267 results about "Robotic surgery" patented technology

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

A dynamic reference base (DRB) and associated method are provided for rigidly affixing an array frame to bone for use in navigated or robotic surgery. The DRB includes a bridge element that includes a connecting rod having a distal end and a proximal end; a clamp coupled to the distal end of the connecting rod; a first and a second pin guide extending distally from the clamp; a locking nut disposed on the clamp; and a clutch coupled to the proximal end of the connecting rod, the clutch being adapted to couple to the array frame. The DRB also includes the array frame, which is couplable to the clutch, and is adapted to include a plurality of tracking markers disposed thereon.

The invention involves a system and method for increasing positional accuracy of surgical systems that utilize magnetic or electromagnetic sensors to provide positional awareness to a surgeon or robot performing the surgery. The system takes advantage of electromagnetic tracking through sensors. These sensors are very accurate and repeatable, while being compact enough to not inhibit surgical procedures. The accuracy and repeatability of the sensors is <1 mm within a predetermined 6 inch×6 inch performance motion box. The system is constructed and arranged to map the distortion patterns of the sensor and, in real time, correct the distortion pattern to provide accurate location of anatomical structures for performance of a surgery.

Robot calibration is crucial in multi-robot cooperative systems where the inaccuracy of robots can add up and cause large errors in the final trajectory of handled parts or process tools. In this work, a two-step calibration approach is proposed based on artificial neural networks (ANNs) and definition of compensated pose for a master-slave cooperative robot system. Measuring the pose of master and slave robots at different locations in their shared workspace is required to create pairs of joint angles and output pose errors as training data. The generated data is used to train two ANN models for compensating the master-slave relative error and the master robot errors. The master-slave relative error is corrected by introducing a compensated pose for the slave robot with respect to the master robot. A neural network is then trained to predict the error parameters of the compensated pose for the joint angles of both robots as the input. The master robot is then corrected individually using another ANN model to address the absolute accuracy of the cooperative system.Measurements and simulations have been performed on a dual-robot cooperative system before and after geometric calibration. The process of cross validation is carried out to find the best network architecture for the optimal performance in correcting the robots'errors. It has been shown that even after pre-existing model-based calibration of each robot, both the absolute accuracy of the master robot and the relative tracking accuracy can be further improved by the proposed implementation of ANN calibration.

A method of controlling a surgical system includes obtaining a surgical plan containing a plurality of planned cuts, receiving a first cutting tool from a plurality of cutting tools at a surgical device, collecting a first checkpoint by tracking a probe as the probe contacts a first predefined point on the first cutting tool, collecting a second checkpoint by tracking the probe as the probe contacts a second predefined point at a first bone of a patient, automatically selecting a first planned cut from the plurality of planned cuts based on the first checkpoint and the second checkpoint, and, in response to automatically selecting the first planned cut, guiding execution of the first planned cut using the first cutting tool.

Surgical systems and methods for manipulation of an anatomy that includes cortical and cancellous bone. A surgical manipulator has a robotic arm to move an instrument with an energy applicator. A sensor senses forces / torques applied to the energy applicator. Controller(s) obtain a tool path for the energy applicator to traverse. A segment of the tool path transitions into, or between, cortical bone and cancellous bone. The controller(s) control the manipulator to advance the energy applicator along the tool path according to a first feed rate to manipulate the cortical or cancellous bone and detect, with the sensor, a change in the forces / torques being indicative of the transition. In response to detection of this change, the controller(s) control the manipulator to advance the energy applicator along the tool path according to a second feed rate, greater / less than the first feed rate.

A robotic surgical system integrates artificial intelligence (AI) to enable dynamic inference arbitration and risk-driven autonomy. The system includes a surgeon console, robotic arms, and a control system with memory and processors configured to execute real-time surgical workflows. AI modules analyze intraoperative data, such as imaging, sensor input, and instrument telemetry, and compute context alignment scores to guide module selection, forecasting, and fallback execution. Confidence metrics are monitored, with thresholds triggering surgeon alerts, handoff, or autonomous continuation. The system supports intraoperative adaptation, surgeon fatigue detection, and real-time annotation of AI outputs for traceability. It enables improved tissue recognition, predictive planning, and context-aware adjustments through training on historical surgical data. AI-assisted decision support, deviation handling, and performance monitoring enhance safety and personalization across diverse procedures. The architecture supports modular deployment, continuous learning, and integration of multimodal data sources for precision-guided robotic surgery.

