87 results about "Computer-assisted surgery" patented technology

A system for tracking an object in computer-assisted surgery, may include a processing unit; and a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for: tracking the object optically using a tracker having a trackable portion with a joint enabling movement, the trackable portion being viewed by a tracker device; receiving signalling indicative of a change of position and / or orientation of the trackable portion relative to the object, by movement at the joint; and tracking the object optically using the tracker having the trackable portion viewed by the tracker device using the change of position and / or orientation.

A surgical planning system is disclosed which provides computer assisted navigation for spinal surgery. The surgical planning system includes a computer platform operative to obtain images of at least two different postures of a patient's spine, and to measure displacement of anatomical features of the patient's spine between the images of the at least two different postures of the patient's spine. The computer platform is further operative to estimate stiffness of the patient's spine based on the measurements of displacement, and to generate a patient-specific kinematic model of the patient's spine based on the estimated stiffness, and provides a surgical plan based on the patient-specific kinematic model of the patient's spine.

An exemplary system includes a memory storing instructions and a processor communicatively coupled to the memory. The processor may be configured to execute the instructions to: detect an intent of a user of a computer-assisted surgical system to use a robotic instrument attached to the computer-assisted surgical system to interact with a target object while the target object is located in a surgical space; determine a pose of the target object in the surgical space; and perform, based on the detected intent of the user to interact with the target object and the determined pose of the target object in the surgical space, an operation with respect to the target object.

A method for optimizing a knee arthroplasty surgical procedure includes receiving pre-operative data comprising (i) anatomical measurements of the patient, (ii) soft tissue measurements of the patient's anatomy, and (iii) implant parameters identifying an implant to be used in the knee arthroplasty surgical procedure. An equation set is selected from a plurality of pre-generated equation sets based on the pre-operative data. During the knee arthroplasty surgical procedure, patient-specific kinetic and kinematic response values are generated and displayed using an optimization process. The optimization process includes collecting intraoperative data from one or more surgical tools of a computer-assisted surgical system, and using the intraoperative data and the pre-operative data to solve the equation set, thereby yielding the patient-specific kinetic and kinematic response values. A visualization is then provided of the patient-specific kinetic and kinematic response values on the displays.

A reference jig comprises a base adapted to be secured to a distal end of a bone. An adjustment mechanism has a bracket, one or more rotational joints operatively mounting the bracket to the base, whereby the bracket is rotatable in two or more rotational degrees of freedom relative to the base, and one or more translational joints. A landmark alignment unit is operatively connectable to the bracket by the at least one translational joint, the landmark alignment unit having a bone alignment component configured to be aligned with at least one bone landmark.

The invention relates to the technical field of computer-aided surgery, and discloses an operation navigation method, device and equipment based on spatial positioning and imaging and a medium, and the method comprises the following steps: establishing registration mapping of a spatial positioning coordinate system and an imaging coordinate system, and obtaining three-dimensional imaging data of a target area and the position and posture of a target instrument; the position of the target instrument is converted to an imaging coordinate system to generate target instrument position data, the data and the three-dimensional imaging data are fused to form three-dimensional navigation data, an entry point and a target point are selected through an interface to generate an operation path, a three-dimensional navigation view is generated to display the imaging data, the operation path and a target instrument position mark in an overlapping mode, and the operation path is displayed. Continuously acquiring the position data of the target instrument, and generating and outputting prompt information according to the position relationship between the position data and the operation path. By fusing the position data of the target instrument and the three-dimensional imaging data, real-time registration of spatial positioning and imaging is realized, an operation path and prompt information are dynamically generated, and the precision and real-time performance of navigation guidance are improved.

A computer-assisted surgical system and its control method and medium, the system comprising: a surgical instrument including a clamping assembly configured to clamp a surgical target and an energy cutting element for cutting the surgical target; an actuator configured to drive the clamping assembly to open and close; and a controller coupled to the actuator; the controller being configured to: control the actuator to reach a first preset stroke to drive the clamping assembly to close to clamp the surgical target; actuate the energy cutting element of the surgical instrument to cut the surgical target; monitor force parameters characterizing the force acting on the actuator; and generate a control signal related to the completion of cutting based on the force parameters reaching a first preset value, wherein the first preset value corresponds to the force acting on the actuator when the actuator drives the clamping assembly to close when the surgical target is not clamped, and the first preset stroke is less than or equal to the second preset stroke.

Methods and systems for performing computer-assisted surgery, including robot-assisted image-guided surgery. Embodiments include marker devices for an image guided surgery system, marker systems and arrays for tracking a robotic arm using a motion tracking system, and image guided surgery methods and systems using optical sensors.

