3202results about "Surgical instrument support" patented technology

A robotic medical system includes a post being substantially vertical and coupled to a base; a robotic drive having a socket for receiving the post; and at least one tapered interface shaped and oriented to engage the socket to prevent rotation of the robotic drive about at least one axis.

A system comprises a processor and a memory having computer readable instructions stored thereon, which, when executed by the processor, cause the system to display an image of a surgical environment. The image includes an information icon corresponding to an instrument in the surgical environment. The instructions further cause the system to display an image of a body part of a user. The image of the body part is used to interact with the information icon. The instructions further cause the system to receive a gesture of the body part, via a gesture-based input device registering movement of the body part, to cause the image of the body part to interact with the information icon. The instructions further cause the system to display an information menu in the image of the surgical environment based on the interaction between the image of the body part and the information icon.

A holographic augmented reality ultrasound needle guide system and method includes an augmented reality display such as a headset wearable by a user. The augmented reality display is configured to depict a virtual ultrasound image. The augmented reality display is further configured to allow a user to select a desired reference point on the virtual ultrasound image. The system is configured to depict a holographic needle guide based on the selection of the desired reference point. The system is also configured to adjust a trajectory of the holographic needle guide to avoid intersecting undesired anatomical structures. The augmented reality display is further configured to stamp the holographic needle guide into a selectively locked trajectory and position.

A surgical tool including an inelastic and elastic cable to impart a bend to a shaft. A steering assembly is coupled to the shaft and configured to cause longitudinal displacement of the shaft relative to the body to tension the cables to bend the shaft bendable section in a direction of the flexible inelastic cable. The surgical tool may include an active tip with one of the cables being configured to supply energy to the active tip. The surgical tool may be a shaver that includes a shaver shaft having a flexible section configured to be aligned with a shaft bendable section with the motor of the shaver supported on a cradle of a body. The shaft bendable section may be formed by links with the flexible inelastic cable being arcuately spaced apart from tabs within sockets that engage adjacent links.

Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.

Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical instruments while providing benefits associated with surgical robotics. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument or a desired force applied by the instrument using the robot arm. For example, the robot arm may be moved automatically to maintain a constant tension force on an anatomical structure via the instrument in a constant tension mode.

A method includes accessing a computerized tomography (CT) scan of a human subject and defining a first two-dimensional (2D) slice (200) of the scan and a second 2D slice (204) of the scan, so that the first and the second slices intersect in an intersection line (224) defining a desired trajectory. The method further includes overlaying on the intersection line an icon (250) representing an object used in a procedure on the human subject, and rendering a three-dimensional (3D) image (650) of the human subject, incorporating the overlayed icon, from the CT scan.

Technology is described for augmenting medical imaging for use in a medical procedure. The method can include the operation of receiving an image of patient anatomy captured by a visual image camera during the medical procedure. An acquired medical image associated with the patient anatomy can then be retrieved. Another operation can be associating the acquired medical image to the patient anatomy. An augmentation tag associated with a location in one layer of the acquired medical image can be retrieved. A further operation can be projecting the acquired medical image and the augmentation tag using an augmented reality headset to form a single graphical view as an overlay to the patient anatomy in either 2D, 3D or holographic form.

Co-manipulation robotic systems are described herein that may be used for assisting with laparoscopic surgical procedures. The co-manipulation robotic systems allow a surgeon to use commercially-available surgical tools while providing benefits associated with surgical robotics. Advantageously, the surgical tools may be seamlessly coupled to the robot arms using a disposable coupler while the reusable portions of the robot arm remain in a sterile drape. Further, the co-manipulation robotic system may operate in multiple modes to enhance usability and safety, while allowing the surgeon to position the instrument directly with the instrument handle and further maintain the desired position of the instrument using the robot arm.

Optical-fiber stylet holders and methods for holding optical-fiber stylets in position in catheters or the like prevent breakage of optical fibers in the optical-fiber stylets and maintain functionality of the optical-fiber stylets. The holding of optical-fiber stylets in position in catheters or the like can be important for maintaining distal tips of intravascularly delivered optical-fiber stylets in their target anatomical locations during procedures.

A stabilized surgical robotic system includes a surgical robotic chassis having at least first and second surgical robotic arm assemblies mounted thereon. A stabilization member having first and second attachment regions is detachably coupled to the first and second surgical robotic arm assemblies, respectively, while at least the first surgical robotic arm assembly is left free to hold and manipulate a surgical tool. A surgical robotic controller repositions at least one of the first and second surgical robotic arm assemblies while said assemblies are coupled by the stabilization member.