A robotic system includes a plurality of input control devices configured to be operated by an operator, a display device, and a controller coupled to the plurality of input control devices and the display device. The controller is configured to: determine a dynamic mapping, the dynamic mapping identifying at least a first association, the first association being between a first input control device of the plurality of input control devices and a first function, the first function being of a plurality of functions of a first instrument, the robotic system configured to support the first instrument; cause the display device to display a first user interface element, the first user interface element indicative of the first association; receive input from the first input control device; and cause, based on the dynamic mapping, the first function to be performed by the first instrument.

Robotic surgical systems and methods for resection of an anatomy. The system includes a cutting tool, a manipulator configured to move the cutting tool, and a control system. The control system associates a target plane with the anatomy, the target plane delineating a portion of the anatomy to be resected from a portion of the anatomy to remain unresected. The control system controls the manipulator to align the cutting tool to the target plane. The control system controls the manipulator in an automated mode to perform at least one of the following actions: automatically resect along the target plane with the cutting tool, automatically retract the cutting tool along the target plane, and automatically change a pose of the cutting tool on the target plane. The user or control system can pre-assign whether to perform any of the actions in the manual or automated mode.

Systems and subsystems for cutting and stapling tissue are disclosed. More specifically, the present disclosure relates to systems, devices, and subsystems for attachments for robotic surgeries. The surgical instrument is a robotic attachment including a roll subsystem. The roll subsystem comprises a rotatable shaft having a longitudinal axis, a roll input puck engageable with a roll robotic output, a worm gear coupled to and rotatable by the roll input puck, and a worm follower coupled to the rotatable shaft. Rotation of the roll input puck causes the worm gear to rotate the worm follower and thereby roll the rotatable shaft about its longitudinal axis.

The invention provides a method, a device and equipment for identifying path deviation in a screw implanting process, and belongs to the field of data processing. The method comprises the steps that target stress information and pose information of the tail end of a target robot used for implanting a target screw are obtained, and the tail end of the target robot holds the target screw; determining a current implantation path of the target screw according to the target stress information and the pose information; obtaining a target implantation path, wherein the target implantation path is generated based on preoperative image data of a patient; and determining a path offset condition according to the current implantation path and the target implantation path, wherein the path offset condition is used for indicating whether path offset exists or not. The method and the device are used for recognizing path deviation in the nail implanting process based on a robot, and the path precision judgment capability and the operation safety of a robot operation system are improved. And meanwhile, additional visual navigation equipment is not needed, so that the system complexity and cost are reduced.

The invention relates to the technical field of remote single-hole robot operation guidance and demonstration, and discloses a system and a method for remote single-hole robot operation guidance and demonstration, which realize efficient, stable and secure transmission of remote force feedback signals and control instructions through a low-delay secure communication link based on SRv6 + TSN and a national password SM9 encryption technology. The problem that transparency and real-time performance are difficult to consider in remote operation is effectively solved, experts can seamlessly perceive interaction force of local instruments and tissues and carry out accurate remote intervention, and through dynamic modeling of a cloud twinning service module and Transformer and graph neural network algorithms, the interaction force between the local instruments and the tissues can be accurately and remotely intervened. Real-time prediction of risks such as bleeding and perforation in the operation and accurate matching of tissue deformation are achieved, a visual and fused AR guidance interface is provided for experts in combination with a mixed reality guidance engine, and the accuracy of remote guidance and operation safety are remarkably improved.

A method includes displaying, on a graphical user interface, a planned position of a virtual implant model relative to a virtual bone model of a bone. The virtual implant model includes a plurality of virtual screw holes offset from a central axis of the virtual implant model. The method also includes determining a planned rotational orientation of the virtual implant model by rotating, on the graphical user interface, the virtual implant model about the central axis of the virtual implant model such that the plurality of virtual screw holes rotate about the central axis. The method also includes controlling a robotic device to guide preparation of the bone to receive a physical implant in the planned position. The method also includes providing computer-assisted navigation configured to guide the physical implant into physical rotational alignment with the planned rotational orientation of the virtual implant model.

An end effector including a yoke arms, a pivot pin extending between the yoke arms, a pulley mounted on the pivot pin and having a drive pin extending laterally outward from a first side surface thereof, a cam member adjacent the first side surface and including a proximal body having a drive arm, wherein a cam pin is provided at a distal end of the drive arm, and wherein the proximal body has a cam slot that includes a vertical cam path and a horizontal cam path, wherein the vertical cam path is associated with the drive pin and the horizontal cam path is associated with the pivot pin, a first jaw carrier having a cam slot for a first portion of the cam pin and a second jaw carrier having a cam slot for a second portion of the cam pin.

