138results about "Surgical instrument support" patented technology

A surgical instrument unit including an external force detection function is provided. The surgical instrument unit includes a shaft including an end effector at a distal end thereof, a hollow base, and a deformable member supporting a root of the shaft within the base. The strain section includes a first layer of strain elements and a second layer of strain elements composed of multi-directional strain elements, each of the multi-directional strain elements supporting the root of the shaft with a plurality of legs sequentially arranged along a main axis direction of the shaft. The first strain elements are inclined by an amount corresponding to a predetermined angle θ with respect to a plane orthogonal to a long axis of the shaft, and the second strain elements are inclined by an amount corresponding to an angle -θ opposite to the angle of the legs of the first strain elements with respect to the plane.

This invention discloses a surgical instrument guidance system, comprising a robotic arm, a clamping device, and a navigation marker assembly. The clamping device includes a body, a receiving portion, a sleeve, a first pressing member, and a multi-link mechanism. The receiving portion has a receiving hole. The sleeve is detachably disposed in the receiving hole. The sleeve has a through hole for inserting a surgical instrument. One side of the sleeve has a notch along the axial direction of the through hole, the notch communicating with the through hole. The sleeve also has a limiting portion at the edge of the notch. The first pressing member is disposed in the body. The multi-link mechanism is disposed in the body and the receiving portion, and connected to the first pressing member and the sleeve. The first pressing member is pressed, causing the multi-link mechanism to push against the limiting portion to reduce the notch, causing the sleeve to deform and clamp the surgical instrument. The surgical instrument guidance system provided by this invention allows the robotic arm and surgical instrument to share a single navigation marker assembly, simplifying the robotic arm calibration process and reducing time.

Various camera assemblies for robotic surgical systems having a single image sensor and one or more lenses. Further discussed herein is a camera system having a camera assembly, an image signal processor (ISP), and a surgical display. Further discussed herein is a robotic surgical system having a robotic surgical device, a removable camera component having a steerable tip body having a single image sensor and one or more lenses, and a control consol having a surgical display configured to display one or more images captured by the one or more lenses.

The subretinal injection device may include an inserter coupled to a subretinal injection needle, and a conduit having a distal end coupled to the proximal end of the injection needle and a proximal end coupled to a fluid source. The conduit may have first and second lumens, and the conduit is positioned through the inserter device. The device may further include a stabilizer for fixing the injection needle in position on the surface of the retina, and a fluid source. The fluid source may include both a first fluid reservoir containing a non-therapeutic solution and a second fluid reservoir containing a therapeutic solution. The fluid source may supply the non-therapeutic solution to the subretinal space from the first fluid reservoir through the first lumen. The fluid source may further supply the therapeutic solution to the subretinal space from the second fluid reservoir through the second lumen.

Autonomous robotic systems for ultrasound examination are provided. The robotic systems include a robotic arm having an end effector for connecting an ultrasound tool. The arm is connected to a base station having a computing and control assembly disposed therein configured to process inputs from a vision module and control the robotic arm to position the tool to perform an ultrasound procedure on a patient. The end effector can include a load cell for measuring forces and torques experienced by the tool. A haptic device can be used to control articulation of the robotic arm to position the tool and provide force feedback to an operator. The robotic system can be configured to generate a 3D model of the patient, receive input of a feature region, and control the robotic arm to position the tool to perform an ultrasound procedure on the feature region. Various cleaning devices for cleaning the ultrasound tool are described.

A robotic surgery system includes an orienting platform, a manipulator, and a set-up linkage. The manipulator includes an instrument holder, a pitch linkage, and a yaw linkage. The instrument holder is operable to translate the surgical instrument along an insertion axis to insert the surgical instrument through a remote center of manipulation (RC). The pitch linkage is operable to rotate the instrument holder around a pitch axis that intersects the RC. The yaw linkage is operable to rotate the pitch linkage around a yaw axis. The set-up linkage is connected between the yaw linkage and the orienting platform. The set-up linkage is operable to reposition the manipulator relative to the orienting platform with a motion that maintains the RC in a fixed position relative to the orienting platform.

An adjustment device for positioning a uterine manipulator includes a support component that is movable along an arcuate path defined by the adjustment device and an adjustment unit. The adjustment unit includes a base component that is secured to the support component and a rotational element that is secured to the base component and to the uterine manipulator such that the rotational element and the uterine manipulator secured thereto are movable along the arcuate path and rotatable with respect to the support component. A positioning system includes the adjustment device and a positioning arm that supports the adjustment device for positioning a uterine manipulator.

Techniques for operating a kinematic structure by manual motion of a link coupled to the kinematic structure include a system comprising a first manipulating means and processing means. The processing means is for detecting whether a first means for accessing an internal worksite is mounted to the first manipulating means; detecting an input indicating the system is to be in a set-up mode; and inhibiting, in response to detecting that the first means is mounted to the first manipulating means, transition of the system to the set-up mode.

The present invention relates to a method, such as a surgical method for assisting a surgeon for placing screws in the spine using a robot attached to a passive structure. The present invention also related to a method, such as a surgical method for assisting a surgeon for removing volumes in the body of a patient using a robot attached to a passive structure and to a device to carry out said methods. The present invention further concerns a device suitable to carry out the methods according to the present invention.

