General Electric Company

Mako Surgical Corporation

Ge Medical Systems Global Technology Company, LLC

Vernon Jensen

William Hullinger Huber

Dun Alex Li

Samuel Lee Alder

Stephen Johnson Lomnes

Douglas Glenn Wildes

Daniel Eduardo Groszmann

Siavash Yazdanfar

Christopher Allen Nafis

Vianney Pierre Battle

Francois Emmanuel Falco

Weston Blaine Griffin

David Ellis Barker

Peter Traneus Anderson

Barry Keith Hanover

Steven Emerson Curtis

Larry E Harrawood

Arvidas Bronislavovich Cheryauka

Lonnie B Weston

Gerald Lee Beauregard

Gregory Alan Weaver

Cristian Atria

Richard Leparmentier

Gregory Scott Lloyd

Barry Frederick Belanger

David Barker Ellis

A robotic surgery method includes coupling a first element of a fluoroscopic imaging system to a first robotic arm fixed relative to an operating room. The first robotic arm includes a mounting fixture configured to be interchangeably coupled to a surgical tool and the first element of the fluoroscopic imaging system. The method further includes mounting a second element of the fluoroscopic imaging system in a position and orientation relative to the first element such that a targeted patient tissue structure may be positioned there between. The method further includes utilizing a sensing system and one or more sensing elements coupled to each of the first and second elements of the imaging system to determine a relative spatial positioning between each of the first and second elements of the fluoroscopic imaging system. The first and second elements of the fluoroscopic imaging system are a source element and a detector element.

System for image-based robotic surgery

In one aspect of the present technique, a method for selecting between a plurality of electromagnetic sensors to correct for one or more field distortions includes, in the presence of an electromagnetic field, acquiring signals representative of the location of a plurality of electromagnetic sensors. The method further includes selecting between the signals from the plurality of electromagnetic sensors based on one or more quality metrics. In another aspect of the present technique, a system for selecting an optimum EM sensor to correct for one or more field distortions includes a plurality of EM sensors and an additional EM sensor for transmitting or receiving signals representative of the location of each of the plurality of EM sensors. The system further includes a controller configured to acquire signals representative of the location of the plurality of EM sensors, and select between the signals from the plurality of EM sensors based on one or more quality metrics.

Method and apparatus for correction of multiple EM sensor positions

A robotic surgery system includes a robotic arm fixed relative to an operating room. The robotic arm comprises a mounting fixture configured to be coupled to a first element of a fluoroscopic imaging system, wherein the first element is one of a source element and a detector element. The system further includes a second element of the imaging system, wherein the second element is the other of the source element and the detector element. The second element is configured to be repositionable relative to the first element and relative to a patient tissue structure. The system further includes a controller operatively coupled to the robotic arm, configured to receive signals from a sensing system. The sensing system detects motion of one or more sensor elements coupled to each of the first and second elements and determine a relative spatial positioning between the elements of the fluoroscopic imaging system.

A robotic surgery method may include moving and temporarily fixing the position of a mobile base relative to the floor; coupling a first element of a fluoroscopic imaging system, including a source element and a detector element, to a first robotic arm coupled to the mobile base, the first robotic arm including a mounting fixture configured to be interchangeably coupled to a surgical tool and the first element; mounting a second element of the fluoroscopic imaging system in a position and orientation relative to the first element such that a targeted patient tissue structure may be positioned between the first and second elements of the fluoroscopic imaging system; and utilizing a sensing system and one or more sensing elements coupled to each of the first and second elements of the fluoroscopic imaging system to determine a relative spatial positioning between each of the first and second elements.

Method for image-based robotic surgery

A robotic surgery system includes a mobile base configured to be movably coupled to the operating room; a first robotic arm coupled to the mobile base and comprising a mounting fixture configured to be interchangeably coupled to a surgical tool and a first element of a fluoroscopic imaging system comprising a source element and a detector element; a second element configured to be repositionable relative to a patient tissue structure that may be placed between the first and second elements; and a controller operatively coupled to the first robotic arm, the controller configured to receive signals from a sensing system operatively coupled to the controller, the sensing system configured to detect motion of one or more sensor elements coupled to each of the first and second elements of the fluoroscopic imaging system and determine a relative spatial positioning between each of the first and second elements.

A navigation system for use during a surgical procedure is provided. The navigation system is configured to use electromagnetic tracking data produced by electromagnetic tracking devices and 2D image data produced by a fluoroscope to intra-operatively register 2D images of a patient to a pre-operative 3D image of the patient. In some implementations, a surgeon may be able to perform an interventional or surgical procedure guided by the navigation system.