A surgical cart for supporting a robotic arm includes a base, a plurality of casters coupled to the base, and a secondary braking mechanism that prevents the casters from being manually moved out of a locked state until a surgical instrument is at a safe distance from an operative site within a patient.

An apparatus includes an end effector, a shaft assembly extending proximally from the end effector, an instrument base, and a knife driving assembly. The end effector includes jaws and a knife member capable of actuating between a proximal and distal position. The knife driving assembly actuates the knife member between the proximal and distal position. The knife driving assembly includes a cable and a knife drive input assembly coupled to a first drive input and is capable of rotating in first and second angular directions. The cable terminates into a first end and a second end, which are both attached to the knife drive input assembly. A portion of the cable is attached to the knife member. Rotation of the knife drive input assembly in the first angular direction drives the knife member distally, whereas rotation in the second angular direction drives the knife member proximally.

Systems that may be used for performing a robotic revision knee arthroplasty are disclosed. Such systems can optionally include a processor that can: intraoperatively receive a plurality of position data obtained by a robotic surgical device after a primary implant has been removed from a bone, the plurality of position data correspond to a plurality of landmarks of the bone of a patient, the plurality of landmarks include a position of an intramedullary canal of the bone; select from a database having a plurality of mean models of a corresponding bone a mean model that comprises a best match based upon the plurality of landmarks of the bone: generate an updated model by altering the mean model to fit an anatomy of the bone of the patient based upon the plurality of landmarks; and output to a user interface the updated model for use during the robotic revision knee arthroplasty.

A system includes a robot mounted to a movable base, the robot including one or more robotic arms. The system monitors, by one or more measurement devices, one or more parameters associated with an object. The system adjusts a pose of the robot based on the one or more parameters satisfying one or more criteria. The system outputs an alert based on the one or more parameters satisfying one or more second criteria. The system performs a registration process associated with the object and the robot, based on the one or more parameters satisfying the one or more second criteria. The one or more measurement devices include a mechanical measurement device that maintains a non-rigid connection between the robot and the object. The one or more measurement devices include an optical measurement device, an acoustic transducer, or a multi-sensor device.

A steerable overtube assembly for a robotic surgical system can include a steerable shaft having one or more instrument channel and a control hub configured to mount to the steerable shaft. The assembly can also include a manual actuator extending from the control hub and configured to allow the steerable shaft to be manually steered by a user's hand, and a robotic actuator housed by and / or extending from the control hub configured to connect to a robotic driver to allow robotic steering of the steerable shaft.

A robotic surgical tool holder interchangeably holds both conventional surgical tools and surgical tools designed specifically for the holder. The tool holder will usually hold but not drive the conventional tools while both holding and driving those tools designed specifically for the tool holder. The tool holder is detachably mounted on a distal end of a surgical robotic arm and has an opening which removably receives individual surgical tools of either type. A drive train in the housing has one input which is driven by the surgical robotic arm and separate outputs for both a tool gripper and a tool driver.

A robotic surgical simulation system for clinical workplace simulation includes a virtual reality headset configured to display the clinical workplace simulation, a processor, and a memory. The memory includes instructions stored thereon, which, when executed by the processor, cause the robotic surgical simulation system to: generate a virtual operating room within a three-dimensional coordinate space. The virtual operating room includes a virtual surgical console. The instructions when executed by the processor further cause the system to compute, based on the captured image, a position of the user within the three-dimensional coordinate space relative to the virtual surgical console; and determine whether a user is engaged with or disengaged from the virtual surgical console based on the computed position.

This invention discloses an automatic monitoring method for guidewire movement in vascular interventional robotic surgery, comprising the following steps: S1, extracting the interventional path from preoperative CT angiography images; S2, placing an electromagnetic navigation device in the surgical space, obtaining the coordinate values ​​of the experimental model with electromagnetic sensor markers attached in the magnetic field space and the corresponding coordinate values ​​in the image coordinate space, and obtaining the registration transformation matrix; S3, sequentially attaching 3 to 5 electromagnetic sensors to the front end of the guidewire and pushing the guidewire to the interventional starting point; S4, during the guidewire's movement to the interventional endpoint, using the electromagnetic navigation device to obtain the electromagnetic sensor position P at time t. i,t And obtain the image coordinate space position P` based on the registration transformation matrix. i,t The fitted guidewire tip morphology is fused and displayed in the reconstructed image; S5, monitoring is performed based on the intervention path and the relative positional relationship of the electromagnetic sensors. This invention can locate the movement state of the guidewire in real time and provide early warning of deviation.

