ex. dispositif en vraie grandeur pour la démonstration pour la médecine
G16H 20/30 - TIC spécialement adaptées aux thérapies ou aux plans d’amélioration de la santé, p.ex. pour manier les prescriptions, orienter la thérapie ou surveiller l’observance par les patients concernant des thérapies ou des activités physiques, p.ex. la physiothérapie, l’acupression ou les exercices
G16H 40/67 - TIC spécialement adaptées à la gestion ou à l’administration de ressources ou d’établissements de santé; TIC spécialement adaptées à la gestion ou au fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement à distance
G16H 50/50 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicales; TIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour la simulation ou la modélisation des troubles médicaux
18.
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 pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p.ex. endoscopes; Dispositions pour l'éclairage dans ces instruments
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux, p.ex. tourniquets
A61B 34/20 - Systèmes de navigation chirurgicale; Dispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p.ex. pour la stéréotaxie sans cadre
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p.ex. pour le traitement de la luxation ou pour la protection de bords de blessures
19.
SYSTEMS AND METHODS FOR 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 system includes proximal and distal structures and a processor system. The processor system determines a first commanded motion of the proximal structure; determine a second commanded motion for joint(s) of the distal structure or an imaging device, wherein when the first and second commanded motions are performed in conjunction, a field of view of the imaging device is maintained relative to a workspace; and in response to determining that driving the joint(s) in accordance with the second commanded motion would cause the distal structure or the imaging device to violate a constraint: determines an alternate commanded motion for the joint(s) to maintain a defined geometric relationship between a first geometric feature fixed relative to the imaging device and a second geometric feature fixed relative to the workspace, drives the proximal structure in accordance with the first commanded motion, and drives the joint(s) in accordance with the alternate commanded motion.
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, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p.ex. pour le traitement de la luxation ou pour la protection de bords de blessures
23.
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 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 34/00 - Chirurgie assistée par ordinateur; Manipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p.ex. pour le traitement de la luxation ou pour la protection de bords de blessures
25.
INSTRUMENT REPOSITIONING FOR COMPUTER-ASSISTED SYSTEM
A computer-assisted system comprises a manipulator arm. The manipulator arm is configured to rotate the instrument mounting portion about a first rotational axis. Additionally, the manipulator arm or the instrument is configured to rotate the instrument about a second rotational axis relative to the instrument mounting portion. A control system is configured to receive an indication for instrument coupling or decoupling. In response to receiving the indication, the control system is further configured to determine one or more movements of the instrument and the manipulator arm to orient the instrument mounting portion for the instrument coupling or decoupling while limiting a change in position or orientation of a distal portion of the instrument within a change tolerance.
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 pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p.ex. endoscopes; Dispositions pour l'éclairage dans ces instruments
A61B 1/04 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p.ex. endoscopes; Dispositions pour l'éclairage dans ces instruments combinés avec des dispositifs photographiques ou de télévision
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p.ex. pour le traitement de la luxation ou pour la protection de bords de blessures
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 - Dispositifs de pointage déplacés ou positionnés par l'utilisateur; Leurs accessoires avec détection de l’orientation ou du mouvement libre du dispositif dans un espace en trois dimensions [3D], p.ex. souris 3D, dispositifs de pointage à six degrés de liberté [6-DOF] utilisant des capteurs gyroscopiques, accéléromètres ou d’inclinaiso
An illustrative force determination system may be configured to detect an amount of deformation of a deformable 3D model of a scene that occurs when an anatomical object located in the scene is deformed and determine, based on the amount of deformation of the deformable 3D model, a force value representative of a force that caused the deformation of the anatomical object. The force determination system may further be configured to provide haptic feedback to a user based on the force value.
A61B 34/00 - Chirurgie assistée par ordinateur; Manipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p.ex. pour le traitement de la luxation ou pour la protection de bords de blessures
30.