The invention relates to the technical field of medical image processing and computer-aided surgical navigation, in particular to an image fusion and target positioning method, system and device and a medium, and the method comprises the following steps: S1, carrying out preoperative three-dimensional model construction according to image data of a patient; acquiring a video frame image acquired by the endoscope in real time during the operation, wherein the video frame image comprises an instrument image of the main operation hole; according to the calibrated parameters of the endoscope, the preoperative three-dimensional model is roughly registered into the video frame image, and initial registration is completed; s2, performing instrument segmentation and skeleton extraction according to the video frame image; s3, fitting the spatial position of the operation hole of the instrument; s4, performing position iterative optimization of the main operation hole, and finally positioning; s5, calculating and analyzing the three-dimensional coordinate and the needle inserting direction of the main operation hole; and S6, completing augmented reality rendering output. According to the invention, the problem of possible misalignment of an operation caused by space errors due to inconsistency of a camera needle inlet hole and an instrument needle inlet hole is solved.

This invention discloses a rapid implantation system for a multi-module integrated surgical kit for daytime breast augmentation, belonging to the field of medical device control and computer-aided surgery technology. The system receives confirmation commands from a patient population identifier via a graphical user interface. Based on this identifier, it matches the corresponding target-specific surgical kit from a pre-set specific surgical kit library. Then, based on the target-specific surgical kit and the patient population identifier, it matches an adaptive implantation strategy from an implantation strategy library. The system further generates a module call sequence containing multiple sub-tasks based on the adaptive implantation strategy. Each sub-task is associated with a functional module identifier and execution parameters. Control commands are sent to the corresponding target device in sequence to drive the device to execute the sub-tasks. This invention achieves rapid and precise implantation control of a multi-module integrated surgical kit through population-characteristic-driven specific surgical kit selection and adaptive implantation strategy configuration, improving the standardization and operational efficiency of daytime breast augmentation surgery.

A computer-assisted surgical system is configured to activate a first mode of operation in which movement of a user control mechanism is translated to movement of a surgical instrument coupled to a manipulator arm; receive, during the first mode of operation, a first user input by way of a user input mechanism associated with the user control mechanism; activate, based on the first user input, a second mode of operation in which the user control mechanism is repositionable without causing the surgical instrument to move; receive, during the first mode of operation, a second user input by way of the user input mechanism, wherein the second user input is different from the first user input; and activate, based on the second user input, a function associated with a third mode of operation different from the first and second modes of operation.

A computer-assisted surgery system allows a user to control movements of a surgical tool by providing, to a control unit, inputs in the form of measured displacements via a movable part of a handle while treating a region of interest with the tool. The control unit is configured to enable motion of the tool with respect to an anatomical structure only if a user moves the movable part, receive the measured displacement of the movable part, receive from a localization unit the relative position and orientation of the tool relative to the anatomical structure, based on the measured displacement, on the surgical plan and on the relative position and orientation of the tool relative to the anatomical structure, compute an instruction to send to a motorized joint to move a robotic arm to operate the tool according to an optimal trajectory, and send the computed instruction to the motorized joint.

The invention relates to a camera control system and method for a computer-assisted surgical system. A camera control system may access surgical data for a surgical procedure, including performance of one or more operations performed by a computer-assisted surgical system. The camera control system may identify an event associated with the surgical procedure based on the surgical data, and may determine a location associated with the event based on the surgical data. In response to the determination of the location of the event, the camera control system may guide an automatic adjustment of the field of view of the camera to capture a particular field of view of the location associated with the event.

A surgical system for computer assisted navigation during surgery, includes at least one processor that obtains a 3D radiological representation of a targeted anatomical structure of a patient and a set of fiducials of a registration fixture. The operations attempt to register locations of the set of fiducials in the 3D radiological representation to a 3D imaging space tracked by a camera tracking system. Based on determining one of the fiducials of the set has a location that was not successfully registered to the 3D imaging space, the operations display at least one view of the 3D radiological representation with a graphical overlay indicating the fiducial has not been successfully registered to the 3D imaging space, receive user-supplied location information identifying where the fiducial is located in the 3D radiological representation, and register the location of the fiducial to the 3D imaging space based on the user-supplied location information.

The invention belongs to the technical field of medical image processing and computer-aided surgical planning, and particularly relates to a scoliosis three-dimensional reconstruction system based on multi-modal image fusion and a surgical planning system.The scoliosis three-dimensional reconstruction system comprises a multi-modal data acquisition module, a space-time constraint registration module and a dynamic three-dimensional reconstruction module; the operation planning system comprises a model import module, an operation planning module, an effect simulation module and a scheme output module, space-time collaboration of static data and dynamic data is achieved, and the problem that in the prior art, static anatomical data cannot be associated with dynamic mechanical changes is effectively solved; a scoliosis dynamic three-dimensional model can not only retain dissection details of CT / MRI, but also integrate force line changes of load-bearing position X-rays and dynamic deformation of optical tracking, and scientific support is provided for surgical planning.

