103 results about "Robotic assisted surgery" patented technology

A system for robot-assisted surgery includes a surgical robot having a robotic arm, an end effector coupled to the robotic arm, wherein the end effector is adapted to receive, translate, and orient a navigated surgical instrument; a camera tracking system adapted to intra-operatively track a pose of the navigated surgical instrument relative to a defined coordinate system; and a computer platform including a processor and a memory. In embodiments, the computer platform operative to display to a user an image of a target location on the patient and the pose of the navigated surgical instrument; and selectively control translation and orientation of the navigated surgical instrument based on a defined operational mode, to perform a surgical process under user control that comprises one or more of: reaming an acetabulum of the patient to a planned center of an acetabular prosthesis, or positioning the acetabular prosthesis in the reamed acetabulum.

Disclosed herein is a mobile interface device to control a robotically-assisted surgical system. The mobile interface device provides a surgeon with a direct view of the surgical robotic system and allows a surgeon to easily and intuitively select, control, or manipulate various target components of the surgical robotic system. The mobile interface device may capture a live image of the surgical robotic system to automatically identify a robotic arm that appears in the center of the captured live image as the target component selected by the surgeon. Based on the current pose or position of the target component, the mobile interface device may generate a list of target poses and control options. The surgeon may select a control option to select a target pose and to manipulate the target component to command a robotically-assisted movement of the selected robotic arm from the current pose to the target pose.

The invention discloses a robot-assisted operation error detection method based on cooperative agent reasoning. The method comprises the following steps: constructing a multi-classification operation error system and a clinical informed knowledge base; based on a multi-classification operation error system and a knowledge base, a chain type reasoning prompt base is constructed according to different professional levels and analysis perspectives; for an input operation video clip, by calculating a composite risk score of a technical complexity score and a clinical influence score, allocating error instances of different risk scores to corresponding professional level reasoning paths; and deploying a time analysis agent, a space analysis agent and a process analysis agent for each professional level reasoning path, calling a corresponding chain reasoning prompt by each agent to analyze the operation video clip, and outputting a final error detection result based on an optimization threshold value by weighting and fusing analysis results of each agent. According to the invention, accurate detection of various surgical errors can be realized, and detection efficiency and clinical suitability are considered at the same time.

Devices, systems, and methods for detecting unexpected movement of a surgical instrument during a robot-assisted surgical procedure are provided. The surgical robot system may be configured to measure forces and torques experienced by the surgical instrument during the surgical procedure and determine if the forces and torques are within an acceptable range. The robot system is further configured to notify the user of the presence of the unexpected movement.

Disclosed systems, apparatuses, and methods enable remotely controlling robotic-assisted medical systems, such as robotic-assisted surgery systems. Disclosed approaches facilitate deployment and improve the safety of robotic-assisted procedures.

The invention relates to the field of medical instruments, and provides a cannula pose recognition method and system based on binocular vision, and the method comprises the steps: firstly, building a binocular camera system with a shooting range covering eyeballs, collecting a group of binocular images, and respectively recognizing cannulas and cannula holes in the two images; then, a disparity map is generated based on the casing pipe and the casing pipe hole in the two images, the disparity map is converted into a depth map in combination with the internal reference of the binocular camera system, and the boundary point cloud of the casing pipe hole is obtained; and finally, determining a fitting plane of the casing position and the casing hole according to the boundary point cloud, and taking a normal vector as a casing posture. According to the method, the operation complexity of aligning the instrument to the cannula in the robot-assisted surgery can be reduced, additional arrangement of a marker is not needed, the precision and speed of cannula pose recognition are effectively improved, eyeball movement is directly recognized through cannula pose changes, the compensation effect of eyeball movement is enhanced, and the safety of the robot-assisted surgery is improved.

The embodiment of the invention provides a method and equipment for dynamically adjusting a motion control mode based on an intraoperative visual field environment, a medium and a program product, and relates to the field of intelligent medical treatment. The method comprises the following steps: acquiring an intraoperative view image and a preset basic force threshold value according to the tissue type of a to-be-operated site; calculating an intraoperative tissue real-time deformation rate based on the intraoperative view image, and calculating a real-time force safety threshold according to a preset basic force threshold and the tissue real-time deformation rate; receiving real-time contact force of the instrument and the tissue, comparing the real-time contact force with a real-time force safety threshold value, and if the real-time contact force is smaller than or equal to the real-time force safety threshold value, outputting an instruction of damping force in direct proportion to the real-time contact force; if the real-time contact force is larger than the real-time force safety threshold value, an emergency braking program instruction is output. According to the method, factors, such as tissue deformation and illumination change, which cause instability of the surgical field of view in the surgical environment are introduced, so that the environmental adaptability and dynamic adjustment of the field of view mechanism in the robot-assisted surgical operation process are improved.

Devices, systems, and methods for a robot-assisted surgery. A surgical robotic system with integrated navigation and multiple surgical arms may assist a user with one or more surgical procedures. In addition to the multiple surgical arms, the robotic system may also have peripheral arms to position a navigation camera and surgeon displays. The robotic system is collaborative to allow for easy integration into procedural workflows, for example, to install pedicle screws, interbody implants, or other surgical devices.

