Worcester Polytechnic Institute

Surgisense Corporation

Other

Boston Scientific Scimed, Inc.

Surgisense Coporation

Fischer, Gregory S.

Su, Hao

Zand, Jason

Gregory Scott Fischer

Jason Matthew Zand

Hao Su

Bryan Allen Clark

Perry Arthur Genova

Dino Kasvikis

Megan Chrobak

Elizabeth M Albrecht

Benjamin Piecuch

Kianoosh Ghazi

Christopher J Nycz

Gregory A Cole

Julie Pilitsis

Elizabeth V Alexander

Karim A Tarabein

Zachary R Boyer

Justin Thomas Knowles

Thomas Carroll

Kenneth Stafford

Benjamin G Mart

Cory T Brolliar

Loris Fichera

Kevin O'Brien

Kevin Harrington

Laurie Dickstein-Fischer

Apparatus, systems, and methods are provided that generate in vivo maps of oxygenation measurements of biological tissue. These may include surgical instruments and stand-alone imaging systems with incorporated oxygen sensing capability. Oxygenation maps can be determined via fluorescent or phosphorescent lifetime imaging of an injectable probe with an oxygen-dependent optical response. Probe configuration and methods and apparatus of injecting the probe into the tissue are provided. Methods and apparatus for temperature compensation of temperature-dependent lifetime measurements are provided to improve oxygenation measurement accuracy. Oxygen maps may be registered with visible light images to assist in assessing tissue viability or localize anomalies in the tissue. Resulting oxygen images may be used for various applications including, but not limited to, guiding surgical procedures such as colorectal resection through use of intraoperative sensing, enhanced endoscopic imaging for identifying suspect lesions during colonoscopy, and external imaging of tissue such as assessing peripheral vascular disease.

Apparatus, systems, and methods for mapping of tissue oxygenation

An endoscopic system may include an endoscope including a handle and an elongate shaft extending distally therefrom. The handle may include a non-motorized and non-ratcheting actuation mechanism configured to articulate a distal tip portion of the elongate shaft. The distal tip portion may be articulatable in response to a manually applied force exerted upon the actuation mechanism. Removal of the manually applied force may lock the distal tip portion in its then-current configuration. The non-motorized and non-ratcheting actuation mechanism may include a clutch mechanism actuatable in response to an electrical signal generated in response to sensing a user-applied force to the actuating mechanism by a strain gauge.

Clutch system for flexible endoscopes

A surgical head clamp and robotics platform secures a head of a patient and positions an instrument relative to the head for a medical procedure. The head clamp and robotics platform comprises a planar C-shaped frame for at least partially encircling the head of a patient. An instrument arm is mounted is to a free distal end of one arm member of the frame. The instrument arm extends away from the arm member in a direction transverse to the plane of the frame. The instrument arm includes a base mounted to the arm member for movement along three degrees of freedom relative to the frame, a proximal portion extending from and pivotally connected to the base, and a distal instrument holder extending from and pivotally connected to the proximal portion. The instrument arm functions to selectively position the instrument in an angular position relative to the head clamp.

Surgical head clamp and robotics platform

An articulating, steerable surgical probe includes an elongated, flexible transfer tube adapted for insertion into a surgical region for endoscopic laryngeal laser surgery. A lumen is defined by an interior of the transfer tube, and a laser fiber extends through the lumen for delivering a therapeutic laser signal to a distal end of the laser fiber. An articulating tip at the distal end of the transfer tube is responsive to articulating forces from a retractable tether for directing the treatment probe in a direction of the articulation, and a linkage to the tether from a control module effects controlled retraction of the tether for articulating the tip towards a surgical target, such that the articulating tip imposing a bend radius based on a signal loss through the laser fiber.

Flexible articulating surgical probe

A system is provided that furnishes expert procedural guidance based upon patient-specific data gained from surgical instruments incorporating sensors on the instrument's working surface, one or more reference sensors placed about the patient, sensors implanted before, during or after the procedure, the patient's personal medical history, and patient status monitoring equipment. Embodiments include a system having a surgical instrument with a sensor for generating a signal indicative of a property of a subject tissue of the patient, which signal is converted into a current dataset and stored. A processor compares the current dataset with other previously stored datasets, and uses the comparison to assess a physical condition of the subject tissue and/or to guide a procedure being performed on the tissue.