SYSTEMS AND METHODS FOR INTEGRATING INTRAOPERATIVE IMAGE DATA WITH MINIMALLY INVASIVE MEDICAL TECHNIQUES
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 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicale; Dispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p.ex. pour la stéréotaxie sans cadre
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p.ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A 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 pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p.ex. endoscopes; Dispositions pour l'éclairage dans ces instruments
G02B 23/24 - Instruments pour regarder l'intérieur de corps creux, p.ex. endoscopes à fibres
G03B 35/10 - Photographie stéréoscopique par enregistrement simultané avec un appareil unique mais avec un système permettant de déterminer la distance des points de vue
G03B 35/18 - Photographie stéréoscopique par examen simultané
33.
IMAGING ORIENTATION PLANNING FOR EXTERNAL IMAGING DEVICES
Methods and systems for forming one or more projected two-dimensional images based on Computed Tomography (CT) data of a subject, a planned pose of a flexible elongated device, and one or more parameters of an external imaging device are disclosed. In some examples, the one or more projected two-dimensional images may be used to determine appropriate imaging orientations of an external imaging device for use during a medical procedure.
A flexible elongate device comprises an articulable distal section and a non-articulable proximal section. The non-articulable proximal section is proximal to the articulable distal section. A distal portion of the non-articulable proximal section has a first bending stiffness, and a proximal portion of the non-articulable proximal section has a second bending stiffness. The first bending stiffness is less than the second bending stiffness.
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 34/00 - Chirurgie assistée par ordinateur; Manipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p.ex. pour le traitement de la luxation ou pour la protection de bords de blessures
37.
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 pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p.ex. endoscopes; Dispositions pour l'éclairage dans ces instruments
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicale; Dispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p.ex. pour la stéréotaxie sans cadre
G06F 30/23 - Optimisation, vérification ou simulation de l’objet conçu utilisant les méthodes des éléments finis [MEF] ou les méthodes à différences finies [MDF]
G06T 3/00 - Transformation géométrique de l'image dans le plan de l'image
G06T 7/33 - Détermination des paramètres de transformation pour l'alignement des images, c. à d. recalage des images utilisant des procédés basés sur les caractéristiques
G06T 17/20 - Description filaire, p.ex. polygonalisation ou tessellation
39.
DETERMINATION OF A CONTOUR PHYSICAL DISTANCE WITHIN A SUBJECT BASED ON A DEFORMABLE THREE-DIMENSIONAL MODEL
An illustrative dynamic measurement system may be configured to generate, based on imagery of a scene, a deformable 3D model of the scene, identify a first point on an anatomical object located in the scene, and determine, based on the deformable 3D model, a dynamic measurement value representative of a contour physical distance between the first point and a second point in the scene. The dynamic measurement value may dynamically update with movement of one or more objects within the scene.
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.
B08B 9/032 - Nettoyage de conduites ou de tubes ou des systèmes de conduites ou de tubes Élimination des bouchons par l'action mécanique d'un fluide en mouvement, p.ex. par effet de chasse d'eau
42.
IMAGING SYSTEM WITH NEEDLE ALIGNED TO FIELD OF VIEW
An apparatus may comprise an imaging probe including a channel extending through the imaging probe and terminating at an opening and an imaging device configured to generate image data having a field of view. The apparatus may also comprise a tool configured to slidably extend within the channel. A portion of the tool may be flexible and may bend away from the imaging device when the portion of the tool is extended distally of the opening.
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.
A61B 34/20 - Systèmes de navigation chirurgicale; Dispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p.ex. pour la stéréotaxie sans cadre
G01R 33/07 - Mesure de la direction ou de l'intensité de champs magnétiques ou de flux magnétiques en utilisant des dispositifs galvano-magnétiques des dispositifs à effet Hall
44.