Systems and methods for polyhedral fiducial marker configurations are disclosed that improve mechanisms for placement of polyhedral fiducial marker configurations and increase reliability during surgery. The disclosed fiducial markers are configured with a polyhedral shape and increased marker surface area, and the improved marker design improves placement and system tracking, thereby improving procedural efficiency and surgical outcomes. The disclosed polyhedral fiducial markers can have geometries with an increased number of surfaces compared to existing markers, improving placement mechanisms and tracking by camera systems. Additionally, improved placement tools for polyhedral fiducial markers can be utilized, which can be based on a configuration in which the fiducial marker is held at the distal end of the placement tool. These classifications of placement tools include magnet-based embodiments, clip-based embodiments (e.g., O-ring and spring clip variations), and friction-based embodiments.

The subject matter of this invention is a system and method for identifying and facilitating an intended interaction with a target object in a surgical space. An example system includes a memory storing instructions and a processor communicatively coupled to the memory. The processor can be configured to execute the instructions to: detect an intention of a user of a computer-assisted surgical system to use a robotic instrument attached to the computer-assisted surgical system to interact with a target object when the target object is located in a surgical space; determine a pose of the target object in the surgical space; and perform an operation with respect to the target object based on the detected intention of the user to interact with the target object and the determined pose of the target object in the surgical space.

An exemplary system includes a memory storing instructions and a processor communicatively coupled to the memory. The processor may be configured to execute the instructions to: detect an intent of a user of a computer-assisted surgical system to use a robotic instrument attached to the computer-assisted surgical system to interact with a target object while the target object is located in a surgical space; determine a pose of the target object in the surgical space; and perform, based on the detected intent of the user to interact with the target object and the determined pose of the target object in the surgical space, an operation with respect to the target object.

Systems, methods, and devices are disclosed comprising a computer-assisted surgical system for an implant that is configured to be affixed by a plurality of peripheral screws to a bone of a patient. The computer-assisted surgical system comprising an instrument and a navigation array attached to the instrument, the instrument for cutting the bone, a tracking system to detect and track elements of the navigation array, a display, and a controller having at least one processor configured to receive an image of the bone for receiving the implant, receive instrument positional data from the tracking system to determine a trajectory of the instrument, generate, on the display, a representation of a distal end of the instrument overlaid over the image, generate, on the display, a representation of a scale along the trajectory of the instrument overlaid over the image, wherein the scale includes graduations related to a length of a peripheral screw along the trajectory, and wherein the scale graduations are independent of the position of the distal end of the instrument, and update at least one of the representations as the instrument moves.

An exemplary fluorescence imaging control system may direct, during a surgical procedure performed with a computer-assisted surgical system, an illumination source included in the computer-assisted surgical system to illuminate a scene associated with the surgical procedure with fluorescence excitation illumination configured to excite a fluorophore present at the scene and direct an imaging device included in the computer-assisted surgical system to detect, during the surgical procedure, fluorescence emitted by the fluorophore in response to excitation of the fluorophore by the fluorescence excitation illumination. The fluorescence imaging control system may determine, based on the detected fluorescence, a lifetime of the fluorescence and determine, based on the determined lifetime of the fluorescence, an identity of the fluorophore. The fluorescence imaging control system may configure, during the surgical procedure and based on the determined identity of the fluorophore, operation of the computer-assisted surgical system.

The invention relates to the technical field of medical data processing and computer-aided surgical planning, in particular to a medical data mining and analyzing system based on cardiac ultrasound image streams. The system comprises a data fusion module, a map construction module, a risk prediction module and a decision module. The system obtains a left auricle ultrasonic sequence and mechanical parameters, and constructs a space-time aligned dynamic biomechanical characteristic spectrum; the core of the method is to simulate the dynamic adherence performance of an occluder based on a map, calculate stability, deformation and residual shunt risk indexes, and output risk grades through a model; according to the method, the problem of spatio-temporal dislocation of morphological and mechanical data is effectively solved, digital twinning with authenticity and mechanical accuracy is realized, and accurate decision support is provided for left atrial appendage occlusion.

A system and method for detecting movement of a first navigation array relative to a bone during computer-assisted surgery, including: monitoring a location of a landmark on the bone using the first navigation array, wherein the landmark is at a first end of the bone and the first navigation array is adjacent to a second end of the bone; determining that the location of the landmark has moved a distance greater than a threshold value; and indicating suspicious activity when the distance is greater than the threshold value.

