Procept Biorobotics Corporation

Hydrocision, Inc.

Kevin Patrick Staid

Surag Mantri

Nikolai Aljuri

James Luis Badia

Nishey Wanchoo

Timothy E Moutafis

Donald C Freeman, Jr

Peter Bentley

Mark Baerenrodt

Jason W Hemphill

Matt Sprinkel

James J Frassica

Ernest Allen Dion

David P Hesketh

Brian G Connor

Joseph A Meranda

Kevin Louis Hudelson

Andy H Levine

Roger D Greeley

Mark C Ettinger

Alex Hsia

Scott Dennis Taylor

Friedrich Ho

Ruth Beeby

Paul T Modoono

Joseph P Sylvester, Jr

David M Reed

Rishabh Mayur Sirdesai

Jonathan Trung Hoang

David Vincent Adams

Lincoln Alvord

Keegan Mik

Ernest Dion

Joseph Meranda

A fluid source on a carrier is configured to rotate relative to a probe to direct a fluid stream from the source toward an opening of an evacuation lumen. This may help to remove material that may collect near the opening, such as blood clots and tissue. Also, directing the fluid stream toward the evacuation lumen can draw flowable material from the surgical site toward the evacuation lumen to improve removal of material from the surgical site.

Material removal from surgical site

An energy source is coupled to a probe mounted on a robotic arm, and a processor configured with instructions to release energy to resect tissue in coordination with movement of the robotic arm and probe. The tissue can be resected in accordance with a defined tissue resection volume that can be determined based on images of the patient. The probe can be moved to a plurality of positions with movement of a distal end of the robotic arm and tissue resected in accordance with the treatment plan. The distal end of the robotic arm can be configured to move to a plurality of locations and orientations to provide an appropriate position and orientation of the probe tip and energy source. The processor can be configured with instructions to pivot the probe at a location to decrease tissue movement near the pivot such as an internal location of the patient.

Surgical probes for tissue resection with robotic arms

A surgical drape is configured for covering a patient and an ultrasonography probe during surgical treatment of the patient. The surgical drape may comprise a first portion that comprises a canopy portion. The canopy portion can be sized and shaped to at least partially cover a mechanical arm coupled to the ultrasonography probe and a proximal portion of the ultrasonography probe, and the canopy portion can be configured to move with the proximal portion of the ultrasonography probe when the ultrasonography probe is supported by the mechanical arm. A second portion can be coupled to the first portion, in which the second portion is sized and shaped to cover at least a portion of a torso of the patient.

Surgical drape with canopy

Systems, methods, and apparatuses detect tissue strain associated with tissue resistance and shearing and provide feedback such as real time feedback during insertion of a probe, which can decrease potential tissue damage associated with insertion of a probe. In some embodiments, a method may include generating one or more digital images of a tissue, determining a strain imparted on the tissue based on the one or more digital images, and providing feedback based on the detected strain. The feedback may be one or more of audible, visual, or haptic feedback. The feedback may be provided when the determined strain is above a threshold. The strain may be determined through the use of an artificial intelligence or machine learning classifier.

Apparatus to detect tissue stretching during insertion of probes

An apparatus for robotic surgery comprises a processor configured with instructions to receive patient data from treated patients, receive surgical robotics data for each of the plurality of treated patients, and output a treatment plan of a patient to be treated in response to the patient data and the surgical robotics data. This approach has the advantage of accommodating individual variability among patients and surgical system parameters so as to provide improved treatment outcomes.

Artificial intelligence for robotic surgery

An energy source is offset from an elongate probe axis with an extension. The amount of offset of the energy source can be controlled by varying an amount of offset of the extension. The energy source rotated and translated at the offset distance to resect tissue. In some embodiments, the probe is configured to receive a second treatment probe comprising a second energy source, in which the second energy source is rotated and translated relative to the first treatment probe, which can improve positional accuracy and stability. The energy source and the extension can be coupled to a linkage to offset the energy source, and to translate and rotate the energy source with varying amounts of offset. The linkage can be coupled to a processor and one or more of the energy source moved in accordance with a treatment profile.

