9598results about "Surgical navigation systems" patented technology

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.

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 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.

In one embodiment, a medical system includes a catheter configured to be inserted into a chamber of a heart of a living subject, and including multiple electrodes configured to capture electrical activity from electrical activation signals propagating in tissue of the chamber, a display, and processing circuitry configured to automatically select bipolar signals to be captured into an electro-anatomical map from respective electrode pairs of the multiple electrodes responsively to an alignment of the respective electrode pairs with a direction of propagation of the electrical activation signals, and render the electro-anatomical map to the display.

The invention relates to the technical field of medical instruments, and discloses a laparoscope and digestive endoscope combined positioning measurement system and method.The method comprises the steps of positioning mark initialization, image feature analysis, instrument path planning, dynamic positioning calibration, operation integrity evaluation and the like. Spatial matching is realized by setting multiple types of positioning marks and utilizing optical reflection signals, noise reduction and feature extraction are performed on endoscope imaging data to generate a measurement area boundary, an operation path is planned in combination with anatomical path information, the tail end position of an instrument is calibrated in real time, and operation integrity is evaluated. The system comprises a positioning module, an analysis module, a correction module and an integration module which are respectively used for realizing the functions of positioning mark setting, image processing and path generation, offset correction and operation evaluation. According to the system, the operation positioning precision and the operation safety are improved, intellectualization and precision of minimally invasive surgery are achieved, and the system is suitable for minimally invasive treatment of digestive system diseases.

The invention relates to the technical field of medical intelligent image recognition data processing, and discloses an image recognition and data analysis fused ultrasonic venipuncture system which comprises a multi-modal image acquisition module, an intelligent analysis processing module, a real-time navigation execution module and a complication early warning module. By arranging a multi-mode fusion sensing end, when vein puncture real-time navigation is carried out, through ultrasonic image, thermodynamic distribution and optical characteristic three-mode data collaborative registration, the consistency of deep blood vessel recognition is guaranteed, meanwhile, a three-dimensional topological model containing blood vessel elastic parameters is dynamically constructed, blood vessel position deviation can be calibrated in real time in the puncture process, and the accuracy of vein puncture is improved. The accuracy of blood vessel positioning is guaranteed, puncture positioning errors of complex cases are further reduced, whether angle or depth deviation occurs in a puncture path or not is judged in real time by arranging a dynamic navigation end, a compensation path can be planned in real time through a blood vessel elastic characteristic matrix, and it is guaranteed that the angle errors are reduced when a needle body enters a blood vessel.

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 medical device-placing system includes an ultrasound probe, a medical-device detector, a console, and an alternative-reality headset. The ultrasound probe is configured to emit ultrasound signals into a patient's limb and receive echoed ultrasound signals from the patient's limb. The medical-device detector is configured for placement about the patient's limb. The console is configured to transform the echoed ultrasound signals to produce ultrasound-image segments corresponding to anatomical structures of the patient's limb, as well as transform magnetic-sensor signals from the medical-device detector into location information for a magnetized medical device within the patient's limb. The alternative-reality headset includes a display screen through which a wearer of the alternative-reality headset can see the patient's limb. The display screen is configured to display over the patient's limb a virtual medical device per the location information for the medical device within objects of virtual anatomy corresponding to the ultrasound-image segments.

The invention relates to the technical field of medical image processing, in particular to an artificial intelligence assisted intraoperative imaging method, which comprises the following steps: S1, preprocessing a multi-modal medical image, segmenting and recognizing an anatomical structure by a deep learning model according to the preprocessed image, measuring anatomical parameters based on a segmentation and recognition result, and generating an operation planning path by artificial intelligence according to the anatomical parameters; s2, collecting a C-shaped arm perspective image stream in real time, dynamically tracking space coordinates of a surgical instrument, comparing the position of the instrument with a surgical planned path, calculating offset, and when the offset is greater than an offset threshold, outputting correction guidance through an AR superposition layer; and S3, monitoring an image quality index in real time, dynamically adjusting exposure parameters through a reinforcement learning model, and when a metal implant is detected, switching a dual-energy-spectrum mode and executing an artifact suppression algorithm. According to the method, preoperative precise planning and intraoperative assistance are realized through artificial intelligence, the problems of poor image quality and high radiation risk are solved through technical optimization, and the method has important clinical application value.

A system for computer assisted navigation during surgery includes a computer platform that operates to register a target surgical area of a patient. In certain cases, a process includes: obtaining a pre-op CT image of a pelvic region of a patient and intra-operatively obtaining a point cloud data about the pelvic region with a navigated instrument, generating a 3D bone model which excludes non-targeted area such as a femur, and then merging the 3D bone model to the point cloud to register the target surgical area.