A computer system receives a plurality of signals corresponding to first time-series magnetic data generated from a plurality of unshielded magnetometers proximate to the human subject. The first time-series magnetic data corresponds to magnetic fields generated from the human subject. The plurality of signals includes contributions from a biomagnetic field from at least a portion of the subject's organ and a background magnetic field. The computer system synchronizes the first time-series magnetic data to a common clock to generate synchronized time-series magnetic data. The computer system applies one or more filters to the synchronized time-series magnetic data to obtain filtered data. The computer system applies one or more noise reduction techniques to the filtered data to generate updated time-series magnetic data.

A method and system for capturing images of scenes, such as medical scenes, and tracking objects within those scenes. To provide. [Solution] The camera array includes a support structure having a center and a depth sensor mounted on the support structure close to the center. The camera array may further include a plurality of cameras mounted on the support structure radially outward from the depth sensor and a plurality of trackers mounted on the support structure radially outward from the cameras. The cameras are configured to capture image data of the scene, and the trackers are configured to capture position data of tools in the scene. The image data and position data can be processed to generate a virtual view of the scene, including a graphic representation of the tools at the determined positions.

The application discloses a microwave ablation needle fixing support, characterized by comprising: hinged left and right bridge arms, a universal ball suitable for being clamped and fixed between the two bridge arms, and a locking mechanism for locking the clamped state of the two bridge arms, wherein the universal ball is provided with a vertical slot, and an elastic rubber gasket for clamping and fixing a microwave ablation needle is arranged in the vertical slot. After the microwave ablation probe completes puncture, the ablation probe has a certain relative position and included angle with the skin plane of a patient. The application can firmly fix the ablation probe on the skin of the patient without increasing the puncture difficulty, increasing the length of the ablation probe, or changing the puncture state of the ablation probe after the puncture is completed, so as to prepare for subsequent ablation operation. After the ablation operation is completed, the gear locking device is opened, and the fixing support can be conveniently removed.

The application discloses an end execution structure suitable for an eye fundus surgery scene and a use method, relates to the technical fields of intelligent medical equipment and surgical robots, and comprises a support trolley, a vertical moving mechanism, a rotary joint and at least one posture adjusting mechanism, wherein the vertical moving mechanism is installed on the support trolley; the rotary joint is installed on the vertical moving mechanism, the rotary joint is installed with a microscope, the rotary joint can drive the microscope to rotate, and an objective lens of the microscope extends downward to a target surgery position to form a line-of-sight channel; the posture adjusting mechanism is fixedly connected with the vertical moving mechanism, the posture adjusting mechanism is used for installing surgical instruments, so that the spatial posture of the surgical instruments can be adjusted through multi-degree-of-freedom motion, and the motion track of the posture adjusting mechanism is always constrained on the side and the lower side of the line-of-sight channel, so that the line-of-sight channel is kept unobstructed. The application improves the safety, accuracy and efficiency of the eye fundus surgery, fully utilizes existing medical resources, and reduces the clinical application threshold.

The dental robot includes a platform and a suspension system. The suspension system supports the platform and automatically compensates for the weight of the platform, as well as the robotic arm, end effector, and tooth clamp attached to it. The suspension system maintains a constant height of the platform above the base when there is no external force on the tooth clamp. The suspension system allows the platform's position and orientation to change relative to the base in response to external forces greater than approximately 0.1 N on the tooth clamp, such as the result of movement of the object (changes in position and / or orientation). As a result, the platform's position and orientation remain fixed relative to the object's teeth in response to tooth movement.

This disclosure relates, in general, to devices for ophthalmic procedures, and more specifically, to a surgical instrument for performing subretinal injection and a method of using the same. The surgical instrument may include a handpiece configured for user gripping for fluid injection. The handpiece may include a first lumen located therein and an operable toggle movably coupled to a handle. The surgical instrument may further include a cannula coupled to the handpiece and configured to be introduced into the eye. The cannula may include a second lumen extending through it and a needle movably positioned within the second lumen. The needle may be coupled to an operable toggle and, when the toggle is activated, extend from and retract into the second lumen at the distal end of the cannula.

Certain aspects relate to systems and techniques for mapping and / or navigating an internal region of a body using a robotically controllable medical instrument. The instrument may include a position sensor that provides position information as the instrument navigates within the internal region. Visual indicia derived from the position information may be superimposed on a reference image of the internal region. The visual indicia may characterize historical positions of the instrument. The instrument may include an imaging device. Images of the internal region captured with the imaging device may be linked to the location within the internal region where the image was captured.

A minimally invasive endoluminal annuloplasty system and method of use includes a guide catheter configured to direct a working catheter to a treatment site within a cardiac cavity. The guide catheter may be translatably disposed within the working catheter which may be translatably disposed within an introducer sheath that extends into the cardiac cavity. The guide catheter may be sized to reduce noise, and / or may be formed from a material that assists with visualization. In one embodiment the guide catheter comprises a distal guidewire anchor. Visualization may be used to embed the distal guidewire anchor into tissue at the target site.