A positioning arm apparatus for an ultrasound head is provided. The positioning arm apparatus for an ultrasound head according to an embodiment may constantly move the ultrasound head without change in height of the ultrasound head according to a moving distance by simultaneous rotation at two positions and tilting motion at one position. Also, the positioning arm apparatus may be miniaturized and lightweight since it is operated with a mechanical mechanism, and may provide strong fixing strong and easy maneuverability.

Devices and methods for performing an interventional vascular procedure with visual guidance using one or more optical head mounted displays are disclosed. Devices and methods for compensating the display of an optical head mounted display for cardiac and / or respiratory motion are disclosed.

An augmented reality, AR, system (100) for use in a medical procedure is disclosed. The AR system (100) comprises an AR headset (2), and a processor (12). The AR headset (2) comprises a camera (6a, 6b), a near eye display (4a, 4b) and a depth sensor (10a, 10b). The processor (12) is configured to adjust the position of the image obtained by the camera (6a, 6b) on the display (4a, 4b) throughout the medical procedure based on changes in the distance measured by the depth sensor (10a, 10b).

An anesthetic equipment storage and waste air management module configured to housing electronic and electromechanical surgical equipment including a system to measure and record administration of one or more IV medications or fluids for IV administration. The module can include a housing having a lower section and a tower-like upper section, wherein the lower section is configured to house unrelated waste heat-producing electronic and electromechanical surgical equipment. The module can also include a cowling that substantially confines waste heat generated by the unrelated waste heat-producing electronic and electromechanical surgical equipment, and can include a system for measuring and recording the administration of the one or more IV medications and fluids.

A tool feeding system includes a tool cart having a tool cart coordinate space and surgical tools removably carried by the tool cart at known locations within the tool cart coordinate space. The tool cart is physically attached to a surgical robotic system having one or more surgical robotic arms and a central control unit which controls movement of the robotic arms in a surgical robotic coordinate space. The central control unit registers the tool cart coordinate space with the surgical robotic coordinate space to create a common surgical robotic space, allowing the central control unit to kinematically control motion of the surgical robotic arms within the common surgical robotic space to retrieve and return multiple tools and perform surgical procedures with the tools.

An access device for accessing an intervertebral disc having an outer shield comprising an access shield with a larger diameter (˜16-30 mm) that reaches from the skin down to the facet line, with an inner shield having a second smaller diameter (˜5-12 mm) extending past the access shield and reaches down to the disc level. This combines the benefits of the direct visual microsurgical / mini open approaches and the percutaneous, “ultra-MIS” techniques.

A method for automatic registration of a patient for surgical navigation includes detecting a pose of a robot head with a robot camera by a tracking camera of a navigation system and following the robot camera; controlling and moving a robot arm such that the robot camera is directed to a region of interest of the patient, and creating an image; checking whether there is a visual connection between the tracking camera and robot head with the robot camera; detecting, when a visual connection is present, a pose of the robot head via the tracking camera, or detecting, when the visual connection is missing, interrupted or reduced, a pose of the robot head via a robot-kinematics tracking system; and executing a registration of the patient with respect to the navigation system. The registration method can be used with a surgical navigation system and a computer-readable storage medium.

An apparatus for use during robotic surgery, where the apparatus includes a robotic arm; a tool driver connected to the robotic arm; a cannula including a proximal portion and a distal portion wherein the proximal portion is coupled to the tool driver; and a damping element connected to one of the robotic arm, the tool driver and the cannula. Also, a method including guiding a surgical tool coupled to a robotic arm into a patient, wherein the surgical tool is disposed through a cannula and coupled to a tool driver coupled to a distal portion of the robotic arm; and maneuvering the tool driver by way of the robotic arm, wherein vibrations generated by the maneuvering are inhibited by a damping element coupled to one of the robotic arm, the tool driver and the cannula.

Devices and methods for performing an interventional vascular procedure with visual guidance using one or more optical head mounted displays are disclosed. Devices and methods for compensating the display of an optical head mounted display for cardiac and / or respiratory motion are disclosed.

The present disclosure relates to visualization systems system for surgical procedures, and more specifically, to an imaging and display support system for ophthalmic visualization systems. The optical system described herein provide improved ergonomics for surgeons, as such systems incorporate an optical head and a corresponding display on a single support arm to provide surgeons a direct and unobstructed view of the corresponding display screen placed in an ergonomically advantageous position for ophthalmic procedures. Such systems also maintain the corresponding display screen in the aforementioned in an ergonomically advantageous position even if the optical head of the system is moved or rotated during ophthalmic procedures without the need for further adjustments by the surgeon or surgical staff.