The invention relates to the field of cardiology department operations through vascular intervention, and discloses an interventional operation navigation system based on multi-modal image fusion, which comprises a preoperative three-dimensional reconstruction and planning module, which is mainly used for generating a three-dimensional model of a heart through preoperative image data, and planning the position and section of an intraoperative ICE ultrasonic probe based on the model, the intraoperative multi-modal fusion navigation module is mainly used for fusing a three-dimensional model generated before an operation with an intraoperative real-time image and providing accurate navigation support for a doctor; and the dynamic feedback optimization module is mainly used for updating a dynamic track in real time and performing safety protection. According to the invention, through the preoperative three-dimensional reconstruction and virtual path planning module, in combination with the improved 3D U-Net network and the high-precision segmentation algorithm, a three-dimensional model containing key anatomical markers is generated, 20 groups of ICE probe alternative paths are planned, seamless connection of preoperative three-dimensional anatomical information and intraoperative real-time images is realized, doctors can quickly call pre-planned paths, and the accuracy of the ICE probe anatomy is improved. Adjusting time during operation is shortened, and operation efficiency is improved.

A system includes a uterine manipulator having a shaft. The uterine manipulator is coupled with the robotic arm. An imaging instrument is operable to provide an image of an exterior of the uterus of the patient. A console includes a display screen and is configured to provide a view from the imaging instrument of the exterior of the uterus of the patient, on the display screen. The console is further configured to provide an indicator on the view from the imaging instrument, on the display screen, the indicator indicating a location of a predefined anatomical structure, the indicator being provided as an overlay on the predefined anatomical structure.

The invention discloses a thyroid intraoperative real-time navigation method and a thyroid intraoperative real-time navigation system based on multi-mode optical fusion. The thyroid intraoperative real-time navigation method comprises the following steps: outputting visible light through an endoscope and coupling light waves of a narrow-band multispectral light source to irradiate an operative field, exciting parathyroid glands to generate near-infrared fluorescence, and receiving reflected visible light, split light, near-infrared fluorescence and laser speckle signals through an endoscope probe. And separating the composite optical signal into four channels, and respectively generating an anatomical structure color image, a blood vessel spectroscopic image, a parathyroid gland near-infrared fluorescence image and a laser speckle image. Performing decorrelation processing on the laser speckle image to generate a blood flow dynamic pseudo-color decorrelation speckle image; an anatomical structure, a blood vessel center line, a parathyroid gland contour and blood flow dynamic feature points are extracted through a multi-modal registration technology, after affine transformation space alignment is conducted, a comprehensive imaging map containing the anatomical structure, blood vessel distribution and parathyroid gland function marking information is generated through a wavelet fusion algorithm, and intraoperative multi-dimensional real-time tissue navigation is achieved.

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.

A system for computer assisted navigation during surgery includes a computer platform that operates to register a target surgical area of a patient. In certain cases, a process includes: obtaining a pre-op CT image of a pelvic region of a patient and intra-operatively obtaining a point cloud data about the pelvic region with a navigated instrument, generating a 3D bone model which excludes non-targeted area such as a femur, and then merging the 3D bone model to the point cloud to register the target surgical area.

The invention provides an oral surgery positioning and navigation method and system and a storage medium, and the method comprises the steps: calibrating an implanted mobile phone to obtain a unit vector of a rotating shaft of a drill bit and a three-dimensional coordinate value of the tip of the drill bit under an optical three-dimensional coordinate system, scanning to obtain a CT three-dimensional model of a patient, and segmenting to obtain a tooth CT model and an alveolar bone CT model; generating a tooth three-dimensional point cloud according to the real-time pattern of the speckle structured light on the teeth of the patient, acquiring a matrix transformation relation between a CT three-dimensional coordinate system and an optical three-dimensional coordinate system, and performing real-time navigation on the implanted mobile phone according to the real-time point position deviation and the real-time angle deviation of the drill bit. According to the technical scheme, the matrix transformation relation between the CT three-dimensional coordinate system and the optical three-dimensional coordinate system is calculated through the tooth CT feature points and the tooth point cloud feature points, and auxiliary navigation is carried out by comparing the target position of the implant with the real-time pose of the tip of the drill bit, the direction vector of the planting path and the unit vector of the rotating shaft of the drill bit. Operation is convenient and positioning precision is high.

