AI-Powered Robotic Surgery

Fully automated robotic dental drill for precision dental surgeries like crown preparations without manual cutting by a dentist. The drill has a robotic arm with a cutting end effector that can move in six degrees of freedom to accurately shape teeth. It uses motors and translational drives to precisely position and orient the end effector. This allows automated preparation of teeth for prosthetics without the variability and limitations of manual drilling.

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Robotic system for treating the intestines of patients using an elongated device with a robotic console that can manipulate the device and its distal functional assembly. The system enables precise positioning and maneuvering of the device inside the intestines for procedures like expanding submucosal tissue, ablating tissue, or gathering segment information. Robotic control allows overcoming challenges of intestinal tortuosity and motion. The console detects patient states and robotic manipulations are performed based on that. The system can also have sensors for intestinal segment information, force feedback, and shape sensing for 3D mapping.

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Handheld pendant for controlling a robotic surgical system in both semi-autonomous and manual modes. The pendant has two controls: one to initiate semi-autonomous mode where the robot moves the instrument, and another to modify the instrument feed rate in semi-autonomous mode. This allows the surgeon to switch between robot-controlled and manual instrument movement during a procedure. The robot calculates the feed rate for automated movement, but the surgeon can override it for finer control.

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A system for directing a laparoscopic instrument without requiring the user to keep their focus on the movement. The system allows a user to direct the instrument by touching a part of the screen displaying the surgical environment, moving their body, making sounds, or moving their eyes. The system determines the intended destination based on these inputs and moves the instrument there. It can also prevent restricted movements. The system uses rules like proximity, collision prevention, preferred volumes, and historical analysis to determine allowed and restricted movements.

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Autonomous navigation of medical devices like catheters and guidewires through a patient's vascular network to treat conditions like stroke. The system uses imaging to identify the device's location and determine waypoints for steering. It generates trajectories to move the device between points. The device is then autonomously advanced along the trajectories. The imaging also helps locate obstructions for removal. The system can also release contrast to enhance imaging. The aim is to facilitate guided, robotic intervention for conditions like stroke by autonomously navigating devices to targets using image guidance.

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Robotic system for accurately targeting and deploying needles for medical procedures like radiofrequency ablation of liver tumors in a way that mitigates errors caused by the liver's respiratory motion. The robotic platform is designed to be mounted directly on the patient's abdomen. It uses a compact dual-stage cartesian robot with an active needle insertion module. The robot's lower stage moves the upper stage in 2D, and the needle insertion module connects the stages. The module has a flexible fluidic actuator with inflatable bellows and diaphragms. During static breath hold, the diaphragms grip the needle, then the bellows inflate to insert it. Before breathing, the diaphragms deflate and the bellows deflate. This active motion compensation reduces errors due to liver motion compared to passive methods.

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Robotic system for accurately guiding medical instruments to move targets inside the body during minimally invasive procedures like biopsies. The system uses real-time ultrasound imaging and robotics to track the movement of internal organs and lesions due to breathing and instrument insertion. It adjusts the robot arm position in real time based on updated ultrasound images to optimally guide the instrument to the target. This compensates for organ deformations and breathing-induced displacements. The system also has a navigation system to provide the robot and ultrasound probe positions.

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Robotic systems with shared degrees-of-freedom (DoFs) between components for collision avoidance in medical applications. The robotic systems have shared DoFs between links like arms and supports to enable null space motion for collision avoidance. This allows adjusting arm positions while maintaining a fixed remote center of movement. The shared DoFs can be from an adjustable support base and robotic arms or from a patient platform and robotic arms. Sharing DoFs between different links allows coordinated motion for collision avoidance without spacing the robotic arms too far apart.

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Automated system and method to insert medical devices like endotracheal tubes into patient cavities using image guidance. The system has a bending section with a camera, processor, and actuators. It collects images of the cavity, recognizes structures, predicts the tube path, generates control signals, and actuates the tube to follow the predicted path. The system can also allow manual override. The camera data is used to visualize the cavity and guide the tube insertion. The automated guidance aims to simplify intubation and reduce failures compared to manual methods.

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Enhancing surgical procedures using augmented reality (AR) and artificial intelligence (AI) to provide real-time guidance and assistance to surgeons. The system overlays AR annotations and visualizations on live video feeds of the surgical site, highlighting important structures and providing additional information. It also uses AI to analyze the video feeds and provide real-time guidance on surgical techniques. The AR and AI systems are integrated with robotic surgery platforms to enable remote control of the robotic arms by viewing the augmented video. This allows surgeons to perform minimally invasive surgeries with improved precision and reduced risks.