The invention discloses a method for registering a three-dimensional medical image and a robot system, which is a measure for treating metal interference in a targeted manner and ensures that the position of a small ball can be accurately identified and registered even if non-target metal interference exists. The recognition precision of the registration ball is improved, the reliability and accuracy of the registration process are guaranteed, a robot system can complete coordinate system registration more rapidly and accurately before an operation, the method is crucial to a robot-assisted operation needing high-precision navigation, the working efficiency of the operation preparation stage is improved, and the operation cost is reduced. And meanwhile, the safety and the success rate of the operation can be improved.

Devices, systems, and methods for a robot-assisted surgery. A surgical robotic system with integrated navigation and multiple surgical arms may assist a user with one or more surgical procedures. In addition to the multiple surgical arms, the robotic system may also have peripheral arms to position a navigation camera and surgeon displays. The robotic system is collaborative to allow for easy integration into procedural workflows, for example, to install pedicle screws, interbody implants, or other surgical devices.

Disclosed systems, apparatuses, and methods enable remotely controlling robotic-assisted medical systems, such as robotic-assisted surgery systems. Such disclosed approaches provide a scalable, flexible, and efficient network for connecting physician consoles and robotic-assisted medical systems. The network can support advance or on-demand resource reservations for robotic-assisted medical procedures. Disclosed approaches improve efficiency, availability, and safety of remotely-controlled robotic-assisted medical procedures.

Disclosed systems, apparatuses, and methods enable remotely controlling robotic-assisted medical systems, such as robotic-assisted surgery systems, for performing remote robotic-assisted medical procedures. Disclosed approaches provide a secure, efficient, and dynamically-created virtual network for connecting physician consoles and robotic-assisted medical systems. Disclosed approaches improve efficiency, security, scalability, and reliability of remote robotic-assisted medical procedures.

An reaming system can be connectable to a robotic surgical system including an end effector of a robotic arm. The reaming system can include a reaming guide and a reamer. The reaming guide can include a body releasably couplable to the end effector at a proximal portion of the body and a housing located at a distal portion of the body. The reamer can be operable to ream bone. The reamer can include a support releasably couplable to the housing to secure the reamer to the reaming guide and the end effector. The reamer can include a cutting head connected to the support, the cutting head rotatable with respect to the housing when the support is coupled to the housing.

The present teachings relate to surgical location marking. The 3D model of the organ includes cutting points forming a surgical trajectory. Each cutting point has 3D coordinates and a surface normal in the model space. When the cutting points are projected into the workspace, mapped cutting points are created using the mapped 3D coordinates and the mapped surface normals in the workspace. Some mapped cutting points are marked with a surgical instrument having a tip and having a force sensor attached thereto along a direction determined based on a reaction force sensed by the force sensor when the tip contacts the cutting point.

1. Name of the product in this design: Icons for the graphical user interface of a robot-assisted surgical system for electronic devices. 2. Purpose of this design: An electronic device. 3. The key design features of this product are: a graphical user interface drawn with solid lines. 4. The image or photograph that best illustrates the design's key features: the front view. 5. Purpose of the graphical user interface: This overall interface is used to operate the robot-assisted surgical system, such as operating the robot-assisted surgical system to perform hip replacement surgery. The area to be protected is the icon on it, and different icons are selected to display different images or patterns on the screen. For example, selecting icon A will display a visualization of the main components and screws previously implanted in the patient; selecting icon B will allow you to use a probe to draw the surface of the acetabular cup after the implanted components have been removed, at which point the interface will display a visualization of the pelvis and the real-time position of the probe; selecting icon C will allow you to use a reamer to evaluate the surface of the acetabular cup after the implanted components have been removed, at which point the interface will display a visualization of the pelvis and the real-time position of the reamer. 6. Human-computer interaction methods of graphical user interface: Interaction can be carried out by clicking, pressing icons, etc. 7. Other situations requiring explanation: This design is a partial appearance design, and the part shown by the dashed line in the view is not the part claimed in this application.

The invention provides a surgical robot state recognition method and device and a surgical robot. The surgical robot state recognition method comprises the steps that real-time six-dimensional force data of an operation tool installed at the tail end of the surgical robot are collected; preprocessing the six-dimensional force data; inputting the preprocessed six-dimensional force data into a preset judgment model, and outputting a real-time state of the operation tool; according to the real-time state of the operation tool and the state of the surgical robot, the safety state of the surgical robot is judged, and the safety state of the surgical robot comprises a normal state and an abnormal state. According to the surgical robot state recognition method, the technical problem that in the related technology, safety is insufficient when a robot assists a surgery is solved.