The invention discloses a radiofrequency ablation navigation device based on multi-modal image fusion. The device comprises a respiration sensor, an image reconstruction server, an interaction terminal and a processor. The respiration sensor is worn on a target object and used for collecting respiration data of the target object. The image reconstruction server is used for receiving the multi-modal image of the target object and reconstructing the multi-modal image into a three-dimensional model; the three-dimensional model comprises an organ geometric model, nerve distribution and a blood vessel network. And the interaction terminal is connected with the image reconstruction server and is used for marking a starting point and an ending point for the three-dimensional model. The processor is connected with the respiration sensor, the image reconstruction server and the interaction terminal; and the processor generates a predicted path output according to the respiration data and the three-dimensional model marking the starting point and the ending point. The method has the advantages that respiratory movement errors are accurately compensated, the nerve mistaken injury risk is reduced, and the operation safety is improved.

A system for computer assisted navigation during surgery includes a computer platform that operates to register a target surgical area of a patient. In certain cases, a process includes: obtaining a pre-op CT image of a pelvic region of a patient and intra-operatively obtaining a point cloud data about the pelvic region with a navigated instrument, generating a 3D bone model which excludes non-targeted area such as a femur, and then merging the 3D bone model to the point cloud to register the target surgical area.

A medical device system includes a stylet with an optical fiber and a console operatively coupled to the stylet. The optical fiber can include an electrically conductive concentric tube configured to transmit electrical signals and a plurality of core fibers within the concentric tube. Each of the plurality of core fibers can include a plurality of sensors, and each the plurality of sensors can be configured to reflect a light signal of a different spectral width based on received incident light and change a characteristic of the reflected light signal based on a condition experienced by the stylet. The console includes one or more processors and a non-transitory computer-readable medium with logic that causes operations including providing an incident light signal to the optical fiber and receiving reflected light signals of different spectral widths of the received incident light by the plurality of sensors.

A system for computer assisted navigation during surgery includes a computer platform that operates to register a target surgical area of a patient. In certain cases, a process includes: obtaining a pre-op CT image of a pelvic region of a patient and intra-operatively obtaining a point cloud data about the pelvic region with a navigated instrument, generating a 3D bone model which excludes non-targeted area such as a femur, and then merging the 3D bone model to the point cloud to register the target surgical area.

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.

A system for computer assisted navigation during surgery includes computer platform that operates to identify a set of locations at which a navigated instrument is palpitating a landmark defined on a surface of a pelvic bone of a patient. Further operations determine a center of rotation for a pelvic acetabulum of the patient based on the identified set of locations at which the navigated instrument is palpitating the landmark. Operations determine an orientation of an anterior pelvic plane (APP) and / or a functional pelvic plane (FPP) of the patient based on the identified set of locations at which the navigated instrument is palpitating the landmark and based on the determined center of rotation for the pelvic acetabulum.

The invention discloses a real-time image registration and path planning system in bronchoscope surgical navigation, relates to the technical field of image registration, and is used for solving the problems that in a thoracic and abdominal minimally invasive interventional operation, organ movement and deformation caused by breathing of a patient can cause obvious influence on the registration precision of a navigation system, and the navigation precision is poor. Space registration of preoperative images and an anatomical structure of a patient in an operation often has errors due to mismatching of breathing phase changes; multi-attitude data are fused, the respiration interference degree is comprehensively evaluated through double indexes, the problem that a traditional static deformation field cannot be matched with dynamic respiration is solved through respiratory cycle driving deformation prediction, displacement errors are corrected through tidal volume observation values, and B spline control point weights are reversely optimized through registration residual errors. A deformation field can adapt to breathing amplitude and frequency differences of different patients, online distillation learning is carried out by taking a registration error output by a filter as a teacher signal, and local residual deformation and chronic changes which are difficult to describe by a traditional global model are accurately captured.

The invention relates to a transcranial magnetic stimulation high-precision positioning method, device and equipment based on optical navigation. Comprising the steps of selecting non-coplanar reference points based on a three-dimensional brain model of a patient, obtaining image coordinates and physical coordinates of all the reference points, carrying out corresponding point matching through the image coordinates and the physical coordinates, calculating and generating an optimal rigid transformation matrix, carrying out target registration error calculation, and realizing registration of an image coordinate system and a physical coordinate system. And according to the registered brain tissue conductivity parameters, calculating electric field space distribution induced by the transcranial magnetic stimulation coil in a target brain area, dynamically correcting stimulation target point coordinates of the virtual coil, and according to a completed coordinate system registration result, dynamically displaying the position and direction of the virtual coil corresponding to the transcranial magnetic stimulation coil on the three-dimensional brain model. And synchronously updating the brain slice view based on the corrected target point coordinates, and highlighting the actually stimulated brain region boundary. According to the method, adaptive neural navigation is driven through electric field remapping, and compensation target point correction is achieved.