SYSTEMS AND METHODS FOR ORIENTING TOOLS WITHIN FLEXIBLE ELONGATED DEVICES
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 pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p.ex. endoscopes; Dispositions pour l'éclairage dans ces instruments caractérisés par les conduits internes ou par leurs accessoires destinés à recevoir des instruments
A61B 1/00 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p.ex. endoscopes; Dispositions pour l'éclairage dans ces instruments
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 - TIC spécialement adaptées aux rapports médicaux, p.ex. leur création ou leur transmission
G16H 10/60 - TIC spécialement adaptées au maniement ou au traitement des données médicales ou de soins de santé relatives aux patients pour des données spécifiques de patients, p.ex. pour des dossiers électroniques de patients
G16H 50/70 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicales; TIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour extraire des données médicales, p.ex. pour analyser les cas antérieurs d’autres 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.
A61B 8/12 - Diagnostic utilisant des ondes ultrasonores, sonores ou infrasonores dans des cavités ou des conduits du corps, p.ex. en utilisant des cathéters
A61B 8/00 - Diagnostic utilisant des ondes ultrasonores, sonores ou infrasonores
A61B 8/08 - Détection de mouvements ou de changements organiques, p.ex. tumeurs, kystes, gonflements
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.
Techniques for updating the registration of an extended reality (XR) system with a computer-assisted device include the following. A control system communicably coupled to the computer-assisted device and to a sensor system is configured to: determine, based on sensor data, pose information of an operator portion of an operator during one or more interactions between the operator portion and a device portion of the computer-assisted device, determine pose information of the device portion during the one or more interactions, update a registration transform between the XR system and the computer-assisted device based on the pose information of the operator portion and the pose information of the device portion, and cause the XR system to render an image viewable by the operator using the updated registration transform.
A61B 34/20 - Systèmes de navigation chirurgicale; Dispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p.ex. pour la stéréotaxie sans cadre
51.
SURGICAL INSTRUMENT PORTS CONFIGURED FOR USE WITH WOUND RETRACTORS, AND RELATED DEVICES AND METHODS
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 pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p.ex. endoscopes; Dispositions pour l'éclairage dans ces instruments
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.
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicale; Dispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p.ex. pour la stéréotaxie sans cadre
G06T 19/20 - Transformation de modèles ou d'images tridimensionnels [3D] pour infographie Édition d'images tridimensionnelles [3D], p.ex. modification de formes ou de couleurs, alignement d'objets ou positionnements de parties
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 - Matériel à but éducatif à commande électrique avec présentation visuelle du sujet à étudier, p.ex. en utilisant une bande filmée
G06F 3/01 - Dispositions d'entrée ou dispositions d'entrée et de sortie combinées pour l'interaction entre l'utilisateur et le calculateur
G06F 3/0346 - Dispositifs de pointage déplacés ou positionnés par l'utilisateur; Leurs accessoires avec détection de l’orientation ou du mouvement libre du dispositif dans un espace en trois dimensions [3D], p.ex. souris 3D, dispositifs de pointage à six degrés de liberté [6-DOF] utilisant des capteurs gyroscopiques, accéléromètres ou d’inclinaiso
G06F 3/0482 - Interaction avec des listes d’éléments sélectionnables, p.ex. des menus
G16H 40/63 - TIC spécialement adaptées à la gestion ou à l’administration de ressources ou d’établissements de santé; TIC spécialement adaptées à la gestion ou au fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement local
G16H 70/20 - TIC spécialement adaptées au maniement ou au traitement de références médicales concernant des pratiques ou des directives
H04N 5/76 - Enregistrement du signal de télévision
54.
SYSTEMS AND METHODS FOR TRACKING OBJECTS CROSSING BODY WALLFOR OPERATIONS ASSOCIATED WITH A COMPUTER-ASSISTED SYSTEM
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 - Détermination des paramètres de transformation pour l'alignement des images, c. à d. recalage des images utilisant des procédés basés sur les caractéristiques
A61B 1/00 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p.ex. endoscopes; Dispositions pour l'éclairage dans ces instruments
A61B 5/06 - Dispositifs autres que ceux à radiation, pour détecter ou localiser les corps étrangers
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
G06T 7/50 - Récupération de la profondeur ou de la forme
G06T 17/20 - Description filaire, p.ex. polygonalisation ou tessellation
G06T 19/20 - Transformation de modèles ou d'images tridimensionnels [3D] pour infographie Édition d'images tridimensionnelles [3D], p.ex. modification de formes ou de couleurs, alignement d'objets ou positionnements de parties
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.