A method for creating a combined representative 3D and stereoscopic video output for use within robotic surgery. A 3D model 116 of a patient is first visualised by a user device 118 and therein can be

A surgical system and device for use with a computerized surgical manipulation system, wherein the computerized surgical manipulation system includes a robotic arm and a support coupled to the robotic arm for receiving various instruments, comprising a surgical device, wherein the surgical device includes an elongated shaft; and a control housing coupled to the elongated shaft, wherein the control housing is configured to attach to a motor housing having a notch, wherein the motor housing is coupled to the support; and a trocar pivotally coupled to the support such that the trocar can pivot away from axial alignment with the support, wherein the elongated shaft extends into the pivoted trocar, wherein the trocar containing the surgical device is pivoted into axial alignment with the support such that the notch receives the elongated shaft of the surgical device, and wherein the control housing engages the motor housing.

Sensor-enabled surgical retractor devices, systems, and methods are disclosed herein that can be coupled to a surgical robot during a robotic or robot-assisted surgical procedure to maintain health of retracted anatomy and prolong the amount of time until a surgical procedure must be interrupted to adjust a retractor. In some embodiments, interruption of a surgical procedure can be avoided by providing for minor and, in some cases, automatically administered, adjustment of retractor devices to alleviate pressure on retracted tissue without requiring surgeon attention or intervention. Fine (e.g., minor) adjustments to the retractor can be made automatically over the course of a surgical procedure to prevent damage to retracted anatomy and increase the time until a major adjustment of the retractor is needed.

Disclosed are devices, systems and methods for assisting endoscopic robotic surgery. In some aspects, an endoscopic multi-load clip applier device includes a housing structured to include a compartment operable to store and distribute one or more clips; a flexible end coupled to the housing; and at least two grip components coupled to the housing and operable to compress and release upon control by robotic forceps of a robotic-assisted surgery system, wherein the at least two grip components are configured for the robotic forceps to grab and manipulate to place one or more clips at a surgical site directed by a surgeon using the device.

This invention discloses a closed-loop control method and device for intraoperative bleeding detection, localization, and autonomous hemostasis in robot-assisted surgery. The method includes acquiring intraoperative binocular images and depth information; identifying the surgical stage in the binocular images to constrain the bleeding detection range; segmenting surgical elements in the binocular images to obtain segmentation masks for tissues, instruments, and blood; fusing the segmentation masks and depth information to extract three-dimensional features of suspected bleeding areas and determining bleeding events based on relevant trends; determining the three-dimensional coordinates of the bleeding point and converting them to three-dimensional coordinates in the robotic arm coordinate system; and generating a target trajectory and hemostasis control commands based on these three-dimensional coordinates to drive the robotic arm to perform autonomous hemostasis. This invention, through integrated closed-loop control, achieves early and accurate identification and rapid autonomous intervention for intraoperative bleeding, effectively reducing the risk of visual field contamination without human intervention, and significantly improving the safety and timeliness of clinical treatment in robotic surgery.

Disclosed systems, apparatuses, and methods enable remotely controlling robotic-assisted medical systems, such as robotic-assisted surgery systems. Disclosed approaches provide a scalable, flexible, and efficient network for connecting physician consoles and robotic-assisted medical procedure systems. Disclosed approaches improve deployment and safety of robotic-assisted medical procedures.

To provide a system and a method for controlling a gripping force or an opening force of a surgical tool such as a wrist jaw of a robot-assisted surgical system.SOLUTION: The grip force generated by closing the robot wrist jaws while operating in the position mode in which the jaws are commanded to the desired jaw angle before being commanded to generate the grip force is limited, and the opening force generated by the robot wrist jaws operating in the position mode in which the jaws are commanded to the desired jaw angle is maintained. It also achieves a smooth transition in grip force when the wrist jaws transition between the position and force modes.SELECTED DRAWING: Figure 7

Active end-effectors for guiding an instrument during a robot-assisted surgery. The surgical robot system may include a robot having a robot base, a robot arm coupled to the robot base, and the active end-effector coupled to the robot arm. The active end-effector may have a slide mechanism, which may provide for a greater range of motion of a surgical instrument along a vertical axis.

Devices, systems, and methods for a robot-assisted surgery. A surgical robotic system with integrated navigation and multiple surgical arms may assist a user with one or more surgical procedures. In addition to the multiple surgical arms, the robotic system may also have peripheral arms to position a navigation camera and surgeon displays. The robotic system is collaborative to allow for easy integration into procedural workflows, for example, to install pedicle screws, interbody implants, or other surgical devices.

Various robotic surgical systems having various robotic devices are disclosed herein. Further, removable couplable connection ports are disclosed herein, each of which can be coupled to a robotic device and a camera assembly disposed in and passing through the robotic device. Removable connection ports having at least one of an elongated device body coupling mechanism, a camera assembly coupling mechanism, and / or a presence detection mechanism are also disclosed herein. Camera assemblies having at least one actuation mechanism for actuating movement of its steerable distal tip are further discussed herein.

A trocar used for minimally invasive and / or robot-assisted surgery features integrated multi-axis force and / or torque sensing between the external environment and a surgical instrument inserted into it. This multi-axis force / torque sensing is integrated into the cannula. This allows a robot-assisted surgical system to accurately measure the force and / or torque exerted by the instrument on the patient's skin. Multi-axis sensing is a significant advancement in robot-assisted surgery because knowing the directions of forces and torques acting on the trocar enables compensation for angular misalignment—something not possible with uni-axis force sensing alone.