A surgical planning system for use in surgical procedures to repair an anatomy of interest includes a preplanning system to generate a virtual surgical plan and a mixed reality system that includes a visualization device wearable by a user to view the virtual surgical plan projected in a real environment. The virtual surgical plan includes a 3D virtual model of the anatomy of interest. When wearing the visualization device, the user can align the 3D virtual model with the real anatomy of interest, thereby achieving a registration between details of the virtual surgical plan and the real anatomy of interest. The registration enables a surgeon to implement the virtual surgical plan on the real anatomy of interest without the use of tracking markers.

The invention discloses a tumor needle biopsy robot and an image real-time navigation system thereof, and relates to the technical field of medical instruments, and the method comprises the following steps: extracting historical data, and constructing a segmentation model according to the historical data; acquiring a plurality of medical images of the patient, and constructing a three-dimensional model of the patient according to the plurality of medical images; constructing a visual puncture path according to the three-dimensional model; the method comprises the following steps: acquiring optical tracking data, acquiring a needle point position according to the optical tracking data, correcting a puncture path according to the needle point position, acquiring a path point sequence according to a puncture starting point, a target point, a cost function and a graph structure when an optimal path is planned, and continuously adjusting the path through a path optimization algorithm. The path is far away from key tissues such as important blood vessels and nerves, the path is prevented from excessively approaching or directly penetrating through a dangerous area, so that the rationality of optimal path planning is ensured, the precision controllability of the puncture process is enhanced, the puncture path is corrected in real time through the position of the needle tip, and the possibility of the scheme is further improved.

The invention relates to the technical field of tumor interventional operations, and discloses a visual navigation method based on a tumor interventional operation robot. The method comprises the following steps: acquiring real-time medical image data of a tumor area containing multi-modal imaging information so as to comprehensively present anatomical details; and performing three-dimensional reconstruction on the image data to generate a tumor area three-dimensional anatomical structure model capable of visually displaying a space structure. Key anatomical feature points are extracted based on the model, space coordinates are calculated, a surgical robot intervention path is planned according to the coordinates, and an initial navigation track is generated; and continuously collecting real-time pose data of the robot in an operation, dynamically matching the real-time pose data with the initial navigation trajectory, adjusting motion parameters according to a matching result, and generating a corrected navigation instruction. The method can reflect the intraoperative anatomy condition in real time, dynamically optimize the path, solve the problems that traditional navigation depends on preoperative static images and lacks real-time adjustment, reduce operative complications and improve the treatment effect of patients.

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 discloses an augmented reality intelligent navigation and operation quantitative evaluation method and system in an operating room, and the method comprises the steps: collecting multispectral image data and depth point cloud data of an operation region in the operating room in real time, and generating a multidimensional perception data set; performing feature extraction and spatial registration on the multi-dimensional perception data set, and decomposing the dynamic three-dimensional augmented reality model into an anatomical structure feature layer and an instrument interaction feature layer; performing dynamic matching and real-time rendering on the anatomical structure feature layer and the instrument interaction feature layer based on a digital twinning technology to generate augmented reality navigation information and an operation guidance scheme; and performing multi-dimensional quantitative analysis on the surgical operation process according to the augmented reality navigation information and the operation guidance scheme, and outputting a quantitative evaluation result. By utilizing the embodiment of the invention, augmented reality navigation guidance which is synchronous with a real operation scene in real time can be provided, meanwhile, accurate quantitative evaluation is carried out on the operation operation, and the accuracy, the safety and the trainability of the operation are improved.

The invention relates to the technical field of medical image processing and surgical navigation, in particular to a lung cancer intraoperative navigation and positioning method based on three-dimensional reconstruction and a deep neural network, which comprises the following steps of: based on multi-source optical and acoustic fusion, performing fractal wavelet multilayer decomposition on preliminarily purified data acquired in an operation, and performing multi-source optical and acoustic fusion; multi-modal characteristics of optical and acoustic channels and fractal measurement are obtained; using quantum heuristic multi-agent search to find a potential focus or a key area with serious deformation, and performing interpolation completion on a defect or noise part in a nerve radiation field; performing elastic deformation registration on the interpolation result and the lung three-dimensional model, and calculating a nonlinear deformation field and intra-operative tumor prediction coordinate data; and superposing the deformed lung model to an augmented reality environment through external tracking information to display the focus position. And when lung collapse or the traction amplitude exceeds the limit is monitored, searching and registration are repeated for real-time updating, and accurate navigation positioning under dynamic deformation of the lung is realized.