A61B 90/98 - Moyens d’identification pour les patients ou les instruments, p.ex. étiquettes utilisant des moyens électromagnétiques, p.ex. transpondeurs
57.
ABDOMINAL HERNIA SIMULATION MODEL FOR SURGICAL TRAINING
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.
A61B 34/20 - Systèmes de navigation chirurgicale; Dispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p.ex. pour la stéréotaxie sans cadre
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux, p.ex. tourniquets
A61B 34/00 - Chirurgie assistée par ordinateur; Manipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 34/32 - Robots chirurgicaux opérant de façon autonome
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
59.
SYSTEMS AND METHODS FOR DETECTING AND MITIGATING EXTRANEOUS LIGHT AT A SCENE
An extraneous light detection system may obtain first light images of a scene illuminated with first light in a first waveband and captured over a time period. The first light images depict a subject located at the scene. The extraneous light detection system may track, in the first light images over the time period, pixel values of a target region of the subject. The extraneous light detection system may determine, based on a comparison of signal levels of pixels that depict the target region of the subject with a background model representative of reflectivity of the target region, whether the target region is illuminated with extraneous first light.
A61B 1/00 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p.ex. endoscopes; Dispositions pour l'éclairage dans ces instruments
60.
SYSTEMS AND METHODS FOR ENDOSCOPIC TISSUE GRASPING
A system may comprise an elongate flexible instrument, a tissue grasping device including a helical needle extending from a distal end of the elongate flexible instrument, and a grasper drive system coupled to the tissue grasping device to drive motion of the tissue grasping device. The system may also include a sensor system coupled to the tissue grasping device and a control system configured to receive sensor information from the sensor system and control the grasper drive system in response to the received sensor information.
A61B 90/30 - Dispositifs pour éclairer une zone chirurgicale, les dispositifs ayant une corrélation avec d’autres dispositifs chirurgicaux ou avec une intervention chirurgicale
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p.ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux, p.ex. tourniquets
A61B 34/20 - Systèmes de navigation chirurgicale; Dispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p.ex. pour la stéréotaxie sans cadre
A61B 17/04 - Instruments, dispositifs ou procédés chirurgicaux, p.ex. tourniquets pour refermer les plaies ou les maintenir fermées, p.ex. agrafes chirurgicales; Accessoires utilisés en liaison avec ces opérations pour la suture des plaies; Supports ou emballages pour aiguilles ou matériaux de suture
A61B 1/00 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p.ex. endoscopes; Dispositions pour l'éclairage dans ces instruments
61.
SYSTEMS AND METHODS FOR UPDATING A TARGET LOCATION USING INTRAOPERATIVE IMAGE DATA
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 - Chirurgie assistée par ordinateur; Manipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p.ex. pour le traitement de la luxation ou pour la protection de bords de blessures
62.
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 pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p.ex. endoscopes; Dispositions pour l'éclairage dans ces instruments
A61B 1/04 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p.ex. endoscopes; Dispositions pour l'éclairage dans ces instruments combinés avec des dispositifs photographiques ou de télévision
A61B 1/06 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p.ex. endoscopes; Dispositions pour l'éclairage dans ces instruments avec dispositifs d'éclairement
63.
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 - Systèmes de navigation chirurgicale; Dispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p.ex. pour la stéréotaxie sans cadre
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p.ex. pour le traitement de la luxation ou pour la protection de bords de blessures
64.
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.
A61B 34/20 - Systèmes de navigation chirurgicale; Dispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p.ex. pour la stéréotaxie sans cadre
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 - Instruments, dispositifs ou procédés chirurgicaux, p.ex. tourniquets pour refermer les plaies ou les maintenir fermées, p.ex. agrafes chirurgicales; Accessoires utilisés en liaison avec ces opérations pour la suture des plaies; Supports ou emballages pour aiguilles ou matériaux de suture
A61B 17/062 - Dispositifs pour manipuler les aiguilles
A61B 17/06 - Aiguilles; Supports ou empaquetages pour aiguilles ou matériaux de suture
66.
