6140results about "Surgical manipulators" patented technology

One or more data streams may be used for controlling multi-system interaction. For example, a data stream may be received, and a surgical option associated with a surgical instrument may be selected based on the data stream. A control signal associated with the surgical instrument may be generated based on the selected surgical option. A surgical device may receive an external data stream from a source external to the surgical system. The device may derive, based at least on the external data stream, decision contextual information. The device may select a surgical option associated with a surgical instrument based on the decision context information. The device may generate a visual indication of the decision context information associated with selecting the surgical option. The device may generate a control signal associated with the surgical instrument based on the selected surgical option.

A modular surgical system for use in a surgical procedure is disclosed. The modular surgical system includes a control module including a power supply and surgical modules including a first surgical module and a second surgical module. The first surgical module is arranged in a stack configuration with the control module and the second surgical module. The power supply is configured to output power to the first surgical module and the second surgical module. A power backplane is configured to deliver the power to the first surgical module and the second surgical module through the first surgical module. A control circuit is configured to adaptively adjust power allocations to the first surgical module and the second surgical module.

Systems, methods, and instrumentalities are disclosed for displaying a magnitude and location of a resulting tissue tension from an applied force to an instrument and a resulting tissue reaction. A surgical stapling device for monitoring and adapting to tissue tension during a surgical stapling procedure may measure strain on at least one component of the surgical stapling device resultant from one or more of an opposed force applied by a user and a force resisted by tissue associated with the tissue tension. The device may determine a location of the tissue tension based on historical surgical data, the opposed force, and the resisted force. The device may highlight the location of the tissue tension to aid in real-time surgical decision-making.

The invention discloses a surgical robot resection navigation method based on multi-modal image registration. The method comprises the following steps: acquiring a preoperative multi-modal medical image of a patient and reconstructing a three-dimensional model containing a focus and a dangerous structure; acquiring an intraoperative real-time image; extracting cross-modal invariant features from the pre-operative and intra-operative images by using a first deep learning network, and establishing an initial corresponding relation; predicting an initial non-rigid deformation field by using a second deep learning network, based on the pre-operative / intra-operative image and the initial corresponding relation and in combination with physical model constraints; tracking a surgical tool in real time, and updating a non-rigid deformation field in real time by adopting an incremental calculation strategy; applying the updated deformation field to the preoperative three-dimensional model to generate a deformed model; and mapping the tool position to the deformed model, and generating a navigation instruction. According to the method, soft tissue deformation can be accurately compensated, multi-modal image information is effectively fused, navigation information is dynamically updated in real time, and the precision and safety of robot surgery are remarkably improved.

A robotic surgical system. a surgeon console operatively coupled to a patient console and one or more surgical instruments. A surgeon computer is coupled to or integrated with the surgeon console, the surgeon computer further operatively connected to the one or more surgical instruments; A surgical robot is coupled to a robotic surgery control system and a feedback loop. The robotic surgery control system includes or is coupled to an artificial intelligence (AI) system. A feedback loop is further configured to receive performance-related data from the one or more sensors, the data analyzed by the robotic surgery control system or the AI system to dynamically adjust the robotic system's operation as needed. A data extraction module retrieves, from the robotic surgery control system or the AI system. one or more programmed steps executed by the surgeon for positioning at least one of the surgical instruments during the surgical procedure.

The invention relates to the technical field of surgical robot motion control, and discloses a surgical robot motion planning method based on a diffusion model, and the method comprises the steps: obtaining obstacle point cloud data, an initial posture and a target posture in a surgical environment; encoding the obstacle point cloud data into a potential space, and combining the encoded information with the initial attitude and the target attitude into a condition code; a Transform structure of an encoder is adopted to replace a U-Net structure in a traditional diffusion model, and the diffusion model is trained through forward diffusion and reverse denoising processes; in training, using a comprehensive loss function to optimize model performance, combining configuration space loss, geometric task space loss and collision loss, and introducing physical constraints to ensure that the trajectory conforms to kinematic characteristics and avoid collision; and in the operation task, generating a motion track based on the trained diffusion model. According to the invention, the motion planning efficiency and safety of the surgical robot in a complex environment can be improved.