The present disclosure generally relates to image-guided surgical robotic systems and methods that robotically actuate a medical tool along a trajectory for the purpose of reaching a target of interest.

A medical device has a first hinge part (17) including two hinge arms (15, 16), which are arranged at a distance apart, and a hinge pin (32; 52), which is extended between the hinge arms along a longitudinal axis (38; 55). A second hinge part (18) is in certain areas accommodated between the two hinge arms and is passed through by a hinge cavity (31; 51). The hinge pin is accommodated in a pivotably movably in the hinge cavity. The hinge pin and the hinge cavity have a central contact region (33; 56) with contact between hinge pin and hinge cavity. Clearance regions (36, 37; 57, 58) border the contact region on both sides and are extended up to the hinge arms, without touching contact between hinge pin and hinge cavity, in order to ensure an exclusively central force transmission between the hinge pin and the hinge cavity.

Systems and methods for adjusting remote center distances in medical procedures are provided. In one aspect, a robotic medical system includes a first robotic arm including a first instrument driver, wherein the first instrument driver is configured to manipulate a first tool that passes through a first cannula, and a second robotic arm including a second instrument driver, wherein the second instrument driver is configured to manipulate a second tool that passes through a second cannula. The first tool is configured to rotate about a first remote center of motion and the second tool is configured to rotate about a second remote center of motion. A first remote center distance between the first robotic arm and the first remote center of motion is different from a second remote center distance between the second robotic arm and the second remote center of motion.

Certain aspects relate to systems and techniques for medical robotic systems that leverage a versatile, open kinematic chain together with a set of medical-procedure-specific software-controlled actuation constraints in order to perform a variety of medical procedures. The robotic system can be operated in a first mode by identifying a remote center and constraining the actuation of motorized joints to maintain intersection of at least an insertion axis with the remote center. The robotic system can be operated in a second mode by identifying a virtual rail position and constraining the actuation of motorized joints to maintain alignment of the insertion axis along the virtual rail.

The present disclosure provides a caster assembly that includes a caster wheel, a lock member, a pedal, and a position sensor. The lock member can engage the caster wheel. Movement of the pedal towards a depressed position can cause engagement of the lock member against the caster wheel to resist or prevent rotation of the caster wheel. Movement of the pedal towards a released position can separate the lock member from the caster wheel to permit rotation of the caster wheel. The position sensor can detect a position of the pedal.

A mounting apparatus for a medical device includes: a housing support member; a medical device engagement member that is moveably engageable with the housing support member; and an adjustment device. The adjustment device moves the medical device engagement member relative to the housing support member. A medical device system, a support structure for a medical device system including the mounting apparatus and associated methods are also provided.

The surgical system (110, 700, 702, 802, 810, 10100, 10200, 10400, 10500) comprises a first scoping device (10102, 10228, 10412, 10502) having a first portion configured to be inserted and positioned within an extraluminal anatomical space and a second portion distal to the first portion and configured to be positioned within an endoluminal anatomical space, and a second instrument (10462) configured to be inserted into the extraluminal anatomical space and configured to couple to and move the first portion of the first scoping device within the extraluminal anatomical space to facilitate movement of the second portion of the first scoping device while the second portion is positioned within the endoluminal anatomical space.

This disclosure addresses deployment accuracy challenges in co-axial stent delivery systems by incorporating various ancillary devices: a tubular curved track that constrains catheter movement, a handle clamp that secures the proximal handle position, and / or a stiffening support shaft that can be inserted into a lumen of the catheter. The tubular curved track features a loop body with a channel along its length to receive and stabilize the catheter's proximal portion. The handle clamp includes a cavity and clamping mechanism to secure the proximal handle to a support structure. The stiffening support shaft can be inserted to various depths to prevent unwanted catheter movement. These ancillary devices can be used individually or in combination to enhance stent deployment accuracy by reducing unintended movements during the deployment procedure.

A mobile system for a robotic drive includes a tray configured to support the robotic drive, a cart configured to support the tray in a substantially horizontal position, one or more wheels coupled to the cart, and an assembly coupled to the cart. The assembly is configured to allow the tray to move from the substantially horizontal position to a second position which is less horizontal than the substantially horizontal position, and is configured to resist movement of the tray from the substantially horizontal position to the second position.

To provide a dilator with stages, the dilator being used with a trocar kit for providing an abdominal cavity access through a recess of the body.SOLUTION: A trocar component is configured to provide access into an abdominal cavity through an intestinum rectum uterus cave, to a surgical tool, and in arbitrary selection, includes one or more surgical robot members. The surgical tool has a diameter of 5 mm or more in arbitrary selection. A cannula part has a lumen sized to provide simultaneous transvaginal access into the abdominal cavity through the intestinum rectum uterus cave to the multiple surgical tools, and has a discission which sized to receive a distal opening of the cannula, and uses in arbitrary selection, one or two dilators. The dilator is formed sized to form a long circular shaped opening, and the long circular shaped opening is configured so that, a width of a large diameter is at least twice of a width of a short diameter.SELECTED DRAWING: Figure 2A