METHODS AND APPARATUS TO DETERMINE A SHAPE OF AN OPTICAL FIBER SENSOR
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 - Dispositions pour la mesure caractérisées par l'utilisation de techniques optiques pour mesurer des contours ou des courbes
G01B 11/16 - Dispositions pour la mesure caractérisées par l'utilisation de techniques optiques pour mesurer la déformation dans un solide, p.ex. indicateur optique de déformation
G01L 1/24 - Mesure des forces ou des contraintes, en général en mesurant les variations des propriétés optiques du matériau quand il est soumis à une contrainte, p.ex. par l'analyse des contraintes par photo-élasticité
G01M 11/00 - Test des appareils optiques; Test des structures ou des ouvrages par des méthodes optiques, non prévu ailleurs
A manual drive adapter for a robotic instrument includes an adapter housing configured to be releasably coupled to a force transmission mechanism of the robotic instrument. The force transmission mechanism includes a drive member interface and an input drive member configured to engage with a robotic drive output of a teleoperated surgical system. The adapter includes an output drive interface that includes an output drive member and is coupled to the adapter housing. The output drive interface is configured to be releasably coupled to the drive member interface of the robotic instrument such that the output drive member is engageable with the input drive member of the robotic instrument. A manual actuator of the adapter is operably coupled to the output drive member such that movement of the manual actuator by a user causes the output drive member to operate one or more degrees of freedom of the robotic instrument.
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 - Appareils pour diagnostic par radiations, p.ex. combinés avec un équipement de thérapie par radiations
A61B 1/00 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p.ex. endoscopes; Dispositions pour l'éclairage dans ces instruments
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 pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p.ex. endoscopes; Dispositions pour l'éclairage dans ces instruments
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p.ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 34/20 - Systèmes de navigation chirurgicale; Dispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p.ex. pour la stéréotaxie sans cadre
A61B 1/015 - Commande de l'alimentation en fluide ou de l'évacuation de fluide
A61B 1/018 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p.ex. endoscopes; Dispositions pour l'éclairage dans ces instruments caractérisés par les conduits internes ou par leurs accessoires destinés à recevoir des instruments
A61B 1/04 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p.ex. endoscopes; Dispositions pour l'éclairage dans ces instruments combinés avec des dispositifs photographiques ou de télévision
A61B 5/02 - Mesure du pouls, du rythme cardiaque, de la pression sanguine ou du débit sanguin; Détermination combinée du pouls, du rythme cardiaque, de la pression sanguine; Evaluation d'un état cardio-vasculaire non prévue ailleurs, p.ex. utilisant la combinaison de techniques prévues dans le présent groupe et des techniques d'électrocardiographie; Sondes cardiaques pour mesurer la pression sanguine
72.
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 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/20 - Systèmes de navigation chirurgicale; Dispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p.ex. pour la stéréotaxie sans cadre
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p.ex. pour le traitement de la luxation ou pour la protection de bords de blessures
73.
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.
A61B 34/20 - Systèmes de navigation chirurgicale; Dispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p.ex. pour la stéréotaxie sans cadre
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux, p.ex. tourniquets
A61M 25/01 - Introduction, guidage, avance, mise en place ou maintien en position des cathéters
G06T 19/00 - Transformation de modèles ou d'images tridimensionnels [3D] pour infographie
G06T 19/20 - Transformation de modèles ou d'images tridimensionnels [3D] pour infographie Édition d'images tridimensionnelles [3D], p.ex. modification de formes ou de couleurs, alignement d'objets ou positionnements de parties
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
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 - Chirurgie assistée par ordinateur; Manipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p.ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 17/072 - Agrafeuses chirurgicales pour appliquer une rangée d'agrafes en une seule opération
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux, p.ex. 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 - TIC spécialement adaptées aux thérapies ou aux plans d’amélioration de la santé, p.ex. pour manier les prescriptions, orienter la thérapie ou surveiller l’observance par les patients concernant des thérapies mécaniques, la radiothérapie ou des thérapies invasives, p.ex. la chirurgie, la thérapie laser, la dialyse ou l’acuponcture
G16H 40/20 - TIC spécialement adaptées à la gestion ou à l’administration de ressources ou d’établissements de santé; TIC spécialement adaptées à la gestion ou au fonctionnement d’équipement ou de dispositifs médicaux pour la gestion ou l’administration de ressources ou d’établissements de soins de santé, p.ex. pour la gestion du personnel hospitalier ou de salles d’opération
G16H 10/60 - TIC spécialement adaptées au maniement ou au traitement des données médicales ou de soins de santé relatives aux patients pour des données spécifiques de patients, p.ex. pour des dossiers électroniques de patients
76.
