Patent application number | Description | Published |
20090036902 | INTERACTIVE USER INTERFACES FOR ROBOTIC MINIMALLY INVASIVE SURGICAL SYSTEMS - In one embodiment of the invention, a method for a minimally invasive surgical system is disclosed. The method includes capturing and displaying camera images of a surgical site on at least one display device at a surgeon console; switching out of a following mode and into a masters-as-mice (MaM) mode; overlaying a graphical user interface (GUI) including an interactive graphical object onto the camera images; and rendering a pointer within the camera images for user interactive control. In the following mode, the input devices of the surgeon console may couple motion into surgical instruments. In the MaM mode, the input devices interact with the GUI and interactive graphical objects. The pointer is manipulated in three dimensions by input devices having at least three degrees of freedom. Interactive graphical objects are related to physical objects in the surgical site or a function thereof and are manipulatable by the input devices. | 02-05-2009 |
20090171271 | Active Cannula for Bio-Sensing and Surgical Intervention - Disclosed is a surgical needle, or active cannula, that is capable of following a complex path through cavities and tissue within a patient's anatomy. The needle has a plurality of overlapping flexible tubes, each of which has a pre-formed curvature and a pre-determined flexibility. Each of the plurality of flexible tubes is selected based on their respective pre-formed curvature and flexibility so that a given overlap configuration causes the combination of overlapping flexible tubes to form a predetermined shape that substantially matches a desired path through the anatomy. By individually controlling the translation and angular orientation of each of the flexible tubes, the surgical needle may be guided through the anatomy according to the desired path. | 07-02-2009 |
20110106102 | Surgical Instrument and Systems with Integrated Optical Sensor - A surgical instrument has a surgical tool that has a proximal end and a distal end, and an optical sensor that has at least a portion attached to the surgical tool. The surgical tool has a portion that is suitable to provide a reference portion of the surgical tool, and the optical sensor has an end fixed relative to the reference portion of the surgical tool such that the reference portion of the surgical tool can be detected along with tissue that is proximate or in contact with the distal end of the surgical tool while in use. | 05-05-2011 |
20110125165 | SYSTEM AND METHOD FOR MACRO-MICRO DISTAL DEXTERITY ENHANCEMENT IN MICRO-SURGERY OF THE EYE - A system for operating within an interior region of the eye, or other organ, includes a delivery channel having a proximal portion located exterior to the eye and a distal portion positionable within the interior region of the eye, wherein the distal portion of the delivery channel defines an outer diameter that is smaller than or equal to about 18 gauge, and a micro-robot extendable from the distal portion of the delivery channel, wherein the micro-robot is remotely operable to change shape within the interior region of the eye. | 05-26-2011 |
20110153547 | SYSTEM AND METHOD FOR SHAPE BASED RETRIEVAL OF PRIOR PATIENTS FOR AUTOMATION AND QUALITY CONTROL OF RADIATION THERAPY TREATMENT PLANS - A system and method for determining at least one new treatment plan for at least one new patient, comprising: providing at least one representation of the at least one new patient's at least one organ at risk relative to at least one target; searching for at least one prior treatment plan for at least one prior patient with at least one similar representation; and reviewing the at least one prior treatment plan for the at least one prior patient in order to determine whether the at least one new treatment plan can be improved based on information in the at least one prior treatment plan. | 06-23-2011 |
20120065470 | ROBOTIC SYSTEM TO AUGMENT ENDOSCOPES - A robotic system for steerable tip endoscopes includes a support arm, an endoscope gripping assembly rotatably connected to the support arm by a rotation assembly, and a translation assembly operatively connected to the support arm. The endoscope gripping assembly is configured to grip any one of a plurality of differently structured endoscopes, the translation assembly is configured to move the support arm along a linear direction to thereby move an endoscope when held by the endoscope gripping assembly along an axial direction, and the rotation assembly is configured to rotate the endoscope along a longitudinal axis of rotation. | 03-15-2012 |
20120071890 | METHOD AND APPARTUS FOR COCHLEAR IMPLANT SURGERY - A system for cochlear implant surgery includes a reference device having at least a portion adapted to be arranged at a fixed position relative to a cochlea of a patient to provide a reference position, an image acquisition and processing system adapted to acquire an image of at least a portion of the cochlea relative to the reference position and to provide an implant plan based at least partially on the acquired image, and an implant system adapted for implanting a cochlear lead array using the reference position and the implant plan. | 03-22-2012 |