Intra-operative registration for navigated surgical procedures

Certain embodiments of the present invention provide a method for correlating data including: receiving from a tracking subsystem a first data set including a tracked position of an object; receiving from an imaging subsystem a second data set including an image of the object; and comparing automatically at least a portion of the first data set with at least a portion of the second data based at least in part on the tracked position of the object and the image of the object. In an embodiment, the comparing automatically the first data set with the second data set is performable in real-time. In an embodiment, the method further includes registering the first data set with the second data set. In an embodiment, the tracking subsystem tracks the object electromagnetically, at least in part. In an embodiment, the imaging subsystem includes an x-ray imaging subsystem. In an embodiment, the first data set is generatable by the tracking subsystem substantially in real-time. In an embodiment, the method further includes determining an offset between at least a portion of the first data set and at least a portion of the second data set. In an embodiment, the method further includes performing an adjustment based at least in part on the offset on at least one of: the tracking subsystem, the imaging subsystem, and a data processing subsystem.

Methods and systems for registration of surgical navigation data and image data

A system for integrating radiolucent tracking sensors in a medical table, table mat, or surgical drape of a surgical navigation system, allowing the surgical navigation system to be less obtrusive in a surgery environment. A plurality of radiolucent magnetoresistance sensors are integrated into a table, table mat, or surgical draping of a surgical navigation system for improving surgical navigation workflow and eliminating image artifacts from intraoperative images. The plurality of radiolucent magnetoresistance sensors may be located within a table or adjacent to a table surface.

Surgical navigation enabled imaging table environment

A system and method to display a four-dimensional (4D) model of an imaged anatomy is provided. The system comprises a controller, and an imaging system including an imaging probe in communication with the controller. The imaging probe can acquire generally real-time, 3D image data relative to a direction of image acquisition along an imaging plane. The system also includes a tracking system in communication with the controller. The tracking system includes at least one tracking element integrated with the imaging probe. The system is operable to process the generally real-time, 3D image data acquired by the imaging probe relative to generally real-time tracking information acquired by the tracking system so as to display the 4D model of the imaged anatomy.

Intracardiac echocardiography image reconstruction in combination with position tracking system

A surgical navigation system having one or more magnetoresistance sensors, where the sensors have the noise and dynamic range appropriate for electromagnetic position and orientation tracking. The surgical navigation system comprising at least one magnetoresistance reference sensor rigidly attached to an anatomical reference of a patient, at least one magnetoresistance sensor attached to at least one device, and at least one processor for determining the position and orientation of the at least one device.

Surgical navigation system with magnetoresistance sensors

A magnetoresistance sensor for use in a position and orientation tracking system includes an insulating substrate, a pattern of a metal material and/or a semiconductor material deposited on a surface of the insulating substrate, and a bias magnet material deposited over the alternating pattern of a metal material and a semiconductor material. The position and orientation tracking system includes at least one magnetoresistance reference sensor attached to a fixed object, at least one magnetoresistance sensor attached to an object being tracked, and a processor coupled to the at least one magnetoresistance reference sensor and the at least one magnetoresistance sensor.

Magnetoresistance sensors for position and orientation determination

A system and method for controlling a medical imaging device is provided. The system includes a medical imaging device. The system further includes a medical instrument. Further, the system includes a navigation subsystem that is configured to track the medical instrument. Furthermore, the system includes a control subsystem that communicates with the navigation subsystem. The control subsystem is configured to correlate at least one of orientation, position and motion of the medical instrument with a function of the medical imaging device. The control subsystem is further configured to direct the medical imaging device to perform the function associated with the medical imaging device, based on the correlation.

System and method for controlling a medical imaging device

Multimodal optical imaging is disclosed. Possible devices include a filter assembly that is capable of rotary action during real time image acquisition. Systems are disclosed that include such filter assemblies, which are detachable or integrated in the systems. Various techniques for capturing image targets using multiple light sources such as white light and fluorescent light are also disclosed.

Multimodal optical imaging

An imaging and navigation system is disclosed herein. The imaging and navigation system includes a computer and an ultrasonic imaging device disposed at least partially within an ultrasound catheter. The ultrasonic imaging device is connected to the computer and is adapted to obtain a generally real time three-dimensional image. The imaging and navigation system also includes a tracking system connected to the computer. The tracking system is adapted to estimate a position of a medical instrument. The imaging and navigation system also includes a display connected to the computer. The display is adapted to depict the generally real time three-dimensional image from the ultrasonic imaging device and to graphically convey the estimated position of the medical instrument.

Growing community of inventors

Draper, UT, United States of America

Vernon Jensen