An example physical targeting tool includes a main body defining a channel configured to receive a tool, the channel having a longitudinal axis; a first physical targeting feature attached to the main body; and a second physical targeting feature attached to the main body, wherein the first physical targeting feature and the second physical targeting feature are displaced along the longitudinal axis of the channel.

A system for performing a surgical procedure includes a controller including a memory and a processor, the memory storing instructions, which when executed by the processor cause the processor to receive an image captured by a camera, generate a segmented image by applying a first threshold value to the image captured by the camera, identify a lumen within the segmented image, determine a centroid of the lumen within the segmented image, and align a portion of a surgical device operably coupled to the controller with the centroid of the lumen.

The present disclosure provides a system for enabling autonomous or semi-autonomous surgical operations. The system comprises: one or more processors that are individually or collectively configured to: process an image data stream comprising one or more images of a surgical site; fit a parametric model to a tissue surface identified in the one or more images; determine a direction for aligning a tool based in part on the parametric model; determine an optimal path for automatically moving the tool to perform a surgical procedure at the surgical site; and generate one or more control signals for controlling i) a movement of the tool based on the optimal path and ii) a tension force applied to the tissue by the tool during the surgical procedure.

A number of improvements are provided relating to computer aided surgery. The improvement relates to both the methods used during computer aided surgery and the devices used during such procedures. Some of the improvement relate to controlling the selection of which data to display during a procedure and/or how the data is displayed to aid the surgeon. Other improvements relate to the structure of the tools used during a procedure and how the tools can be controlled automatically to improve the efficiency of the procedure. Still other improvements relate to methods of providing feedback during a procedure to improve either the efficiency or quality, or both, for a procedure.

A system for ablating or monitoring a zone of the heart, includes a system to measure the heart electrical activity; a phased array for generating a beam of focussed ultrasound signals on a targeted zone of the heart; an imaging system determining an image of a transcostal wall projected in an image plane of the phased array by taking into consideration a position and direction of the phased array and making it possible to deactivate elements of the phased array in accordance with the position of the elements with regard to the position of the projected image of the transcostal wall; a positioning system to control the position of a focussed zone of a beam of focussed ultrasound signals on the targeted zone, a monitoring system to measure a temperature and tissue deformation in the targeted zone; and a device for measuring a level of cavitation in the targeted zone.

Systems and methods are provided in which intraoperatively acquired surface data is employed to verify the correspondence of an intraoperatively selected spinal level with a spinal level that is pre-selected based on volumetric image data. Segmented surface data corresponding to the pre-selected spinal levels may be obtained from the volumetric image data, such that the segmented surface data corresponds to a spinal segment that is expected to be exposed and identified intraoperatively during the surgical procedure. The segmented surface data from the pre-selected spinal level, and adjacent segmented surface data from an adjacent spinal level that is adjacent to the pre-selected spinal level, is registered to the intraoperative surface data, and quality measures associated with the registration are obtained, thereby permitting an assessment or a determination of whether or not the pre-selected spinal surface (in the volumetric frame or reference) is likely to correspond to the intraoperatively selected spinal level.

An image processing apparatus includes a processor including hardware, the processor being configured to: estimate, based on image information from a medical device that includes at least an endoscope, a plurality of procedure actions of an operator of the endoscope; perform different supports respectively for procedures by the operator, according to an estimation result of the procedure actions; and output a display for the supports to a display.

Systems, methods, software and techniques for generating a milling path for a tool of a surgical system are provided. The milling path is designed to remove a resection volume associated with an anatomical volume. A reference guide is defined with respect to the resection volume. Sections are defined along the reference guide in succession. Each section intersects the reference guide at a different intersection point and is at a specified orientation relative to the reference guide at the intersection point. Each section further intersects the resection volume. A section path is generated to be bounded within each section and defined relative to the resection volume. A plurality of transition segments are generated and each transition segment connects section paths of successive sections along the reference guide.

A method for adjusting the operation of a surgical instrument using machine learning in a surgical suite is disclosed. The method comprises the steps of gathering data during surgical procedures, wherein the surgical procedures include the use of a surgical instrument, analyzing the gathered data to determine an appropriate operational adjustment of the surgical instrument, and adjusting the operation of the surgical instrument to improve the operation of the surgical instrument.

A surgical system includes a robotic device, a surgical tool mounted on the robotic device, and a processing circuit. The processing circuit is configured to receive image data of an anatomy, generate a virtual bone model based on the image data, identify a soft tissue attachment point on the virtual bone model, plan placement of an implant based on the soft tissue attachment point, generate a control object based on the placement of the implant, and control the robotic device to confine the surgical tool within the control object.