20120130258 | PROGRAMMABLE MULTIPSPECTRAL ILLIUMINATION SYSTEM FOR SURGERY AND VISUALIZATION OF LIGHT-SENSITIVE TISSUES - An observation system for viewing light-sensitive tissue includes an illumination system configured to illuminate the light-sensitive tissue, an imaging system configured to image at least a portion of the light-sensitive tissue upon being illuminated by the illumination system, and an image display system in communication with the imaging system to display an image of the portion of the light-sensitive tissue. The illumination system is configured to illuminate the light-sensitive tissue with a reduced amount of light within a preselected wavelength range compared to multispectral illumination light, and the image of the portion of the light-sensitive tissue is compensated for the reduced amount of light within the preselected frequency range to approximate an image of the light-sensitive tissue under the multispectral illumination | 05-24-2012 |
20120172893 | OPTICAL SENSING SYSTEM FOR COCHLEAR IMPLANT SURGERY - A sensing system for implant surgery includes an insertion device for moving an implant into a narrow cavity in a patient's body. A sensor measures the distance from an end of the insertion device to anatomic surfaces at a distance from the end of the insertion device. An optical coherence tomography (OCT) system integrates the sensor and produces OCT images, which can be quantified to distance measurements. The system is particularly useful for cochlear implant surgery. | 07-05-2012 |
20120226150 | VISUAL TRACKING AND ANNOTATON OF CLINICALLY IMPORTANT ANATOMICAL LANDMARKS FOR SURGICAL INTERVENTIONS - A visual tracking and annotation system for surgical intervention includes an image acquisition and display system arranged to obtain image streams of a surgical region of interest and of a surgical instrument proximate the surgical region of interest and to display acquired images to a user; a tracking system configured to track the surgical instrument relative to the surgical region of interest; a data storage system in communication with the image acquisition and display system and the tracking system; and a data processing system in communication with the data storage system, the image acquisition and display system and the tracking system. The data processing system is configured to annotate images displayed to the user in response to an input signal from the user. | 09-06-2012 |
20130018303 | ACTIVE CANNULA FOR BIO-SENSING AND SURGICAL INTERVENTION - A method for guiding a surgical cannula having a plurality of overlapping flexible tubes includes determining a desired cannula path; selecting the plurality of flexible tubes, wherein each of the flexible tubes within the plurality has a pre-formed curvature and a flexibility; determining a final overlap configuration of the plurality of flexible tubes such that a resulting curvature of the overlap configuration substantially corresponds to the desired cannula path; and determining a plurality of intermediate overlap configurations of the plurality of flexible tubes. Each of the intermediate configurations correspond to the desired cannula path. | 01-17-2013 |
20130033887 | HIGH-EFFICIENCY ILLUMINATION SYSTEM - An illumination system includes a light source, an optical waveguide that has a proximal end and a distal end such that the proximal end is arranged to receive light from the light source and the distal end is suitable to illuminate an object of interest; and an optical coupler constructed and arranged to couple light from the light source into the optical waveguide. The optical coupler includes a reflective surface that reflects at least some light diverging from the light source to be coupled into the optical waveguide. | 02-07-2013 |
20130079711 | ENDOSCOPE MANIPULATION ADAPTER - An endoscope manipulation adapter includes a support frame having a first end configured to be rigidly fixed relative to a handpiece of a flexible endoscope, and a manipulation assembly arranged at a second end of the support frame. The manipulation assembly defines a channel for at least one of a flexible endoscope shaft or a flexible endoscope insertion component to traverse through in an axial direction to assist in manipulating the at least one of the flexible endoscope shaft or the flexible endoscope insertion component during use of the flexible endoscope. | 03-28-2013 |
20130123759 | SURFACE TRACKING AND MOTION COMPENSATING SURGICAL TOOL SYSTEM - A motion-compensating surgical tool system includes a surgical tool that includes a hand piece and a moveable component, a drive assembly connecting the moveable component to the hand piece such that the moveable component is movable in an axial direction relative to the hand piece by the drive assembly. The motion-compensating surgical tool system also includes an optical detection system that includes an optical fiber attached to the moveable component with an end at a fixed distance to a distal-most portion of the moveable component. The optical detection system is configured to output a signal for the determination of a distance of the distal-most portion of the moveable component to a target during surgery. | 05-16-2013 |
