54 results about "Computer-assisted surgery" patented technology

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.

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.

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 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.

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.

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 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.

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.

Methods and systems for identifying and determining the size and orientation of a reamed portion of a patient's bone are disclosed. A tracking array and / or a point probe can be inserted into an adapter device. The adapter device includes a plurality of openings with various connection means therein such that when a tracking array is inserted into the adapter, a secure and stable connection is created. A reamer, a handle, or similar tool can then be inserted into the opposite side of the adapter during which a secure and stable connection is established between the adapter and the tool. Thus, a more accurate representation of a patient's anatomy can be obtained through the use of a computer-assisted surgical system.

The application is suitable for the field of computer-aided surgery technology and medical image processing technology, and provides an image registration method, device and equipment of bone structure, which comprises the following steps: acquiring a first pose of a first bone structure in a first coordinate system corresponding to a first image; constructing a joint kinematics model based on the positional relationship between the first bone structure and a second bone structure in a second image; generating a candidate pose of the second bone structure in the first coordinate system according to the joint kinematics model; establishing an interosseous collision and contact constraint term based on the candidate pose; and constructing an image response index based on a candidate bone surface of the second bone structure under the candidate pose; establishing an objective function according to the image response index and the interosseous collision and contact constraint term; and obtaining a registration result of the first bone structure and the second bone structure in the first image by solving the objective function. By using the above method, the degrees of freedom of the bone structure can be reduced, and the consistency and realizability of the multi-bone structure registration process can be improved.

Methods and systems for identifying and determining the size and orientation of a reamed portion of a patient's bone are disclosed. A tracking array and / or point probe may be inserted into an adapter device. The adapter device comprising a plurality of openings, having various connection means therein, such that when the tracking array is inserted into the adapter, a secure and robust connection is created. A reamer, stem, or similar tool may then be inserted into the opposing side of the adapter, during which, a secure and robust connection is created between the adapter and the tool. Thus, through the use of Computer Assisted Surgery Systems, a more accurate representation of the patient's anatomy can be obtained.

A camera tracking system for computer assisted navigation during surgery. Operations identify stray markers in a frame of tracking data from tracking cameras, and identify stray markers of a reference array. Stray markers of the reference array are designated assigned status and, otherwise, designated unknown status. The operations designate other of the assigned status stray markers and any of the unknown status stray markers along a same epipolar line of the tracking cameras as one of the assigned status stray markers as being epipolar ambiguous status. For each one of the epipolar ambiguous status stray markers, the operations estimate 3D locations where phantom markers can appear in the frame based on epipolar ambiguity of the tracking cameras when determining location of the one of the epipolar ambiguous status stray markers. The operations designate the unknown status stray markers within a threshold distance of the estimated 3D locations of phantom markers as being phantom status.

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 trackerthereon, 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.

Techniques are described for improving computer-assisted surgical (CAS) systems, particularly, to recognize surgical phases in a video of a surgical procedure. A CAS system includes cameras that provide video stream of a surgical procedure. According to one or more aspects the surgical phases are automatically detected in the video stream using a machine learning model. Particularly, the machine learning model includes a boundary aware cascade stage network to perform surgical phase recognition.

The purpose is to register a three-dimensional bone model. Various embodiments relate to methods and associated systems for identifying surface features of a rigid structure visible in a video stream and using these surface features to register a three-dimensional model for use in computer-aided navigation of surgical procedures. In some embodiments, the surface features are determined using touchless technology based on known or calculated camera movements. In other embodiments, the surface features are collected using a touch probe that is not directly tracked itself. In further embodiments, the three-dimensional model may be registered by the use of a patient-specific instrument that is coupled to the rigid structure in only one orientation.

A method for utilizing robotic surgical data for providing surgical training is disclosed. The method includes collecting, by a computing device, data related to a surgical procedure from one or more components of a computer-assisted surgical system. At least one of the one or more components is a robotically controlled surgical device. A graphical depiction representative of the surgical procedure is generated based on the collected data from the one or more components of the computer-assisted surgical system and one or more images providing a visual depiction of a patient's anatomy. A graphical user interface is output to a display device. The graphical user interface includes the graphical depiction of the surgical procedure and the collected data from the one or more components of the computer-assisted surgical system, to provide surgical training.

The invention discloses a prostate dilation catheter control method and system based on integrated guidance, and relates to the technical field of medical instruments and computer-assisted surgeries. The problem that an integrated system capable of deeply integrating preoperative precise planning, intra-operative multi-mode real-time navigation, robot auxiliary driving of surgical instruments and quantitative force feedback control does not exist is solved, and the problems that precision, safety and standardization are insufficient in the prostate dilation surgery are solved. According to the key points of the technical scheme, the method comprises the following steps: S1, a pre-operation planning step: based on a pre-operation three-dimensional medical image of a patient, reconstructing a prostate and urethra three-dimensional model, and planning an advancing path Pathplan of a dilation catheter and a target dilation area in the model; the effect is that the system can guide a doctor to finish precise dilation operation on a narrow part. According to the high-precision and quantifiable operation mode, the obstruction problem is solved to the maximum extent, the consistency and repeatability of the operation curative effect are improved, and therefore the more reliable and satisfactory treatment effect is brought to a patient.

An exemplary system may access head presence data and eye tracking data. The head presence data indicates a presence or an absence of a head of a user within a vicinity of a viewer console. The eye tracking data indicates whether an eye of a user is gazing at a display device. If the head presence data indicates that the head of the user is present and the eye tracking data indicates that the eye of the user is gazing at the display device, the system directs the user control system to operate in a first operating mode. If the head presence data indicates that the head of the user is present and the eye tracking data indicates that the eye of the user is not gazing at the display device, the system directs the user control system to operate in a second operating mode different from the first operating mode.