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 - Mesure servant à établir un diagnostic ; Identification des individus
A61B 5/06 - Dispositifs autres que ceux à radiation, pour détecter ou localiser les corps étrangers
A61B 34/20 - Systèmes de navigation chirurgicale; Dispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p.ex. pour la stéréotaxie sans cadre
A61B 1/00 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p.ex. endoscopes; Dispositions pour l'éclairage dans ces instruments
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 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 34/10 - Planification, simulation ou modélisation assistées par ordinateur d’opérations chirurgicales
A61B 34/00 - Chirurgie assistée par ordinateur; Manipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p.ex. pour le traitement de la luxation ou pour la protection de bords de blessures
G16H 50/50 - TIC spécialement adaptées au diagnostic médical, à la simulation médicale ou à l’extraction de données médicales; TIC spécialement adaptées à la détection, au suivi ou à la modélisation d’épidémies ou de pandémies pour la simulation ou la modélisation des troubles médicaux
G16H 20/40 - TIC spécialement adaptées aux thérapies ou aux plans d’amélioration de la santé, p.ex. pour manier les prescriptions, orienter la thérapie ou surveiller l’observance par les patients concernant des thérapies mécaniques, la radiothérapie ou des thérapies invasives, p.ex. la chirurgie, la thérapie laser, la dialyse ou l’acuponcture
G16H 40/67 - TIC spécialement adaptées à la gestion ou à l’administration de ressources ou d’établissements de santé; TIC spécialement adaptées à la gestion ou au fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement à distance
78.
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 medical tracking system may include a flexible elongate device, a shape sensor configured to measure a shape of the flexible elongate device, and a controller including at least one processor. The controller may be configured to register a reference shape of the flexible elongate device to an anatomical reference frame, identify, using the shape sensor, the reference shape at a first portion of the flexible elongate device, determine, using the shape sensor, a spatial relationship between a second portion of the flexible elongate device and the first portion and determine a position of the second portion of the flexible elongate device in the anatomical reference frame based on the registration of the reference shape to the anatomical reference frame and the spatial relationship between the first portion and the second portion of the flexible elongate device.
A61B 1/267 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p.ex. endoscopes; Dispositions pour l'éclairage dans ces instruments pour les voies respiratoires, p.ex. laryngoscopes, bronchoscopes
A61B 34/20 - Systèmes de navigation chirurgicale; Dispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p.ex. pour la stéréotaxie sans cadre
80.
CHANGING MODE OF OPERATION OF AN INSTRUMENT BASED ON GESTURE DETECTION
Systems and methods for changing a mode of operation of an instrument includes a computer-assisted device configured to obtain vision data associated with an instrument; obtain kinematic data associated with at least one of the instrument or an structure supporting the instrument; obtain event data associated with at least one of the structure or the instrument; based on the vision data, the kinematic data, and the event data, recognize a gesture performed via the instrument; and in response to recognizing the gesture, cause the computer-assisted device to change from a first mode of operation to a second mode of operation.
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.