20130131867 | STEADY HAND MICROMANIPULATION ROBOT - A cooperative-control robot includes a base component, a mobile platform arranged proximate the base component, a translation assembly operatively connected to the base component and the mobile platform and configured to move the mobile platform with translational degrees of freedom substantially without rotation with respect to said the component, a tool assembly connected to the mobile platform, and a control system configured to communicate with the translation assembly to control motion of the mobile platform in response to forces by a user applied to at least a portion of the cooperative-control robot. The translation assembly includes at least three independently operable actuator arms, each connected to a separate position of the mobile platform. A robotic system includes two or more the cooperative-control robots. | 05-23-2013 |
20130190734 | INTERFEROMETRIC FORCE SENSOR FOR SURGICAL INSTRUMENTS - A surgical tool system according to an embodiment of the current invention includes a surgical tool, and an interferometry system optically coupled to the surgical tool. The surgical tool includes a body section, a sensor section at least one of attached to or integral with the body section, and a surgical section at least one of attached to or integral with the sensor section at an opposing end of the sensor section from the body section. The sensor section comprises an interferometric optical sensor defining a reference distance that changes in response to at least one of a force or a torque when applied to the surgical section of the surgical tool. | 07-25-2013 |
20130197306 | Cable-Driven Morphable Manipulator - A device includes first and second sheets of first and second elastic materials, respectively, and a control wire. The first sheet has a first thickness and a first length and is shaped to have a first cross-section having a first inner periphery and a first outer periphery. The second sheet has a second thickness and a second length and is shaped to have a second cross-section having a second inner periphery and a second outer periphery. One of the first sheet and the second sheet has a spacing disposed in along one of the first length and the second length, respectively. The first outer periphery is less than or equal to the second inner periphery. The second sheet surrounds the first sheet. The control wire has an end constrained to one of the first sheet the first material and the second sheet. The control wire is disposed within the spacing. | 08-01-2013 |
20130197539 | DEVICES, SYSTEMS AND METHODS FOR MINIMALLY INVASIVE SURGERY OF THE THROAT AND OTHER PORTIONS OF MAMMALIAN BODY - Featured are systems, devices and apparatuses for use in minimally invasive surgical, diagnostic or therapeutic methods and/or techniques, in particular methods and/or techniques for a mammalian throat. In particular embodiments, a dexterity apparatus including one or more dexterity devices is featured, where each of the dexterity devices comprises surgical tools and each is configured and arranged with end-tip dexterity for enhanced manipulation. A portion of the dexterity devices is snake like, which is re-configurable (i.e., can be bent) so as to in effect maneuver the surgical tool and put the tool in a desired position with respect to the surgical site. Another portion of the dexterity device includes the surgical tool thereby providing the capability of performing surgical actions such as sewing, gripping, soft tissue manipulation, cutting and suction of saliva, blood and other materials from the surgical site. | 08-01-2013 |
20130197540 | DEVICES, SYSTEMS AND METHODS FOR MINIMALLY INVASIVE SURGERY OF THE THROAT AND OTHER PORTIONS OF MAMMALIAN BODY - Featured are systems, devices and apparatuses for use in minimally invasive surgical, diagnostic or therapeutic methods and/or techniques, in particular methods and/or techniques for a mammalian throat. In particular embodiments, a dexterity apparatus including one or more dexterity devices is featured, where each of the dexterity devices comprises surgical tools and each is configured and arranged with end-tip dexterity for enhanced manipulation. A portion of the dexterity devices is snake like, which is re-configurable (i.e., can be bent) so as to in effect maneuver the surgical tool and put the tool in a desired position with respect to the surgical site. Another portion of the dexterity device includes the surgical tool thereby providing the capability of performing surgical actions such as sewing, gripping, soft tissue manipulation, cutting and suction of saliva, blood and other materials from the surgical site. | 08-01-2013 |