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System for neuronavigation registration and robotic trajectory guidance in surgery to improve accuracy and efficiency of neurosurgical procedures like electrode implantation. It uses image analysis, fiducial markers, and tracking to determine the patient anatomy and robot arm positions relative to each other. This allows the robot to move precisely to targeted locations in the patient's brain based on preoperative images. The system provides visual feedback and suggestions to optimize electrode placement. It also generates maps to show the best entry points for the robot arm based on accuracy criteria.

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Method and system for accurately aligning 3D and 2D medical images during surgery to improve navigation and guidance. The method involves using a trained AI model to predict the rotation and translation needed to align a 2D image with projected views of the 3D image. This is done by converting the 3D image into multiple 2D projections using image parameters, comparing those to the actual 2D image, and selecting the one with closest matching differences. The predicted alignment values from that projection are then used instead of direct alignment. The AI model is trained using historical 3D/2D images and their alignment values.

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Real-time surgical tool presence/absence detection using machine learning to improve patient safety during laparoscopic and robotic surgeries involving energy tools like ultrasonic sealing devices. The technique involves training a tool detection model using labeled surgical videos, augmenting the training set, and iteratively updating the model with new images to improve accuracy. During surgery, the model processes real-time videos to determine if the energy tool is present or absent in each frame. If the tool is absent but the surgeon is activating it, an unsafe event is flagged. This allows monitoring for improper tool usage and injuries.

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Collaborative robotic control of multiple medical catheters for minimally invasive procedures that leverages information from one catheter for control of another. The robotic control of different catheters uses a common interface that allows the same user input and control to be translated for robotic operation of any of the catheters. This enables robotic manipulation of multiple catheters simultaneously with collaborative features like continuous monitoring of one catheter using information from another.

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Improving safety in robotic surgery by using video analysis to supplement kinematic modeling for tool position prediction. The system identifies surgical tools in images, estimates their positions, and compares to predicted positions. If discrepancies indicate a tool is not actually in view, it disables the tool to prevent accidental injury. It also estimates forces based on position differences to detect excessive force applications.

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Enhancing surgical planning and execution using machine learning and augmented reality to improve joint replacement procedures. The technique involves using historical patient data to train an AI model that can predict optimal implant positioning and bone resection for a specific patient based on their anatomy. This personalized surgical plan can then be executed robotically with AR guidance. The AI model is updated as new patient data is collected. The AR system uses headsets to overlay surgical guidance onto the surgeon's view. It also allows multiple users to share different AR displays.

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Control of cooperative surgical instruments during minimally invasive procedures to improve safety and efficiency by coordinating their movements based on actions of other instruments. The system involves using sensors to monitor the actions of one instrument and automatically adjusting another instrument's movements accordingly to maintain proper tissue loading and avoid over-dissection. It also allows visualization systems to provide augmented views of concealed structures and depths to help with dissection planning. The system leverages digital surgery concepts like spectral imaging, augmented reality, and AI to enhance surgical visualization and coordination.

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A necklace-shaped sensor for continuous monitoring of cardiac function and fluid levels in ambulatory patients. The sensor has electrodes for measuring ECG and impedance signals. It processes the signals to determine parameters like heart rate, stroke volume, cardiac output, fluid levels, respiration rate, activity, and motion. The sensor wirelessly transmits the data to a remote location for analysis and reporting to clinicians. It aims to provide continuous, non-invasive monitoring of cardiac function and fluid status for conditions like heart failure, without the need for specialized equipment or operators.

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Robotic system for precise, minimally invasive revision joint surgeries with reduced bone loss and faster implant removal compared to manual techniques. The system uses a robotic arm with a haptic-guided cutting tool to remove implants from bones with controlled precision. It tracks the tool and bone movement to prevent overcutting and guide implant removal. The system also generates virtual boundaries to protect critical bone areas. By using customized cutting tools, robotic guidance, and virtual constraints, the system aims to minimize bone loss and reduce time compared to manual surgery.

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A laparoscope-holding robot system for laparoscopic surgery that provides improved flexibility, automation, and intelligence compared to conventional laparoscope holding robots. The system has a trolley rack, surgical tool, and a six-degree-of-freedom mechanical arm mounted on the rack. The arm has joints to provide full articulation. The surgical tool attaches to the arm via a quick-release mechanism. This allows the arm to fully position and maneuver the tool without needing manual adjustments by the surgeon. The six-axis articulation allows complex motions and precise movements. The trolley provides mobility. The system enables automated, flexible, and intuitive laparoscopic surgery without requiring constant manual intervention.

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