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 robotic surgical system includes a robotic manipulator configured to perform surgical procedures under direct surgeon control. A surgical camera system captures real-time intraoperative video. An external imaging interface receives multimodal imaging data, including preoperative and intraoperative data from at least one of magnetic resonance imaging (MRI), computed tomography (CT), ultrasound, and fluoroscopy. An artificial intelligence (AI module has a trained neural network and a deep learning model trained on multi-institutional annotated surgical datasets, The AI module is configured to execute one or more of: fuse acquired video and imaging data into temporally and spatially coherent anatomical visualizations; generate continuously updating overlays aligned with the surgical field, with segmented anatomical features; projected tissue boundaries, proximity indicators for instruments, and predictive deformation trends; provide dynamic predictive trend visualization indicating zones of future anatomical complexity or risk; register and align preoperative imaging data with intraoperative imaging data in real time; adapt overlay presentation in response to tissue deformation without actuating the robotic manipulate or; and passively augment visual feedback without initiating any autonomous actuation of surgical instruments.

A robotic surgical system includes one or more robotic actuators configured to interact with biological tissue during a surgical procedure. A plurality of sensors include at least one of fiber Bragg grating sensors, piezoelectric strain sensors, or magnetostrictive sensors to capture real-time mechanical, elasticity, or deformation data from biological tissues. deep learning engine trained on a dataset comprising tissue mechanical responses across multiple tissue types, pathological states, and patient demographics. Pre-contact predictive adjustment profiles are generated for anticipated tissue interactions using preoperative imaging data registered to intraoperative coordinates. Intraoperative deviations are detected from predicted mechanical behavior and autonomously recalibrate actuator forces. Upcoming surgical maneuvers are anticipated based on prior task sequences and adjust actuator stiffness or damping properties in preparation for anticipated contact. An emergency override of actuator forces is provided via an anomaly detection module when real-time sensor data deviates beyond a threshold from the predicted safe mechanical response range. A feedback loop iteratively refines the deep learning engine during the procedure using supervised learning updates, anomaly detection, and reinforcement learning strategies. The reinforcement learning model is optionally shared across procedures to optimize distributed actuator force patterns for minimizing localized and cumulative tissue stress.

The invention relates to the technical field of artificial intelligence and data processing, in particular to a surgical robot quality control and fault prediction method based on artificial intelligence, and the method specifically comprises the following steps: collecting the data of a surgical robot through a sensor, carrying out the manual marking of the collected data, and forming a sample data set; performing multi-scale normalization processing on the sample data set; constructing a fault prediction model of the surgical robot by adopting a convolutional neural network, and inputting normalized data into the model for training to obtain a trained fault prediction model; preprocessing the collected new data, inputting the preprocessed data into the trained fault prediction model, and outputting a fault category prediction result corresponding to the input data by the fault prediction model; and constructing a three-dimensional quality control matrix, wherein the three-dimensional quality control matrix triggers a corresponding automatic calibration program based on a category prediction result output by the fault prediction model. According to the method, the fault features of the surgical robot can be accurately captured, and the accuracy of fault prediction and the generalization ability of the model are improved.

A system comprises an EMD and coupled to a robotic drive. The EMD includes an external member defining a lumen and an internal member disposed in the lumen and coupled to a distal portion of the external member, and a linearly and rotationally-actuatable element coupled to the external member. The robotic drive includes a plurality of device modules, each of the plurality of device modules being independently linearly movable by the robotic drive, a first cassette coupled to a first one of the plurality of device modules and to the linearly and rotationally-actuatable element of the external member, and a second cassette coupled to a second one of the plurality of device modules and to the internal member.

An ultrasonic surgical instrument includes an end effector including an ultrasonic blade, an ultrasonic waveguide, an ultrasonic transducer assembly, and a carrier. The acoustic waveguide includes at least a proximal portion thereof extending along a longitudinal axis. The ultrasonic transducer assembly includes a fixation member and is operatively connected to the acoustic waveguide such that the acoustic waveguide is in acoustic communication with an ultrasonic transducer. The carrier has at least a portion thereof engaged with the fixation member of the ultrasonic transducer assembly thereby inhibiting movement of the ultrasonic transducer assembly relative to the carrier. The carrier movably supports the ultrasonic transducer assembly along the longitudinal axis such that the ultrasonic transducer assembly is configured to move from a proximal position on the longitudinal axis to a distal position on the longitudinal axis for inserting the ultrasonic blade into a patient.