Surgical instruments with sensors for detecting tissue properties, and system using such instruments

A needle steering system and apparatus provides active, semi-autonomous control of needle insertion paths while still enabling a clinician ultimate control over needle insertion. A method and system controls the needle path as the needle is inserted by precisely controlling the rotation of the needle as it continuously rotates during insertion. This enables underactuated 2 degree-of-freedom (DOF) control of the direction and the curvature of the needle from a single rotary actuator. Control of the rotary motion is therefore decoupled from the needle insertion. The rotary motion controls steering effort and direction, while the insertion controls needle depth or insertion speed. In one implementation, the proposed method does not require constant velocity insertion, interleaved insertion and rotation, or known insertion position or speed. The insertion may be provided by a robot or other automated method, may be a manual insertion, or may be a teleoperated insertion.

System and method for underactuated control of insertion path for asymmetric tip needles

Methods and systems for observing/analyzing interactive behavior are presented. In one instance, the method for observing/analyzing interactive behavior includes interacting, using a robot, with a subject and obtaining data from interaction between the subject and the robot, the data from the data acquisition components, the data being used for diagnosis and/or charting progress. In one instance, the robot includes data acquisition components, interaction inducing components (such as, but not limited to, movable eyelids, movable appendages, sound generating components), a control component operatively connected to the interaction inducing components and a processing component operatively connected to the control component and the data acquisition components, the processing component being configured to obtain data from the data acquisition components, the data being used for diagnosis and/or charting progress. In one instance, the robot is integrated with a computer-aided system for diagnosis, monitoring, and therapy.

System and method of pervasive developmental disorder interventions

A needle steering system and apparatus provides active, semi-autonomous control of needle insertion paths while still enabling a clinician ultimate control over needle insertion. The present teaching describes a method and system for controlling needle path as the needle is inserted by precisely controlling the rotation of the needle as it continuously rotates during insertion. This enables underactuated 2 degree-of-freedom (DOF) control of the direction and the curvature of the needle from a single rotary actuator. Control of the rotary motion is therefore decoupled from the needle insertion. The rotary motion controls steering effort and direction, while the insertion controls needle depth or insertion speed. In one implementation, the proposed method does not require constant velocity insertion, interleaved insertion and rotation, or known insertion position or speed. The insertion may be provided by a robot or other automated method, may be a manual insertion, or may be a teleoperated insertion.

A system and method for image guided assisted medical procedures using modular units, such that a controller, under the direction of a computer and imaging device, can be utilized to drive and track low cost, purpose specific manipulators. The system utilizes modular actuators, self tracking, and linkages. The system can be optimized at a low cost for most effectively performing surgical procedures, while reusing the more costly components of the system, e.g. the control, driving, and tracking systems. The system and method may utilize MRI real time guidance during the above procedures.

System and method for robotic surgical intervention in a magnetic resonance imager

A surgical instrument may be configured to sense a light re-emitting probe to resolve tissue oxygenation, the surgical instrument including: an optical emitter configured to excite the light re-emitting probe within an absorption band of the light re-emitting probe; an optical detector configured to receive the re-emitted light from the probe; and a signal processor configured to resolve the tissue oxygenation based on the received light. The surgical instrument can be a surgical stapler anvil or a flexible substrate having a tissue interfacing surface. Further, a monitoring device may be configured to map oxygenation of a tissue containing a light re-emitting probe, the monitoring device including: an optical emitter configured to excite the light re-emitting probe; at least one optical detector configured to receive the re-emitted light from the probe; and a signal processor that is configured to resolve the tissue oxygenation at multiple points to generate an oxygen map.

Apparatus, systems and methods for determining tissue oxygenation

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Jamaica Plain, MA, United States of America

Gregory Scott Fischer