Neuroarm Surgical Ltd.

Orbsurgical Ltd.

Other

National Research Council of Canada

Microbotics Corporation

Garnette Roy Sutherland

Tim Fielding

Dennis Gregoris

Sanju Lama

Paul Bradley McBeth

Deon Francois Louw

Alexander Greer

Perry Newhook

Rahul Singh

Hamidreza Hoshyarmanesh

Amir Baghdadi

Kourosh Zareinia

Paul Bradley Mcbeth

Dennis John Gregoris

Mehdi Arbabi-Ghahroudi

David Ian Hoult

Scott King

Boguslaw Tomanek

Jarod Matwiy

Tomas Jens Hirmer

John K Saunders

Franklin A Roberts

Mike Smith

Calvin Bewsky

Liu Shi Gan

Simon Yu

Data is received that is generated by at least one sensor forming part of a surgical instrument. The sensor(s) on the surgical instrument can characterize use of the surgical instrument in relation to a patient. A first machine learning model can construct a force profile using the received data. The force profile includes a plurality of force patterns. In addition, a plurality of features are extracted from the received data. Thereafter, one or more attributes characterizing use of the surgical instrument are determined by a second machine learning model using the constructed force profile and the extracted features. Data characterizing the determination can be provided (e.g., displayed to a surgeon, etc.).

Machine learning-assisted surgery

A local haptic hand controller is provided for enabling an operator to remotely perform fine manipulation, such as microsurgery, in conjunction with a remotely located robotic manipulator, for example at which the microsurgery is to be performed. The local haptic hand controller includes a base, a kinematic structure in communication with the base and comprises a gimbal as an end effector. A local surgical tool is provided at the gimbal and has a shape and construction substantially similar to a remote surgical tool provided at the remote robotic manipulator. A control system is in communication with the local surgical tool and with the remote surgical tool, and configured to enable operation of the local haptic hand controller when a local surgical tool identifier matches a remote surgical tool identifier.

Microsurgery-specific haptic hand controller

Each of a plurality of edge computing devices are configured to receive data streams generated by at least one sensor forming part of a respective medical device (e.g., a sensor-equipped surgical tool, etc.) which, in turn, characterizes use of the respective medical device in relation to a particular patient. Each of the edge computing devices can execute at least one machine learning model which generates or from which model attributes are derived. The generated model attributes are anonymized using an anonymization technique such as k-anonymity. The anonymized generated model attributes are homomorphically encrypted and transmitted to a central server. Encrypted model attribute updates to at least one of the machine learning models are later received from the central server which results in the machine learning models executing on one or more of the edge computing devices to be updated based on the received encrypted model attribute updates.

Machine learning for interconnected surgical theater architecture

Data is received that is generated by at least one sensor forming part of a surgical instrument. The sensor(s) on the surgical instrument can characterize use of the surgical instrument in relation to a patient. A force profile segmentation model can construct a force profile using the received data. The force profile includes a plurality of force patterns. The force profile segmentation model includes at least one first machine learning trained using historical surgical instrument usage data. In addition, a plurality of features are extracted from the received data. Thereafter, one or more attributes characterizing use of the surgical instrument are determined by a force profile pattern recognition model using the constructed force profile and the extracted features. The force profile pattern recognition model includes at least one second machine learning model. Data characterizing the determination can be provided (e.g., displayed to a surgeon, etc.).

Machine learning-based surgical instrument characterization

Bipolar forceps of the type where each of the prongs has a manually engageable portion spaced from the tip for manual squeezing of the prongs and an electrical supply system for applying a high-frequency electric current between tool tips to dissect through tissue planes and/or seal blood vessels includes a set of force measuring sensors for measuring forces, particularly squeezing forces, applied to the prongs at the tip. A temperature sensor is included to provide temperature information and temperature compensation. The sensors are applied to each prong in opposing pairs on the inside and outside surfaces and the outputs thereof are applied to a bridge arrangement. The signals are sent to a processor for generating warning signals and for recording forces for training purposes where a haptic system can be used.