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.

An ultrasonic surgical instrument includes an end effector having an ultrasonic blade, an ultrasonic transducer assembly, and a shaft assembly. The shaft assembly includes a tube, and an waveguide. The waveguide is received within the tube and is acoustically connected between the ultrasonic blade and ultrasonic transducer assembly to communicate ultrasonic vibrations from the ultrasonic transducer assembly to the ultrasonic blade. The waveguide includes an acoustic body, a first isolation structure, a second isolation structure and a sheath. The acoustic body extends along a longitudinal axis. The first isolation structure radially extends about the acoustic body. The second isolation structure radially extends about the acoustic body and is longitudinally spaced from the first isolation structure. The sheath is radially positioned between the first isolation structure and the tube and is further radially positioned between the second isolation structure.

Co-manipulation robotic systems are described herein that may be used for assisting with surgical procedures, including laparoscopic surgery. 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.

The present disclosure provides a staple cartridge for a surgical instrument, such as a tissue sealing instrument. The staple cartridge includes a housing and one or more staple assemblies within the housing. The staple assemblies each include one or more staple pushers and associated staples. The staple pushers and housing include coupling elements configured to cooperate with each other to retain the staple assemblies to the housing prior to use in surgery. The coupling elements, along with other components of the cartridge and instrument, result in a smaller staple cartridge relative to conventional devices, allowing for a more compact and maneuverable surgical instrument.

Systems and methods for automatically populating a post-operative report of a surgical procedure are disclosed. A system may include at least one processor configured to implement a method including receiving an identifier of a patient, an identifier of a healthcare provider, and surgical footage of a surgical procedure performed on the patient. The method may include analyzing frames of the surgical footage to identify phases of the surgical procedure based on interactions between medical instruments and biological structures and, based on the interactions, associate a name with each phase. The method may include determining a beginning of each phase and associating a time marker with the beginning of each phase. The method may include populating a post-operative report with the patient identifier, the names of the phases, and time markers associated with the phases in a manner that enables the health care provider to alter the post-operative report.

The invention provides a remote multi-master-end cooperative control system and a surgical robot system, and the system comprises a self-adaptive filtering module which is configured to carry out the smoothing of data transmitted between remote master ends and slave ends through employing a self-adaptive filtering algorithm; the delay synchronization module is configured to perform synchronization processing on delay differences between different remote master ends and slave ends; the trajectory prediction module is configured to predict the next action trajectory of the slave end according to the historical operation trajectory data of the remote master end when any remote master end has network delay; and the instruction conflict arbitration module is configured to dynamically judge the priority of each remote master end and process a multi-master end instruction conflict based on the priority of each remote master end so as to generate a single effective instruction and transmit the single effective instruction to the slave end. According to the method, efficient cooperative operation of multiple doctors can be achieved, the real-time performance and accuracy of remote surgery can be remarkably improved, and the surgery error rate is effectively reduced.

A robotic drive system includes a drive table having a main body and an extendable member configured to be at least partially received within the main body and being extendable from an end of the main body. One or more hub adapters are coupled with the drive table and are configured to couple to a corresponding hub so that axial movement of the one or more hub adapters drives the corresponding hub.

The invention discloses a surgical robot dynamic compensation method based on multi-mode real-time 4D digital twinning and a related device. The method comprises the following steps: acquiring preoperative three-dimensional and four-dimensional image data of a patient, synchronously acquiring optical body surface movement data and in-vivo ultrasonic data during an operation, inputting the data into an end-to-end modular network in combination with current state data of a surgical robot for feature extraction and fusion, generating a 4D twinborn space containing spatio-temporal information, and generating a compensation instruction based on the space to control the surgical robot. According to the method, real-time fusion and dynamic modeling of multi-modal data in an operation can be realized, the self-adaption and compensation capability of a surgical robot in a complex surgical environment is improved, and the surgical precision and safety are enhanced.