A robotic surgical system comprises a mobile cart, a first surgical robotic arm, a table support element, and a surgical robotic controller. The first surgical robotic arm is located on the mobile cart and holds a first surgical tool. The surgical robotic controller elevates the table support element to engage and to apply a controlled upward force to a structure on an underside of the surgical table to stabilize the surgical table.

Systems and methods are provided for performing transcranial diagnostic procedures using a transcranial ultrasound transducer array. The array elements are positioned and oriented such that far field regions respectively associated therewith spatially overlap within the brain of a patient. The array elements may be oriented approximately normal to the skull, permitting efficient coupling of ultrasound energy into the brain. The array elements are controlled to generate ultrasound pulses, where the timing of the pulses is controlled, based on registration between the array elements and volumetric image data, such that ultrasound energy is focused at a target within spatially overlapping far fields of the array elements. The transcranial ultrasound transducer array elements may be positioned and oriented relative to the skull such that their respective ultrasound beams are focused within the skull and diverging with the brain.

Modules for housing electronic and electromechanical medical equipment including a system to measure and record administration of one or more IV medications or fluids for IV administration.

A method of controlling a medical tool includes determining an insertion path and pose for the tool based on a target and deploying first and second articulated arms of a computer-assisted medical device based on a size and shape of a tool guide. The arms include respective pluralities of moveable links actuated by at least one respective actuator and forming respective kinematic chains extending from a base. The method further includes receiving the tool guide for coupling with the arms using respective mounting arms of the tool guide such that the tool guide functions as a link in a closed kinematic loop formed by joining the kinematic chains, orienting a guide hole of the tool guide to align with the insertion path, positioning the guide hole a desired distance away from the target, receiving the tool in the guide hole, and advancing the tool along the insertion path.

Techniques and systems are described for mixed reality (MR) guidance of an ultrasound probe. A system may obtain reference data depicting a bone of a patient; determine a physical location of an ultrasound probe; generate, based on first ultrasound data generated by the ultrasound probe, registration data that registers virtual locations on the bone of the patient as depicted in the reference data with corresponding physical locations on the bone of the patient; generate virtual guidance based on the reference data, the registration data, and the physical location of the ultrasound probe, wherein the virtual guidance provides guidance to a clinician regarding how the ultrasound probe is positioned relative to a target position at which the ultrasound probe is able to generate second, ultrasound data that provides information regarding a soft tissue structure of the patient; and cause a MR visualization device to output the virtual guidance to the clinician.

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.

The invention discloses a positioning method, device and system for a surgical cart and a storage medium. The method comprises the following steps: acquiring a first view image, corresponding to a registration device, of a first surgical cart acquired by an image acquisition device, and determining a first relative pose of the first surgical cart relative to the registration device based on the first view image; acquiring a second visual field image, corresponding to the registration device, of a second surgical cart acquired by an image acquisition device, and determining a second relative pose of the registration device relative to the second surgical cart based on the second visual field image; and determining a relative positioning pose of the first surgical trolley relative to the second surgical trolley based on the first relative pose and the second relative pose. According to the embodiment of the invention, the problem of data interference of a plurality of sensor devices in a traditional positioning method is solved, and the positioning accuracy of the surgical trolley is improved while the positioning complexity is reduced.

The invention discloses a high-stability supporting device for endoscopic surgery, which comprises a clamping structure, a lifting mechanism, a length adjusting mechanism, a horizontal rotating mechanism and a longitudinal rotating mechanism, and is characterized in that the clamping structure can be used for clamping and fixing endoscopic bodies with different sizes, and the lifting mechanism is used for preliminarily adjusting the heights of the endoscopic bodies; the length adjusting mechanism is arranged at the upper end of the lifting mechanism and used for adjusting the height of the endoscope body and the distance between the endoscope body and a patient, the horizontal rotating mechanism is used for adjusting the horizontal direction of the endoscope body, and the longitudinal rotating mechanism is used for adjusting the longitudinal angle of the endoscope body. According to the invention, all-directional supporting and adjusting functions can be provided for endoscopic surgery, so that the position and angle of the endoscope can be accurately adjusted to adapt to different surgical requirements.

A surgical robotic system comprising: a surgical robotic arm having a plurality of robotic arm links and a plurality of joints operable to move according to multiple degrees of freedom; a proximity sensor coupled to the surgical robotic arm, the proximity sensor comprising a plurality of sensing pads operable to detect a movement of a nearby controlling object prior to contact with the surgical robotic arm; and a processor configured to determine a desired position of the surgical robotic arm based on the detected movement of the nearby controlling object and drive a movement of more than one of the plurality of robotic arm links or the plurality of joints to achieve the desired position of the surgical robotic arm.