A robotic surgery cart has a pair of rear wheel assemblies and a pair of front wheel assemblies. A brake assembly for the robotic surgery cart includes a gearbox interposed between and connected to the pair of rear wheel assemblies by rotatable shafts. Elongate actuators extend between and interconnect the rotatable shafts and brake mechanisms for the front wheel assemblies. A pedal lever is rotatably coupled to the gearbox and can rotate clockwise by pressing one portion of the pedal lever and can rotate counterclockwise by pressing another portion of the pedal lever. Rotation of the pedal lever causes the gearbox to rotate the rotatable shafts to substantially lock the pair of rear wheel assemblies, and substantially simultaneously causes a translation of the elongate actuators to actuate the brake mechanisms of the front wheel assemblies, such that the wheels of the front and rear wheel assemblies brake substantially simultaneously.

A method includes providing a bone model and a surgical plan defining a planned implant pose to the bone model, providing, based on the planned implant pose, a planned resection volume and a cut-away object, generating a visualization for surgical navigation by, subtracting, from the bone model, a region of intersection between the bone model and the cut-away object and including a visualization of the planned resection volume, and dynamically updating the visualization of the planned resection volume to show progress in completing a resection by tracking movement of a surgical instrument completing the resection.

The invention discloses a compact robotic surgical device having capabilities to perform more than one type of surgical procedure. The compact surgical device comprises at least two modes, where, in a first mode, the compact surgical device is configured to perform over-the-wire procedures, while, in a second mode, the compact surgical device is configured to perform rapid exchange-like procedures.

A system and method for planning and assisting orthopedic surgical procedures includes a computing device and a robotic surgical device. The computing device defines a surgical coordinate system relative to a patient's bone and captures a plurality of point locations within the surgical coordinate system. The plurality of point locations includes a first point location representing a location on a soft tissue surface overlying a portion of the patient's bone. The computing device identifies an estimated soft tissue thickness value for each of the plurality of point locations and registers a three-dimensional model of the patient's bone within the surgical coordinate system based on the plurality of point locations and the estimated soft tissue thickness value. The computer system can control the robotic surgical device according to the registered bone model.

Described herein are methods and systems for determining force in a robotic surgical system. In some embodiments, a force applied by a robotic component (e.g. a robotic arm, a segment of a robotic arm, or a joint of a robotic arm) is determined. Also described herein are methods and systems for providing visual (e.g., direction and magnitude) feedback to a user without the need for direct haptic feedback. Such visual feedback may be presented to the user in conjunction with haptic feedback.

The present invention provides a system and method for a two-step registration procedure that enables complete surgical intervention by a robot. [Solution] A system for intraoperative navigation is provided, comprising a processing unit and a tracking device for real-time or near-real-time tracking of an object in a 3D coordinate system, wherein the processing unit is configured to receive an X-ray image depicting an anatomical structure including at least one bone, and to determine an incomplete registration of the position of the anatomical structure in the 3D coordinate system. The incomplete registration is determined based on a 3D dataset of the received anatomical structure and a plurality of virtual X-ray images generated from different directions based on the 3D dataset of the anatomical structure. The incomplete registration can be understood as an approximation of the position of the anatomical structure. Based on the incomplete registration, instructions for the navigation of the device are provided.

The surgical tool includes a drive housing and an indicator assembly located within the drive housing and operable to provide a visual indication of when the useful life of the surgical tool has ended. The indicator assembly includes a drive input unit rotatably coupled to the bottom of the drive housing. The drive input unit further includes a riser and a rim, the riser including a passage through which it passes. The indicator assembly further includes an indicator shaft extending through the passage along a longitudinal axis coaxially aligned with the drive input unit. The drive input unit rotates to actuate the indicator assembly between a non-activated state in which the indicator shaft is recessed into the drive housing and an activated state in which the indicator shaft extends from the drive housing to provide a visual indication.

A robotic surgical navigation system is disclosed. An example system includes a stereoscopic camera and a robotic arm having an end-effector connected to the camera. The system also includes a navigation computer that determines a first transformation between the stereoscopic camera and a target surgical site, a second transformation between the end-effector and a robotic base of the robotic arm, and a third transformation between the robotic base and the target surgical site. The navigation computer calculates a fourth transformation using the first, second, and third transformations. The fourth transformation represents a transformation between the end-effector and the stereoscopic camera. The navigation computer uses the transformations to determine coordinates for a view vector of the stereoscopic camera that are in a coordinate system of the robotic arm, thereby enabling movement of the robotic arm based on commands provided by an operator in relation to the view vector of the camera.