A surgical system including a patient tracker and a tracking system. The patient tracker is adapted for attachment to a patient, and includes a hybrid marker having a radiological marker contained within an optical marker. The tracking system tracks the hybrid marker. A computing device obtains a three-dimensional image of a patient's anatomy and the attached patient tracker; identifies a three-dimensional portion of the hybrid marker within a scan volume; determines a location of the hybrid marker within the scan volume based on the identified three-dimensional portion; tracks the location of the hybrid marker in three-dimensional space using the tracking system while the patient tracker remains fixed to the patient; and registers the three-dimensional image in three-dimensional space based on a known geometric relationship between the location of the hybrid marker within the scan volume and the location of the hybrid marker in three-dimensional space.

A system for tracking an instrument in computer-assisted surgery, comprising: a processing unit; and a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for: obtaining intraoperatively at least one image of an instrument having a tracker thereon, the tracker having optical elements thereon arranged in a given pattern; calibrating the instrument by image processing the at least one image to record the given pattern relative to the instrument; and tracking the instrument optically after the calibrating by obtaining images of the given pattern of optical elements.

A system is configured to direct an imaging device included in a computer-assisted surgical system to detect, during a surgical procedure performed with the computer-assisted surgical system, fluorescence emitted by a population of fluorophores present at a scene. The imaging device includes a detector having a plurality of distinct regions each configured to detect the fluorescence emitted by the population of fluorophores. Directing the imaging device to detect the fluorescence includes directing the plurality of distinct regions to sample the fluorescence in succession over a time period that is less than a lifetime of the fluorescence to generate a plurality of fluorescence image signals. Each region included in the plurality of distinct regions generates a distinct fluorescence image signal included in the plurality of fluorescence image signals. The lifetime of the fluorescence is determined based on the plurality of fluorescence image signals.

Systems, methods, and devices are disclosed comprising a computer-assisted surgical system for an implant that is configured to be affixed by a plurality of peripheral screws to a bone of a patient. The computer-assisted surgical system comprising an instrument and a navigation array attached to the instrument, the instrument for cutting the bone, a tracking system to detect and track elements of the navigation array, a display, and a controller having at least one processor configured to receive an image of the bone for receiving the implant, receive instrument positional data from the tracking system to determine a trajectory of the instrument, generate, on the display, a representation of a distal end of the instrument overlaid over the image, generate, on the display, a representation of a scale along the trajectory of the instrument overlaid over the image, wherein the scale includes graduations related to a length of a peripheral screw along the trajectory, and wherein the scale graduations are independent of the position of the distal end of the instrument, and update at least one of the representations as the instrument moves.

A computer-assisted surgery system allows a user to control movements of a surgical tool by providing, to a control unit, inputs in the form of measured displacements via a movable part of a handle while treating a region of interest with the tool. The control unit is configured to enable motion of the tool with respect to an anatomical structure only if a user moves the movable part, receive the measured displacement of the movable part, receive from a localization unit the relative position and orientation of the tool relative to the anatomical structure, based on the measured displacement, on the surgical plan and on the relative position and orientation of the tool relative to the anatomical structure, compute an instruction to send to a motorized joint to move a robotic arm to operate the tool according to an optimal trajectory, and send the computed instruction to the motorized joint.

A beacon-based metrics system tracks, based on medical session data logged by a computer-assisted surgical system, events associated with the computer-assisted surgical system; determines that a user device that is not communicatively paired with the computer-assisted surgical system detects a beacon associated with the computer-assisted surgical system; and generates medical facility metrics data representative of the tracked events. Generating the medical facility metrics data includes identifying a set of tracked events that occur during a time period in which the user device detects the beacon and associating information associated with the user device with the set of tracked events.

The application relates to the technical field of medical devices and computer-aided surgical navigation, and discloses a virtual positioning CT-guided lung biopsy method, which utilizes real-time acquired body surface point cloud data to drive a biomechanics model, deduces a displacement field of lung internal grid nodes, and generates a virtual lung model which changes with respiratory motion. Through a fiber grating sensing array embedded in a puncture needle, the three-dimensional shape of the needle body is solved in real time, and an axial force strain is separated. The system monitors the first derivative characteristics of the strain, and when a mechanical event representing penetration of an anatomical boundary is identified, a spatial deviation vector of the physical coordinates of the needle tip and the virtual predicted coordinates is calculated. A local space calibration field is constructed by using a radial basis function, the virtual lung model is non-rigidly corrected based on the deviation vector, and a dynamic navigation image is generated. The application improves the positioning accuracy of lung puncture navigation by combining body surface deduction and puncture mechanical feedback correction model prediction error without increasing the radiation dose.