Intuitive Surgical Operations, Inc.

Siemens Healthcare Gmbh

Siemens Aktiengesellschaft

Christine Niebler

Mahdi Azizian

Jonathan Michael Sorger

Holger Kunze

Lutz Blohm

Stefan Sattler

Stefan Schuster

A system and method of registration between devices includes a tracking system and a controller. The system is configured to couple to a first device and a second arm separate from the first device. The first device has a first arm configured to couple to a manipulatable device. The second arm is configured to couple to an imaging device. The controller is configured to determine, based on tracking data from the tracking system, a first pose of the first arm and a second pose of the second arm; send a movement command to the second arm that directs the second arm to move into a third pose while maintaining a safety margin between the first and second arms. In the third pose the imaging device can capture an image of at least a portion of the manipulatable device. The movement command is based on the first and second poses.

System and method of registration between devices with movable arms

In a method and an apparatus to provide updated images during a robotically-implemented surgical procedure, 3D data is obtained of a volume of a patient, which includes anatomy involved in the procedure. The anatomy is segmented from a reconstructed image of the volume. During the procedure, the surgeon applies forces on the anatomy, causing a geometric change of the anatomy. Force sensors in the surgical robot detect these forces, which are supplied to a processor that controls display of the segmented anatomy at a display screen. From the applied forces and the physical properties of the anatomy, the processor calculates the geometric change of the anatomy that has occurred and modifies the appearance and/or position of the displayed segmented anatomy on the display screen in real time during the procedure, so as to visualize the geometric change.

Method and apparatus to provide updated patient images during robotic surgery

A system and method for movement control includes a controller coupled to a computer-assisted surgical device having a first movable arm coupled to a manipulatable device having a working end and a second movable arm coupled to an image capturing device. The controller is configured to receive first configurations for the first movable arm; receive second configurations for the second movable arm; receive a plurality of images of the working end from the image capturing device; determine a position and an orientation of the working end; determine a first movable arm position and trajectory for the first movable arm; determine a second movable arm position and trajectory for the second movable arm; determine whether motion of the movable arms will result in an undesirable relationship between the movable arms; and send a movement command to the first or second movable arm to avoid the undesirable relationship.

Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms

A method for controlling a movement of an x-ray apparatus is provided. The x-ray apparatus has a C-arm with an x-ray source and an x-ray detector disposed opposite one another, an actuator for positioning the C-arm relative to an examination region of an examination object supported on a support facility, a control facility for controlling the x-ray source and the x-ray detector and the actuator, and an operating facility with a display apparatus and an operating unit. The display apparatus displays an image representing a part of the examination object and a target location of the C-arm being determined as a function of an input at the operating unit. The target location has a target position and a target alignment of the C-arm. A controlled variable of the actuator is determined and supplied to the control facility for controlling the actuator.

Method for controlling the movement of an x-ray apparatus and x-ray system

In a method and an apparatus to provide updated images during a robotically-implemented surgical procedure, 3D data are obtained of a volume of a patient, which includes anatomy involved in the procedure. The anatomy is segmented from a reconstructed image of the volume. During the procedure, the surgeon applies forces on the anatomy, causing a geometric change of the anatomy. Force sensors in the surgical robot detect these forces, which are supplied to a processor that controls display of the segmented anatomy at a display screen. From the applied forces and the physical properties of the anatomy, the processor calculates the geometric change of the anatomy that has occurred and modifies the appearance and/or position of the displayed segmented anatomy on the display screen in real time during the procedure, so as to visualize the geometric change.

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Ruckersdorf, Germany

Christine Niebler