Device and methods for displaying complex and conflicting interrelated data streams. An example device may receive a first biomarker value associated with a first biomarker in a first data stream and a second biomarker value associated with a second biomarker in a second data stream. The device may determine, based on the first biomarker value and the second biomarker value, that a close-loop control condition associated with a control parameter for the surgical device is failed. Based on determining that the close-loop control condition is failed, the device may identify an intraoperative metric associated with the first data stream and the second data stream. The device may generate a control signal configured to display a value associated with the intraoperative metric.

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.

Device and methods for visualization of automated surgical system decisions. An example device may select a candidate action to perform based on steps of a surgical procedure and the effects of the candidate action. The effects may include whether the candidate action will impair the ability of a surgical instrument to perform a later step in the procedure. The candidate action may involve initial device placement, device movements, port placement, and / or the like.

Devices, systems, and techniques for synchronization of the operational envelopes of independent surgical devices. An example device may receive a user surgical control input. The device may send an indication of a preferred operational envelope to a negotiating surgical device. The device may constrain operation responsive to the user surgical control input based on a reduced operational envelope that is determined by a response, from the negotiating surgical device, to the indication of the preferred operational envelope. The reduced operational envelope may result in a greater constraint on the operation responsive to the user surgical control input than the preferred operational envelope.

Devices and method for visualizing effects of device movements in an operating room. The device may identify candidate motions of a first robotic arm configured to place a first end effector in a target end effector position internal to a patient. The device may determine, for a first candidate motion, a first number of associated interactions in which the first robotic arm and a second robotic arm will co-occupy space external to the patient. The device may determine, for a second candidate motion, a second number of associated interactions in which the first robotic arm and the second robotic arm will co-occupy space external to the patient. The device may select the first candidate motion or the second candidate motion based on the first and second number of interactions. The device may generate a control signal based on the selected candidate motion of the first robotic arm.

Systems, methods, and instrumentalities are disclosed for dynamically determining an activation mode (e.g., energy modality and / or energy level) of a surgical instrument based on monitored data. The surgical instrument may be a combination energy device capable of delivering ultrasonic energy and radiofrequency energy. The surgical instrument may monitor data associated with a surgical procedure. The surgical instrument may select an activation mode from the plurality of activation modes based on the monitored data. The surgical instrument may deliver energy of an energy modality associated with the selected activation mode. Monitored data may include visual data, electrical data, and / or mechanical data.

Systems and methods include positioning of a catheter lumen in a first position with respect to a thrombus, the catheter lumen defined by a catheter, initiating of evacuation of a tubing lumen, where the tubing lumen is not in fluid communication with the catheter lumen, determination that a pressure within the tubing lumen is equal to or less than a target aspiration pressure, and, in response to the determination that the pressure within the tubing lumen is equal to or less than a target aspiration pressure, automatic establishment of fluid communication between the tubing lumen and the catheter lumen.

Device and methods for visualizing internal processes of an automated operation. An example device may receive an external data stream from a source external to the surgical system. The device may derive, based at least on the external data stream, decision contextual information. The device may select a surgical option associated with a surgical instrument based on the decision context information. The device may generate a visual indication of the decision context information associated with selecting the surgical option. The device may generate a control signal associated with the surgical instrument based on the selected surgical option.

A system and method are provided for aligning a tool with a targeted axis in tissue to perform a medical procedure. A medical plan is registered to the location of the tissue using a computer-assisted medical system, where the medical plan include a planned position for the targeted axis based on pre-procedure data. The tool is aligned with the planned position for the targeted axis using a computer- assisted medical system. The computer-assisted medical system includes a hand- held device having a handle and a working portion adjustable relative to the handle so as to orient the tool. A computing system is also provided comprising a tracking system and a control system for registering the medical plan to the location of the tissue, tracking the hand-held device relative to the tissue and the medical plan, and adjusting the working portion of the hand-held device relative to its handle.

Systems, methods, and instrumentalities associated with inter-connectivity of data flows between various surgical devices and / or systems are disclosed. The surgical devices and / or surgical systems may be interrelated or independent smart surgical devices and / or surgical systems. Data sourced by a first surgical device / system may be communicated to and / or accessible by a second surgical device / system for interactive use and storage. The data exchange may be bi-directional or unidirectional, which, for example, may enable the surgical devices / systems to interface and use each other's data. The data exchange may affect one or multiple surgical device / system's operation.