20130245375 | INTERACTIVE USER INTERFACES FOR ROBOTIC MINIMALLY INVASIVE SURGICAL SYSTEMS - In one embodiment of the invention, a method for a minimally invasive surgical system is disclosed. The method includes capturing and displaying camera images of a surgical site on at least one display device at a surgeon console; switching out of a following mode and into a masters-as-mice (MaM) mode; overlaying a graphical user interface (GUI) including an interactive graphical object onto the camera images; and rendering a pointer within the camera images for user interactive control. In the following mode, the input devices of the surgeon console may couple motion into surgical instruments. In the MaM mode, the input devices interact with the GUI and interactive graphical objects. The pointer is manipulated in three dimensions by input devices having at least three degrees of freedom. Interactive graphical objects are related to physical objects in the surgical site or a function thereof and are manipulatable by the input devices. | 09-19-2013 |
20130253313 | AUTOFOCUSING ENDOSCOPE AND SYSTEM - An autofocusing endoscope includes an objective lens, a relay optical system arranged to relay an image between the objective lens and a proximal end of the autofocusing endoscope, an optical fiber arranged with a distal end proximate the objective lens, a light source arranged to couple light into the optical fiber, an optical detection system arranged to receive and detect light from the optical fiber, and a data processor constructed to communicate with the optical detection system while in operation. The data processor is configured to determine a distance of a surface to be imaged through the objective lens and provide instructions for adjusting a focus of the autofocusing endoscope of the surface. | 09-26-2013 |
20130296884 | METHOD AND APPARATUS FOR ROBOTICALLY ASSISTED COCHLEAR IMPLANT SURGERY - A novel sensing system and methods for preventing damage to the cochlea during cochlear implant surgery are disclosed, using optical sensing to determine the distance of a stylet or the end of the implant itself from the interior wall of the scalar tympani. A variety of feedback methods are proposed to enable the surgeon to perform the procedure safely without damage to the basilar membrane or other delicate anatomic structures. Although a number of embodiments are disclosed, one preferred embodiment comprises a robotically manipulated end-effector. | 11-07-2013 |
20130304258 | MICRO-FORCE GUIDED COOPERATIVE CONTROL FOR SURGICAL MANIPULATION OF DELICATE TISSUE - A method and system for micro-force guided cooperative control that assists the operator in manipulating tissue in the direction of least resistance. A tool holder receives a surgical tool adapted to be held by a robot and a surgeon. A first sensor measures interaction forces between a tip of the surgical tool and tissue of a region of interest. A second sensor measures interaction forces between the surgeon and a handle to the surgical tool. A data processor is configured to perform an algorithm to actively guide the surgical tool by creating a bias towards a path of least resistance and limit directional tool forces of the surgical tool as a function of handle input forces and tip forces. This function offers assistance to challenging retinal membrane peeling procedures that require a surgeon to delicately delaminate fragile tissue that is susceptible to hemorrhage and tearing due to undesirable forces. | 11-14-2013 |
20140039261 | OPTICAL COHERENCE TOMOGRAPHY SYSTEM AND METHOD FOR REAL-TIME SURGICAL GUIDANCE - An optical coherence tomography (OCT) system for real-time surgical guidance includes an optical source, an optical fiber configured to be optically coupled to the optical source, a plurality of OCT sensor heads configured to be optically coupled to the optical fiber, an optical detector configured to be optically coupled to the optical fiber, a signal processor configured to communicate with the optical detector to receive detected signals therefrom, and a display system configured to receive OCT image signals from the signal processor and to display an OCT image of at least a portion of a surgical region of interest in real time to provide surgical guidance. The plurality of OCT sensor heads includes a bulk sensor head configured to image at least a portion of the surgical region of interest from an external imaging position and an endoscopic sensor head configured to be inserted into the surgical region of interest to image at least a portion of the surgical region of interest from an internal imaging position. The bulk sensor head and the endoscopic sensor head are at least one of separate exchangeable sensor heads or a reconfigurable sensor head. | 02-06-2014 |
20140049629 | SYTEM AND METHOD FOR TRACKING AND NAVIGATION - A tracking and navigation system is provided. The system includes an imaging or treatment device, a tracker device, and a fiducial marker. At least part of the imaging or treatment device is movable relative to a patient. The tracker device is mounted on the imaging or treatment device and is movable therewith relative to the patient. The fiducial marker may be fixed relative to the patient to define a patient coordinate system. The fiducial marker is detectable by the tracker device to substantially maintain registration between the tracker device and the patient coordinate system. A tracking and navigation kit including the tracker device and at least one fiducial marker may also be provided, for example, for retrofitting to existing imaging or treatment devices | 02-20-2014 |