Surgical probe with independent energy sources

A system for treating a target tissue of a patient comprises a first robotic arm coupled to a treatment probe for treating the target tissue of the patient, and a second robotic arm coupled to an imaging probe for imaging the target tissue of the patient. The system further comprises one or more computing devices operably coupled with the first robotic arm and the second robotic arm, the one or more computing devices configured to execute instructions for controlling movement of one or more of the first robotic arm or the second robotic arm. The treatment probe and/or the imaging probe is constrained to be moved only within an allowable range of motion.

Systems for defining and modifying range of motion of probe used in patient treatment

A pump cartridge comprises a retention structure to retain a piston for shipping and storage, in which the piston can be decoupled from the retention structure to pump fluid. In the shipping and storage configuration, the piston can be positioned with the retention structure to allow sterilization gas to travel within a housing and into a cylinder distal to the piston. When placed in the console for use in a pumping configuration, the piston can be decoupled from the retention structure to form a seal within the housing. When the procedure has been completed, the pump cartridge can be decoupled from the console in a manner that disables the cartridge for subsequent use to prevent a non-sterile cartridge from being reused.

Pump cartridge and console

A system for treating a target tissue of a patient comprises a first robotic arm coupled to a treatment probe for treating the target tissue of the patient, and a second robotic arm coupled to an imaging probe for imaging the target tissue of the patient. The system further comprises one or more computing devices operably coupled with the first robotic arm and the second robotic arm, the one or more computing devices configured to execute instructions for controlling movement of one or more of the first robotic arm or the second robotic arm.

Robotic arms and methods for tissue resection and imaging

An imaging probe is covered with a stiff sheath, which allows the imaging probe to move while the stiff sheath remains in a substantially fixed location for at least a portion of the surgical procedure while the probe moves within the stiff sheath. The stiff sheath may comprise sufficient stiffness to resist deformation as the imaging probe moves along an internal channel of the sheath. The sheath can be sized and shaped in many ways and may comprise one or more openings to allow fluid to move within the channel in which the probe is located.

Stiff sheath for imaging probe

Embodiments of the present disclosure provide improved methods and apparatus for coupling a probe to an instrument device manipulator (e.g., robotic arm). In some embodiments, a probe, which may be carried by a handpiece, is configured to couple to the end of a device manipulator of a robotic arm. A transmission can be provided that is configured to couple to the probe and also couple to the instrument device manipulator. The transmission can be configured to receive motion input from the instrument device manipulator and transfer the motion input into motion of the probe. The transmission can provide improved movement of the probe. By decreasing the number of components on the handpiece and probe, the handpiece and probe can be provided as a sterile, single use consumable device and the transmission can be reused.

Integration of robotic arms with surgical probes

Disclosed herein are improved methods and apparatuses for providing hemostasis within a cavity defined by an internal surface of a bleeding tissue space. A catheter comprising a proximal end and a distal end may be advanced into the cavity through a proximal opening of the tissue space into the cavity. A distal balloon coupled to the catheter may be expanded, and the catheter tensioned to apply pressure to the internal surface of the tissue space to inhibit bleeding of the tissue space.

Tensioning apparatus for hemostasis and maintaining catheter placement

A surgical drape is configured for covering a patient and an ultrasonography probe during surgical treatment of the patient. The surgical drape may include a first portion that includes a canopy portion. The canopy portion can be sized and shaped to at least partially cover a mechanical arm coupled to the ultrasonography probe and a proximal portion of the ultrasonography probe, and the canopy portion can be configured to move with the proximal portion of the ultrasonography probe when the ultrasonography probe is supported by the mechanical arm. A second portion can be coupled to the first portion, in which the second portion is sized and shaped to cover at least a portion of a torso of the patient.

Surgical drape with container

A system for treating a target tissue of a patient comprises a first robotic arm coupled to a treatment probe for treating the target tissue of the patient, and a second robotic arm coupled to an imaging probe for imaging the target tissue of the patient. The system further comprises one or more computing devices operably coupled with the first robotic arm and the second robotic arm, the one or more computing devices configured to execute instructions for controlling movement of one or more of the first robotic arm or the second robotic arm. The treatment probe and/or imaging probe may be constrained to be moved only within an allowable range of motion.

Growing community of inventors

Lowell, MA, United States of America

Kevin Patrick Staid