Bipolar forceps with force measurement

The present invention relates to Tau-specific antibodies, fragments thereof, and uses thereof. More specifically, the present invention relates to Tau-specific antibodies, fragments thereof, and conjugates thereof with conjugated to a superparamagnetic nanoparticle. The molecules of the present invention may be used in visualizing damage from traumatic brain injury.

Anti-tau antibody and uses thereof

A device, system and method for interfacing between an end effector of a manipulator and a surgical tool. Embodiments may include an upper tool holder element and a lower tool holder element. Embodiments may also include a drape between the end effector and the manipulator. Embodiments may also include two force sensors and a coupling arranged in a force sensor system for use with an end effector that includes a tool roll driver.

Devices for interfacing between manipulators and surgical tools

A robot system for use in surgical procedures has two movable arms, each arm having a six of degrees of freedom of movement and an end effector which can be rolled about its axis and an actuator which can slide along the axis for operating different tools adapted to be supported by the end effector. Each end effector including optical force sensors for detecting forces applied to the tool by engagement with the part of the patient. The robot is MRI compatible and can be configured to operate within a closed magnet bore. The arms are driven about vertical and horizontal axes by piezoelectric motors.

Microsurgical robot system

Methods, devices (such as computer readable media), and systems (such as computer systems) for performing movements of a tool of a medical robot along a single axis that are achieved by electronically limiting the medical robot's movement to produce movement of the tool along the single axis rather than mechanically restricting the medical robot's movement to produce the single axis movement. The tool's movement will be along the single axis even if a user is moving an input device linked to the medical robot in other axes during the single axis movement. In addition, techniques are disclosed for automating the single axis movement such that it can be programmed to stop at a target location and start at or near a second (e.g., starting) location, which is useful for a procedure such as a brain biopsy, breast biopsy or implantation, and such that a user can execute a command instructing the medical robot to perform the movement without the need for the user to manipulate an input device to cause real-time responsive movement of the medical robot.

Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis

Methods, devices (such as computer readable media), and systems (such as computer systems) for defining and executing automated movements using robotic arms (such as robotic arms configured for use in performing surgical procedures), so that a remotely-located surgeon is relieved from causing the robotic arm to perform the automated movement through movement of an input device such as a hand controller.

Methods, devices, and systems for automated movements involving medical robots

Methods, devices, and systems for use in accomplishing registration of a patient to a robot to facilitate image guided surgical procedures, such as stereotactic procedures.

Methods, devices, and systems useful in registration

A robot system for use in surgical procedures has two movable arms each carried on a wheeled base with each arm having a six of degrees of freedom of movement and an end effector which can be rolled about its axis and an actuator which can slide along the axis for operating different tools adapted to be supported by the effector. Each end effector including optical force sensors for detecting forces applied to the tool by engagement with the part of the patient. A microscope is located at a position for viewing the part of the patient. The position of the tool tip can be digitized relative to fiducial markers visible in an MRI experiment. The workstation and control system has a pair of hand-controllers simultaneously manipulated by an operator to control movement of a respective one or both of the arms. The image from the microscope is displayed on a monitor in 2D and stereoscopically on a microscope viewer. A second MRI display shows an image of the part of the patient the real-time location of the tool. The robot is MRI compatible and can be configured to operate within a closed magnet bore. The arms are driven about vertical and horizontal axes by piezoelectric motors.

A surgical robot that includes at least one robotic arm having multiple joints and at least six degrees of freedom, the robotic arm also including: a magnetic resonance (MR) compatible structural material; multiple MR-compatible joint motors; and multiple MR-compatible joint encoders.

A method of operating a surgical system. The method includes obtaining a magnetic resonance imaging (MRI) scan in which magnetic resonance (MR) visible targets are located; registering a robotic arm to the MRI scan using a digitizing tool, the robotic arm including: multiple joints and multiple degrees of freedom; an MR-compatible structural material; multiple MR-compatible joint motors; multiple MR-compatible joint encoders; and an end effector holding an MR-compatible surgical tool having a tool tip; and displaying a location of the tool tip relative to an image from the MRI scan.

Growing community of inventors

Calgary, Canada

Garnette Roy Sutherland