Covidien LP

Codman & Shurtleff, Inc.

K Spine, Inc.

Abiomed, Inc.

Albany Medical College

V-wave Limited

Other

Abiomed R & D, Inc.

Alung Technologies, Inc

K2m, Inc.

Abiomed Cardiovascular, Inc.

University of Pittsburgh

Meir Rosenberg

Dwight Meglan

William J Peine

Dan Sachs

Allen L Carl

Fredric L Milder

Pierre S Ostiguy

Yoram Rozy

Doron Kopelman

Tamar Harel

Scott W Morley

Tamir Levi

Ori Ben-Amotz

Roey Shafrir

Eyal Benbenisti

Itshak Cohen

Alan Dextradeur

Stephen Ferrer Wilson

Robert G Svitek

William J Federspiel

Brian Joseph Frankowski

Robert T Kung

Albert Dvornik

Rainuka Gupta

Terri Kelcourse Taylor

Brendan C Mack

Douglas MacBride

Bertil Romner

Eric J Taylor

Jaimeen Kapadia

Robert T V Kung

Robert W Hausslein

Robert Pierce

Stephen S Keaney

David M Lederman

Alan R Millner

Arvind K Ramadorai

Robert B Stewart

Anne Marie Cromwick

Paul Bieniek

Douglas Macbride

Steven J Levine

Samuel B Kesner

Joshua R Snow

Scott W Marley

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

An electromechanical robotic surgical instrument is provided and includes a flexible shaft defining a lumen therethrough; an end effector pivotally supported by the flexible shaft; at least one cable translatably disposed within the lumen of the flexible shaft, wherein a distal end of each cable is operatively connected to the end effector to affect a movement of the end effector in response to translation of the at least one cable, wherein the at least one cable includes metrical markings along an outer surface thereof, which metrical markings are located adjacent to the end effector; and at least one linear encoder supported by the flexible shaft and being in operative registration with the metrical markings of a respective one of the at least one cable, wherein the at least one linear encoder is configured to measure changes in the metrical markings.

Robotic surgical instrument including linear encoders for measuring cable displacement

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

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

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

A position and tracking system for radio-based localization in an operating room, includes a receiver, a mobile cart, a processor, and a memory coupled to the processor. The mobile cart includes a robotic arm and a transmitter in operable communication with the receiver. The memory has instructions stored thereon which, when executed by the processor, cause the system to receive, from the transmitter, a signal including a position of the mobile carts in a 3D space based on the signal communicated by the transmitter and determine a spatial pose of the mobile carts based on the received signal.

System and method for radio based location of modular arm carts in a surgical robotic system

A system includes a robotic arm, an autosteroscopic display, a user image capture device, an image processor, and a controller. The robotic arm is coupled to a patient image capture device. The autostereoscopic display is configured to display an image of a surgical site obtained from the patient image capture device. The image processor is configured to identify a location of at least part of a user in an image obtained from the user image capture device. The controller is configured to, in a first mode, adjust a three dimensional aspect of the image displayed on autostereoscopic display based on the identified location, and, in a second mode, move the robotic arm or instrument based on a relationship between the identified location and the surgical site image.

Systems, methods, and computer-readable storage media for controlling aspects of a robotic surgical device and viewer adaptive stereoscopic display

The present disclosure is directed to an augmented reality surgical system. The system includes an endoscope that captures an image of the region of interest of a patient and an ECG device that records an ECG of the patient. A controller receives the image and applies at least one image processing filter to the image. The image processing filter includes a decomposition filter that decomposes the image into frequency bands. A temporal filter is applied to the frequency bands to generate temporally filtered bands. An adder adds each band frequency band to a corresponding temporally filtered band to generate augmented bands. A reconstruction filter generates an augmented image by collapsing the augmented bands. The controller also receives the ECG and processes the augmented image with the ECG to generate an ECG filtered augmented image. A display displays the ECG filtered augmented image to a user.

Surgical system for detecting gradual changes in perfusion

A medical implant including an anchor portion including a plurality of arms adapted to engage an internal tissue wall of a body from two opposite faces, wherein the anchor portion is configured such that at least one of the arms does not have an entirely overlapping arm on the other side of the wall and an opening portion adapted to define an opening for blood flow through the internal tissue wall, when the anchor portion engages the wall.

Heart anchor device

The present disclosure is directed to systems and methods for amplifying a region of interest in a surgical environment. The system includes a stereo endoscope having a first camera and a second camera configured to obtain one or more images of the surgical environment. The system also includes a computer that has a central processing unit (CPU) configured to determine the region of interest in the surgical environment, a first controller configured to process the one or more images from the first camera to generate first amplified image(s), and a second controller configured to process the one or more images from the second camera to generate second amplified image(s). The first and second controllers process the one or more images based on the region of interest determined by the CPU. A display displays the one or more first amplified images and the one or more second amplified images.

Systems and methods for amplifying changes in a region of interest in a surgical environment

Systems, methods, and computer-readable media are provided for robotic surgical device control. A system is provided including a robotic arm, an autosteroscopic display, a user image capture device, an image processor, and a controller. The robotic arm is coupled to a patient image capture device. The autostereoscopic display is configured to display an image of a surgical site obtained from the patient image capture device. The image processor configured to identify a location of at least part of a user in an image obtained from the user image capture device. The controller is configured to, in a first mode, adjust a three dimensional aspect of the image displayed on autostereoscopic display based on the identified location, and, in a second mode, move the robotic arm or instrument based on a relationship between the identified location and the surgical site image.

A surgical robotic cart assembly includes a vertical column supporting a robotic arm thereon, a base, and a plurality of casters attached to the base and adapted to allow the surgical robotic assembly to move. The surgical robotic cart further includes at least one vacuum cup on the base for sealingly engaging the base to the floor thereby immobilizing the surgical robotic cart assembly.

Vacuum immobilizer for surgical robotic carts

Growing community of inventors

Newton, MA, United States of America

Meir Rosenberg