Covidien LP

Elements Endoscopy, Inc.

Han Sen Medical, Inc.

Simquest LLC

Covidien Ag

Simquest International, LLC

Dwight Meglan

Barry Weitzner

Kristin D Johnson

Meir Rosenberg

William J Peine

Albert Dvornik

Brian Houston Craig

Daniel R King

Woojin Lee

Robert E Ailinger

Arvind K Ramadorai

David Lawrence Brock

Gary S Rogers

Albert N Solbjor

Julien Lenoir

David Driscoll

Eric J Taylor

Jaimeen Kapadia

Brian A Rockrohr

Robert Pierce

Cameron Cecil

Renen Bassik

Chih-Hao Ho

Joshua Snow

Andres Chamorro, Iii

Mathew Livianu

Eric Meade

Alok Agrawal

Samir A Zahine

Howard Champion

Jiqi Cheng

Kashif Ikram

Paul Sherman

Louai Adhami

Manish Pati

Samuel Cordero

Farrukh Rahman

A tissue suturing guidance system includes an image capturing device, a display, and a processor in communication with the image capturing device and the display. The image capturing device is configured to capture a suture site. The display is configured to display an image of the suture site. The processor is configured to: determine, based on the image of the suture site, a geometric tissue representation of the suture site; access measured properties of the suture site; determine, based on the measured properties of the suture site, a biomechanical tissue representation of the suture site; and generate, based on the geometric tissue representation and biomechanical tissue representation of the suture site, a suturing configuration for the suture site.

System and methods for suturing guidance

Methods and systems for providing a visual indication of suture strain include detecting a force applied to the suture; obtaining an image including the suture; identifying, based on at least one of an algorithm to convert a plurality of forces to a plurality of colors or in a table that associates a plurality of colors to a plurality of forces, respectively, a color associated with the force applied to the suture; generating an augmented version of the image; and displaying the augmented version of the image, where the identified color is used to represent at least a portion of the suture.

Method and system for color based indication of suture strain

Systems and methods for surgical robotic collision detection in accordance with aspects of the present disclosure are disclosed. In various embodiments, a system for surgical robotic collision detection includes a robotic cart having a robotic arm, an imaging device supported by the robotic cart or the robotic arm, the imaging device captures images within a field of vision of the imaging device, and a controller in operable communication with the robotic arm and the imaging device. The controller includes a processor and a memory storing instructions which, when executed by the processor, causes the controller to: receive the images from the imaging device, generate a grid including a first plurality of spatial points from the images, and detect a potential collision within the field of vision based on the generated grid.

Robotic surgical collision detection systems

Systems, methods, and computer readable media for providing guidance for positioning a body and a surgical robot are disclosed. An exemplary system includes an image capture device configured to capture an image of a surgical training environment and generate image data of the surgical training environment, a head-mounted display, and a computing device configured to receive a surgical training parameter, receive the image data of the surgical training environment, detect a pose of the table and the surgical robot, generate a virtual training environment based on the surgical training environment, determine a pose of a user relative to the surgical training environment, generate guidance for positioning a body on the table or the surgical robot about the body, based on the surgical training parameter and the determined pose of the user, and cause the head-mounted display to display the generated guidance.

Guidance for positioning a patient and surgical robot

A method for mapping and fusing endoscopy images includes capturing a first image of an object within a surgical operative site, by a first imaging device; and capturing a second image of the object, by a second imaging device. The first image includes the first light radiating from the object, and a first reference point. The second image includes the second light radiating from the object, and a second reference point. The method further includes comparing a first location of the first reference point in the first image to a second location of the second reference point in the second image, determining a relative pose of the first imaging device to the second imaging device based on the comparing, generating an augmented image fusing the first image and the second image based on the determined relative pose, and displaying the augmented image on a display.

Systems and methods for image mapping and fusion during surgical procedures

Methods for guiding a surgical procedure include accessing information relating to a surgical procedure, accessing at least one image of a surgical site captured by an endoscope during the surgical procedure, identifying a tool captured in the at least one image by a machine learning system, determining whether the tool should be changed based on comparing the information relating to the surgical procedure and the tool identified by the machine learning system, and providing an indication when the determining indicates that the tool should be changed.

Systems and methods for guiding surgical procedures

Systems for guiding placement of surgical ports on a body include an image capture device configured to capture an image of an operating environment and generate image data based on the captured image, a display device, and a computing device configured to obtain information regarding a location of a surgical site within the body, receive the image data from the image capture device, generate graphical guidance for placing a surgical port on the body based on the location of the surgical site within the body and the image data, and cause the display device to display the generated graphical guidance.