20140052150 | METHOD FOR PRESENTING FORCE SENSOR INFORMATION USING COOPERATIVE ROBOT CONTROL AND AUDIO FEEDBACK - A system and method for cooperative control of surgical tool includes a tool holder for receiving a surgical tool adapted to be held by a robot and a surgeon, a sensor for detecting a force based on operator input and/or tool tip forces, a controller for limiting robot velocity based upon the force detected so as to provide a haptic feedback, a selector for automatically selecting one level of a multi-level audio feedback based upon the detected force applied, the audio feedback representing the relative intensity of the force applied, and an audio device for providing the audio feedback together with the haptic feedback. The audio feedback provides additional information to the surgeon that allows lower forces to be applied during the operation. | 02-20-2014 |
20140066944 | TOOL EXCHANGE INTERFACE AND CONTROL ALGORITHM FOR COOPERATIVE SURGICAL ROBOTS - A system and method for tool exchange during surgery for cooperatively controlled robots comprises a tool holder for receiving a surgical tool adapted to be held by a robot and a surgeon, a tool holding element for constraining downward motion of the tool while allowing low force removal of the surgical tool from the holder, a first sensor for detecting if the surgical tool is docked within the tool holder, and a selector for automatically selecting different movements or actions of the tool holder to be performed based upon information detected by the first sensor. The system and method of the present invention provides an advantage to an often slow moving cooperative robot, by increasing the speed by which the tool holder may move in the direction away from the patient. | 03-06-2014 |
20140094968 | TELEOPERATIVE-COOPERATIVE ROBOTIC SYSTEM - A combined teleoperative-cooperative controllable robotic system includes a robotic actuator assembly, a control system adapted to communicate with the robotic actuator assembly, and a teleoperation unit adapted to communicate with the control system. The control system is configured to control at least a first portion of the robotic actuator assembly in response to at least one of a force or a torque applied to at least a second portion of the robotic actuator assembly by a first user for cooperative control. The control system is further configured to control at least a third portion of the robotic actuator assembly in response to input by a second user from the teleoperation unit for teleoperative control. | 04-03-2014 |
20140149335 | SYSTEM AND METHOD FOR SHAPE BASED RETRIEVAL OF PRIOR PATIENTS FOR AUTOMATION AND QUALITY CONTROL OF RADIATION THERAPY TREATMENT PLANS - A system and method for determining at least one new treatment plan for at least one new patient, comprising: providing at least one representation of the at least one new patient's at least one organ at risk relative to at least one target; searching for at least one prior treatment plan for at least one prior patient with at least one similar representation; and reviewing the at least one prior treatment plan for the at least one prior patient in order to determine whether the at least one new treatment plan can be improved based on information in the at least one prior treatment plan. | 05-29-2014 |
20140160264 | AUGMENTED FIELD OF VIEW IMAGING SYSTEM - An augmented field of view imaging system includes a microscope, an image sensor system arranged to receive images of a plurality of fields of view from the microscope as the microscope is moved across an object being viewed and to provide corresponding image signals, an image processing and data storage system configured to communicate with the image sensor system to receive the image signals and to provide augmented image signals, and at least one of an image injection system or an image display system configured to communicate with the image processing and data storage system to receive the augmented image signals and display an augmented field of view image. The image processing and data storage system is configured to track the plurality of fields of view in real time and register the plurality of fields of view to calculate a mosaic image. The augmented image signals from the image processing and data storage system provide the augmented image such that a live field of view from the microscope is composited with the mosaic image. | 06-12-2014 |
20140213892 | System for Tracking Microsurgical Instrumentation - An embodiment in accordance with the present invention provides a tracking system architecture for tracking surgical tools in a surgical field. The system architecture is integrated into a mask placed directly on the face of the patient. The system can combine multiple imaging and range finding technologies for tracking the eye and the surgical instrumentation. The system can be used to generate a three dimensional scene for use during the surgical procedure. Additionally, the system can incorporate a modular design to account for variable anatomy. The system described is for eye surgery applications. However, the system could also be used for other procedures such as cochlear implant or craniotomy. | 07-31-2014 |
