Surgical tools and robotic systems adaptable for treating a left side or a right side of a patient with minimal interference with the patient and surrounding operative site are disclosed. In some embodiments, a surgical tool can include a body, an end-effector, a first connector, a second connector, and a third connector. The end-effector can extend from a distal end of the body and be movable relative to the body about a pivot axis. The first connector can rigidly secure the body to a planar mechanism. The second and third connectors can rigidly secure a distal part and a proximal part of a tracker, respectively, to the body. The first and second connectors can be symmetrical to each other with respect to a plane including a longitudinal axis of the body and the pivot axis and can be suited for attachment of either the tracker or the planar mechanism.

A surgical instrument navigation system is provided that visually simulates a virtual volumetric scene of a body cavity of a patient from a point of view of a surgical instrument residing in the cavity of the patient, wherein the surgical instrument, as provided, may be a steerable surgical catheter with a biopsy device and/or a surgical catheter with a side-exiting medical instrument, among others. Additionally, systems, methods and devices are provided for forming a respiratory-gated point cloud of a patient's respiratory system and for placing a localization element in an organ of a patient.

An intraocular surgery instrument holder (1) including a translational driving unit (2) as a driving mechanism configured to be capable of movement with multiple degrees of freedom, an arm unit (3) as a passive motion mechanism coupled with the translational driving unit (2) and configured to be capable of movement with multiple degrees of freedom, and a surgical instrument holding unit (4) as a passive gimbal mechanism coupled with one end of the arm unit (3), and configured to hold an intraocular surgery instrument, and to be capable of movement with a degree of rotational freedom with an opening part of a hole in an eyeball for insertion of the intraocular surgery instrument being a fixed point. A brake mechanism for inhibiting movement of the arm unit (3) is provided to the arm unit (3).

A method is described for adapting 3D image datasets so that they can be registered and combined with 2D images of the same subject, wherein deformation or movement of parts of the subject has occurred between obtaining the 3D image and the 2D image. 2D-3D registrations of the images with respect to multiple features visible in both images are used to provide point correspondences between the images in order to provide an interpolation function that can be used to determine the position of a feature visible in the first image but not the second image and thus mark the location of the feature on the second image. Also described is apparatus for carrying out this method.

A surgical system includes a robotic arm, an end effector coupled to the robotic arm, a divot at the end effector, a probe configured to be inserted into the divot, a tracking system configured to obtain data indicative of a position of the probe while the probe is in the divot, and circuitry configured to verify a proper physical configuration of the surgical system based on the data indicative of the position of the probe while the probe is in the divot.

Disclosed herein is a medical system (200, 300) comprising an augmented reality system (204) configured for rendering virtual objects within a visual three-dimensional field of view of an operator (214). Execution of machine executable instructions (230) causes the computational system to: receive (400) segmented medical imaging data (100, 232) descriptive of a continuous volume of a subject (210) comprising at least a portion of a brain (102) of the subject and a cranial surface (106) of the subject; control (402) the augmented reality system to determine a registration (234) between the subject and the segmented medical imaging data; receive (404) a target location (104) within the at least a portion of the brain; discretize (406) the cranial surface to define multiple entry locations (108); determine (408) a straight path (110) for each of the multiple entry locations that extends to the target location; assign (410) a path score (238) to the straight path for each of the multiple entry locations using the segmented medical imaging data; calculate (412) a three-dimensional path score surface defined by the cranial surface and is descriptive of the path score of each of the multiple entry locations; and render (414) the three-dimensional path score surface using the augmented reality system, wherein the rendered three-dimensional path score surface is positioned in the visual three-dimensional field of view of the operator using the registration.

A system for verifying a tool for use in a surgical procedure includes a mechanical interface configured to be affixed to a portion of a patient's anatomy, wherein the mechanical interface comprises at least a first portion having a first diameter and a second portion having a second diameter. The system further includes a probe configured to be inserted into the mechanical interface to establish a checkpoint location, and a computing system configured to determine a location of a portion of the probe when the probe is inserted a maximum distance into the mechanical interface, wherein the location of the portion of the probe establishes the checkpoint location. The computing system is further configured to verify a surgical tool by comparing the checkpoint location to a location of a portion of the surgical tool when the surgical tool is inserted a maximum distance into the mechanical interface.

A system and method for tracking completeness of co-registered medical image data is disclosed herein. The system and method tracks the position of an anatomical reference marker positionable on a patient and an ultrasound probe during an imaging session and co-registers medical images based on positional data received from the anatomical reference marker and the ultrasound probe. Using the co-registered image data, the system and method generates a surface contour of a region of interest (ROI) of the patient, such as a breast. The surface contour is defined to represent an interface between a chest wall structure and tissue of the ROI in a plurality of co-registered medical images. A completeness map of the image data within the defined surface contour during the imaging session is generated and overlaid on a graphic representation of the ROI.

A system for controlling a robotic tool includes a memory that stores instructions and a processor that executes the instructions. When executed by the processor, the instructions cause the system to perform a process that includes monitoring sequential motion of tissue in a three-dimensional space. The process also includes projecting locations and corresponding times when the tissue will be at projected locations in the three-dimensional space. An identified location of the tissue in the three-dimensional space is identified based on the projected locations. A trajectory of the robotic tool is set to meet the tissue at the identified location at a projected time corresponding to the identified location.

A valve leaflet connecting device includes: a base; and first and second followers extending from the base. A first arm extends from the first follower in a direction away from the second follower and away from the base to define an acute angle between the first follower and first arm for capturing a first leaflet there between. A second arm extends from the second follower in a direction away from the first follower and away from the base to define an acute angle between the second follower and second arm for capturing a second leaflet there between, The first and second followers are resiliently deformable between: (i) an open condition, in which: the point from which the first arm extends from the first follower; and the point from which the second arm extends from the second follower, are spaced more than 15 mm; and (ii) a closed condition, in which: the point from which the first arm extends from the first follower; and the point from which the second arm extends from the second follower, are spaced less than 5 mm. Deforming means deform the followers towards the closed condition. A positioner extends from the base, between the first and second followers, and a fastener releasably secured to the positioner, includes first and second fastener jaws. The first and second jaws: extend away from the base; and are movable between: (i) a splayed condition in which leaflets may be received between the first and second fastener jaws; and (ii) a securing condition in which the first and second fastener jaws secure the leaflets there between. In use: (i) the first and second followers may be: passed axially through a valve, between first and second valve leaflets; and resiliently deformed by opening and closing of the valve leaflets; (ii) the first arm may capture the first leaflet between the first arm and the first follower, and the second arm may capture the second leaflet between the second arm and the second follower, with the first and second followers disposed between the first and second leaflets; (iii) the deforming means may deform the first and second followers towards the closed condition, thereby moving the first and second leaflets towards each other; (iv) the fastener may receive the first and second leaflets between the fastener jaws when the fastener jaws are in the spayed condition; and (v) moving the fastener jaws towards the securing condition secures the first and second leaflets to each other. Alternatively, the arms and fastener jaws may extend towards the base.