Guidance for placement of surgical ports

An endoscope having an insertion tube with a distal optical module and a releasable handle. In a semi-robotic embodiment, the handle comprises haptic controllers and a computer configured for steering and/or adjusting physical properties of the insertion tube in response to one or more command inputs from the haptic controllers. The computer may also convert image data received from the optical module into two-dimensional images displayable on a monitor. The endoscope may have inertial measurement units (IMUs) for providing data to the computer for creating a digital three-dimensional image representation of an anatomy model and/or for facilitating handling properties of the endoscope.

Endoscope with inertial measurement units and/or haptic input controls

An endoscope having an outer sheath, a handle, an optical window and an optical module. The outer sheath includes a lumen extending between a proximal end and a distal end thereof. The handle is mounted at the proximal end of the outer sheath and includes an external data connector. The optical window is removably and sealingly mounted at the distal end of the outer sheath. The optical module is removably disposed within the distal end of the outer sheath and includes an integrated image sensor, an optical lens, and an optical module connector. The optical module connector is configured for selective disconnection from and reconnection to a mating line connector in electrical communication with the external data connector of the handle. The optical module and the outer sheath further include one or more alignment features configured to ensure correct radial and axial positioning.

Multi-use endoscopes and associated systems and methods

Systems and methods are provided to mitigate potential collisions between a person and robotic system. In various embodiments, a robotic surgical system includes a robotic linkage including joints, an endoscope coupled to a distal portion of the robotic linkage and configured to capture stereoscopic images, and a controller in communication with the endoscope. The controller executes instructions to analyze the stereoscopic images from the endoscope to identify a human-held tool in the stereoscopic images and to estimate a type and/or pose of the human-held tool, infer a position of a person holding the human-held tool based on the type and/or pose of the human-held tool, determine a spatial relationship between the person and the robotic linkage based on the inferred position of the person, and generate a warning of potential collision between the person and the robotic linkage based on the determined spatial relationship.

Systems and methods for mitigating collision of a robotic system

Robotic Surgical Systems and methods of controlling robotic surgical systems are disclosed herein. One disclosed method includes visually capturing a tool pose of a tool within a surgical site with an imaging device in a fixed frame of reference, determining an arm pose of a linkage supporting the tool from known geometries of the linkage in the fixed frame of reference, and manipulating the linkage to move the tool to a desired tool pose in response to a control signal in the fixed frame of reference.

Determining positions and conditions of tools of a robotic surgical system utilizing computer vision

Methods, systems, and computer-readable media for detecting image degradation during a surgical procedure are provided. A method includes receiving images of a surgical instrument; obtaining baseline images of an edge of the surgical instrument; comparing a characteristic of the images of the surgical instrument to a characteristic of the baseline images of the edge of the surgical instrument, the images of the surgical instrument being received subsequent to obtaining the baseline images of the edge of the surgical instrument and being received while the surgical instrument is disposed at a surgical site in a patient; determining whether the images of the surgical instrument are degraded, based on the comparing of the characteristic of the images of the surgical instrument and the characteristic of the baseline images of the surgical instrument; and generating an image degradation notification, in response to a determination that the images of the surgical instrument are degraded.

Systems, methods, and computer-readable media for detecting image degradation during surgical procedures

A robotic surgical system includes an access port having a plurality of sensors incorporated therein and a surgical instrument having an end effector for use with, and connection to a robot arm. The sensors measure a loading parameter between tissue and the access port when the shaft is inserted through the access port. The sensors wirelessly transmit signals indicative of the loading parameter to a processing unit. The estimated loads at the tip of the end effector of the surgical instrument are provided in real-time to a haptic feedback interface for communicating haptic feedback to a user. The haptic feedback increases or decreases in intensity in response to a specific event, occurrence, or operational characteristic related to the estimated loads.

Sensorizing robotic surgical system access ports

A method of placing a surgical robotic cart assembly includes, determining a first position of a first surgical robotic cart assembly relative to a surgical table, calculating a path for the first surgical robotic cart assembly towards a second position of the first surgical robotic cart assembly relative to the surgical table, wherein in the second position, the first surgical robotic cart assembly is spaced-apart a first safe distance from the surgical table, moving the first surgical robotic cart assembly autonomously towards the second position thereof, and detecting a potential collision along the path of the first surgical robotic cart assembly as the first surgical robotic cart assembly moves towards the second position thereof.

Systems and methods for surgical robotic cart placement

Provided in accordance with the present disclosure are systems, methods, and computer readable media for providing guidance for positioning a body and a surgical robot. An exemplary system includes an image capture device configured to capture an image of a surgical training environment and generate image data of the surgical training environment, a head-mounted display, and a computing device configured to receive a surgical training parameter, receive the image data of the surgical training environment, detect a pose of the table and the surgical robot, generate a virtual training environment based on the surgical training environment, determine a pose of a user relative to the surgical training environment, generate guidance for positioning a body on the table or the surgical robot about the body, based on the surgical training parameter and the determined pose of the user, and cause the head-mounted display to display the generated guidance.

Growing community of inventors

Westwood, MA, United States of America

Dwight Meglan