A61B 34/20 - Systèmes de navigation chirurgicale; Dispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p.ex. pour la stéréotaxie sans cadre
A61B 18/00 - Instruments, dispositifs ou procédés chirurgicaux pour transférer des formes non mécaniques d'énergie vers le corps ou à partir de celui-ci
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 90/50 - Supports pour instruments chirurgicaux, p.ex. bras articulés
A61B 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p.ex. pour le traitement de la luxation ou pour la protection de bords de blessures
84.
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 34/35 - Robots chirurgicaux pour la téléchirurgie
A61B 34/00 - Chirurgie assistée par ordinateur; Manipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 90/50 - Supports pour instruments chirurgicaux, p.ex. bras articulés
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p.ex. pour le traitement de la luxation ou pour la protection de bords de blessures
85.
SYSTEMS AND METHODS 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 - Systèmes de navigation chirurgicale; Dispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p.ex. pour la stéréotaxie sans cadre
A61B 1/00 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p.ex. endoscopes; Dispositions pour l'éclairage dans ces instruments
A61B 1/267 - Instruments pour procéder à l'examen médical de l'intérieur des cavités ou des conduits du corps par inspection visuelle ou photographique, p.ex. endoscopes; Dispositions pour l'éclairage dans ces instruments pour les voies respiratoires, p.ex. 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, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p.ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 90/90 - Moyens d’identification pour les patients ou les instruments, p.ex. étiquettes
87.
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.
G06T 3/40 - Changement d'échelle d'une image entière ou d'une partie d'image
H04N 23/84 - Chaînes de traitement de la caméra; Leurs composants pour le traitement de signaux de couleur
H04N 25/13 - Agencement de matrices de filtres colorés [CFA]; Mosaïques de filtres caractérisées par les caractéristiques spectrales des éléments filtrants
88.
Redundant Axis and Degree of Freedom for Hardware-Constrained Remote Center Robotic Manipulator
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 - Chirurgie assistée par ordinateur; Manipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61M 13/00 - Insufflateurs à fins thérapeutique ou de désinfection
G16H 40/63 - TIC spécialement adaptées à la gestion ou à l’administration de ressources ou d’établissements de santé; TIC spécialement adaptées à la gestion ou au fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement d’équipement ou de dispositifs médicaux pour le fonctionnement local
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.
A61B 34/20 - Systèmes de navigation chirurgicale; Dispositifs pour le suivi ou le guidage d'instruments chirurgicaux, p.ex. pour la stéréotaxie sans cadre
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 - Moyens mécaniques pour le transfert de la grandeur de sortie d'un organe sensible; Moyens pour convertir la grandeur de sortie d'un organe sensible en une autre variable, lorsque la forme ou la nature de l'organe sensible n'imposent pas un moyen de conversion déterminé; Transducteurs non spécialement adaptés à une variable particulière utilisant des moyens optiques, c. à d. utilisant de la lumière infrarouge, visible ou ultraviolette avec atténuation ou obturation complète ou partielle des rayons lumineux les rayons lumineux étant détectés par des cellules photo-électriques en modifiant les caractéristiques de transmission d'une fibre optique
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, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p.ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A method 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 - Manipulateurs à commande programmée caractérisés par des bras à articulations multiples
B25J 19/00 - Accessoires adaptés aux manipulateurs, p.ex. pour contrôler, pour observer; Dispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
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 - Chirurgie assistée par ordinateur; Manipulateurs ou robots spécialement adaptés à l’utilisation en chirurgie
A61B 90/00 - Instruments, outillage ou accessoires spécialement adaptés à la chirurgie ou au diagnostic non couverts par l'un des groupes , p.ex. pour le traitement de la luxation ou pour la protection de bords de blessures
A61B 17/00 - Instruments, dispositifs ou procédés chirurgicaux, p.ex. tourniquets
100.
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 - TIC spécialement adaptées à la gestion ou à l’administration de ressources ou d’établissements de santé; TIC spécialement adaptées à la gestion ou au fonctionnement d’équipement ou de dispositifs médicaux pour la gestion d’équipement ou de dispositifs médicaux, p.ex. pour planifier la maintenance ou les mises à jour