20140253684 | VISUALIZATION OF REGISTERED SUBSURFACE ANATOMY - A system and method for visualization of subsurface anatomy includes obtaining a first image from a first camera and a second image from a second camera or a second channel of the first camera, where the first and second images contain shared anatomical structures. The second camera and the second channel of the first camera are capable of imaging anatomy beneath the surface in ultra-violet, visual, or infra-red spectrum. A data processor is configured for computing registration of the first image to the second image to provide visualization of subsurface anatomy during surgical procedures. A visual interface displays the registered visualization of the first and second images. The system and method are particularly useful for imaging during minimally invasive surgery, such as robotic surgery. | 09-11-2014 |
20140360305 | ROTATION PRESERVING QUICK CONNECT DEVICE - The present invention is directed to a tool holder for use with a surgical robot. The tool holder includes, a rotor fixed to the tool shaft, and a stator fixed to the robot. The stator includes a magnet, and a bearing surface. The rotor includes a magnetic material that attaches securely to the tool shaft, such that the tool is in the center of the rotor. The rotor rotates against the bearing surface on the stator, allowing the tool to rotate about its axis. To exchange tools, the user exerts force on the tool until the holding force of the magnet is exceeded and the tool detaches from the stator. A new tool is introduced into the vicinity of the stator such that the magnet attracts the magnetic material on the rotor. The present invention eliminates the need to slide the tool through a shaft of the tool holder. | 12-11-2014 |
20150025546 | METHOD AND APPARATUS FOR COCHLEAR IMPLANT SURGERY - A system for cochlear implant surgery includes a reference device having at least a portion adapted to be arranged at a fixed position relative to a cochlea of a patient to provide a reference position, an image acquisition and processing system adapted to acquire an image of at least a portion of the cochlea relative to the reference position and to provide an implant plan based at least partially on the acquired image, and an implant system adapted for implanting a cochlear lead array using the reference position and the implant plan. | 01-22-2015 |
20150031990 | PHOTOACOUSTIC TRACKING AND REGISTRATION IN INTERVENTIONAL ULTRASOUND - An intraoperative registration and tracking system includes an optical source configured to illuminate tissue intraoperatively with electromagnetic radiation at a substantially localized spot so as to provide a photoacoustic source at the substantially localize spot, an optical imaging system configured to form an optical image of at least a portion of the tissue and to detect and determine a position of the substantially localized spot in the optical image, an ultrasound imaging system configured to form an ultrasound image of at least a portion of the tissue and to detect and determine a position of the substantially localized spot in the ultrasound image, and a registration system configured to determine a coordinate transformation that registers the optical image with the ultrasound image based at least partially on a correspondence of the spot in the optical image with the spot in the ultrasound image. | 01-29-2015 |
20150073597 | STEADY HAND MICROMANIPULATION ROBOT - A cooperative-control robot includes a base component, a mobile platform arranged proximate the base component, a translation assembly operatively connected to the base component and the mobile platform and configured to move the mobile platform with translational degrees of freedom substantially without rotation with respect to said the component, a tool assembly connected to the mobile platform, and a control system configured to communicate with the translation assembly to control motion of the mobile platform in response to forces by a user applied to at least a portion of the cooperative-control robot. The translation assembly includes at least three independently operable actuator arms, each connected to a separate position of the mobile platform. A robotic system includes two or more the cooperative-control robots. | 03-12-2015 |
20150342695 | MULTI-FORCE SENSING SURGICAL INSTRUMENT AND METHOD OF USE FOR ROBOTIC SURGICAL SYSTEMS - A multi-force sensing instrument includes a tool that has a tool shaft having a distal end and a proximal end, a strain sensor arranged at a first position along the tool shaft, at least one of a second strain sensor or a torque-force sensor arranged at a second position along the tool shaft, the second position being more towards the proximal end of the tool shaft than the first position, and a signal processor configured to communicate with the strain sensor and the at least one of the second strain sensor or the torque-force sensor to receive detection signals therefrom. The signal processor is configured to process the signals to determine a magnitude and position of a lateral component of a force applied to the tool shaft when the position of the applied force is between the first and second positions. | 12-03-2015 |