This disclosure provides methods, devices, and systems for planning medical procedures. The present implementations more specifically relate to techniques for using machine learning to predict distension of an anatomy and recommend a plan for percutaneously accessing a target within the anatomy based on the predicted distension. In some aspects, a recommendation system may extract features from input data representing a mapping of an anatomy and infer, from the extracted features, a location on the anatomy for percutaneous entry based on a machine learning model trained on fluidics simulations that predict anatomical distension in response to irrigation. Example suitable input data may include three-dimensional images of the anatomy, two-dimensional images of the anatomy, and/or sensor data received via sensors disposed on an instrument within the anatomy. The recommendation system may further generate a plan for percutaneously accessing a target within the anatomy via the location inferred from the set of features.

Provided are systems for performing a medical procedure in the intestine of a patient. The system comprises an elongate device and a console. The elongate device comprises a proximal portion, a middle portion, and a distal portion. The elongate device further comprises a functional assembly positioned on the distal portion, the functional assembly being configured to treat and/or diagnose target tissue. The console comprises a human interface device and a controller. The console is configured to robotically manipulate one or more portions of the elongate device, and/or the functional assembly.

A system for surgical planning and assessment of spinal pathology or spinal deformity correction in a subject, the system comprises a control unit configured to align one or more vertebral bodies of a biomechanical model to one or more vertebral bodies of the radiograph. The control unit is configured to receive one or more spinal correction inputs. The control unit is configured to, based on the received one or more spinal correction inputs, simulate the biomechanical model in a predetermined posture. The control unit is configured to provide for display one or more characteristics of the simulated biomechanical model.

Proposed is a motion compensation device including an overtube configured to be inserted into a human body and reach a target object that is a surgical target, and a compensation computation part configured to compute motion compensation corresponding to motion of the target object in the human body, wherein the overtube includes a surgical tool part configured to provide treatment to the target object, and corresponding to motion of the target object, a space between the target object and the surgical tool part or a space between the target object and the overtube is maintained within a predetermined range.

A surgical end effector may comprise first and second jaw members. The second jaw member may comprise an offset proximal supply electrode that is positioned to contact an opposing member of the first jaw member when the first and second jaw members are in the closed position. The second jaw member may also comprise a distal supply electrode that is positioned distal of the offset proximal electrode and is aligned with a conductive surface of the first jaw member when the first and second jaw members are in the closed position. When the first and second jaw members are in the closed position, the proximal supply electrode may be in contact with the opposing member and the distal supply electrode is not in contact with the conductive surface of the first jaw member.

A vascular intervention robot having a line-contact roller mechanism is provided. The vascular intervention robot having a line-contact roller mechanism comprises: a roller module for translating a medical wire; and a rotation module for axially rotating the medical wire by rotating the roller module. The roller module can comprise: a translational motor providing a translational driving force for translating the medical wire; at least one drive roller receiving a translational driving force from the translational motor, arrayed in the length direction of the medical wire, and rolling-contacted with the lower part of the medical wire; and a guide roller provided in a number corresponding to the drive roller, arrayed above the drive roller and in the length direction of the medical wire, shifted to one side in the length direction of the medical wire with respect to the drive roller, and rolling-contacted with the upper part of the medical wire. Therefore, the vascular intervention robot having a line-contact roller mechanism can be provided which can minimize slip of the medical wire when the medical wire is axially rotated in accordance with the rotation of the roller module due to the rotation module, and also can minimize slip of the medical wire when translation-moved by means of the roller module.

Novel tools and techniques are provided for implementing intelligent assistance (IA) or extended intelligence (EI) ecosystem to placement procedures for cardiac implantable electronic device (CIED). In various embodiments, a computing system might analyze received one or more first layer input data (i.e., room content-based data) and received one or more second layer input data (i.e., patient and/or tool-based data), and might generate one or more recommendations for guiding a medical professional in performing a CIED placement procedure in a heart of the patient, based at least in part on the analysis, the generated one or more recommendations comprising 3D or 4D mapped guides toward, in, and around the heart of the patient. The computing system might then generate one or more XR images, based at least in part on the generated one or more recommendations, and might present the generated one or more XR images using a UX device.

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 a plurality of pre-procedure images of a patient's anatomy, label anatomical structures within at least a portion of the pre-procedure images, generate a three-dimensional reconstruction of the patient's anatomy using the plurality of pre-procedure images, receive an image captured by the camera, identify anatomical structures within the image captured by the camera to labeled anatomical structures within the plurality of pre-procedure images, identify an image from the plurality of pre-procedure images that corresponds to the image captured by the camera, and register the location where the image was captured by the camera to the three-dimensional reconstruction of the patient's anatomy.

A vascular interventional surgery robot having a multi-contact plate is provided. The vascular interventional surgery robot having a multi-contact plate comprises: a translational module for allowing a surgical wire to undergo translational motion; a translational motor which provides translational driving force for allowing the surgical wire to undergo translational motion, and which is disposed at one side of the translational module; a rotational module which axially rotates the surgical wire, and which rotates the translational module and the translational motor together during the axial rotation of the surgical wire; a translational motor driver for providing the translational driving force to the translational motor; and a rotary connection module for providing a path for an electrical line electrically connecting the translational motor driver and the translational motor, wherein the rotary connection module includes connection plates which are aligned in the longitudinal direction of the surgical wire and of which the number corresponds to that of one or more electrical lines, each of one or more connection plates has a slit which is open toward the center thereof so that the surgical wire is used in the direction of the rotational axis of the translational module by means of the rotational module, has the electrical line connected to one side thereof, and has an annular strip-shaped connection ring, of which one circumferential side is open through the slit, disposed therein, and the rotary connection module can include the multi-contact plate having at least two contact points at different positions in the circumferential direction on the surface of the connection ring to electrically connect the connection ring and the translational motor driver.

A method for adjusting a reference X-ray image includes: providing the reference X-ray image of a hollow organ; providing a segmentation of an original profile of the hollow organ in the reference X-ray image; recording at least one live X-ray image, registered with the reference X-ray image, of the object introduced into the hollow organ; segmenting the object in the live X-ray image; carrying out at least one sensor measurement of the optical fiber by the shape-acquisition system; evaluating the sensor measurement(s) with regard to at least one item of haptic information in respect of the object; setting boundary conditions for the current profile of at least part of the hollow organ using the position of the object and the evaluated item of haptic information; and adjusting and/or deforming the reference image using the boundary conditions such that a current profile of the hollow organ is modeled/reproduced.