An augmented reality and extended reality surgical system comprising three 3D viewing options of: (i) an AR/XR headset or headsets, (ii) one or more autostereoscopic “3D glasses free” monitor(s); and (iii) one or more digital ocular stereoscopic 3D viewports which is mounted to a cobotic arm viewing option for ergonomically sound viewing. The system may comprise a wearable device, such as a head mounted display or glasses, that provides the user with virtual reality, augmented reality, and/or mixed reality for surgery visualization. This system is all digital and features both wired and wireless connections that have approximately the same latency of less than 20 milliseconds. This may allow the user to access 2D or 3D imaging, magnification, virtual visualization, six-degrees of freedom (6DoF) image management, and/or other images while still viewing real reality and thus maintaining a presence in the operating room. The all-digital multi-option 3D viewing surgery system provides an ergonomically sound surgery visualization system.

In at least one embodiment, a medical device can comprise an elongate outer sheath that extends along a sheath longitudinal axis and defines a central lumen extending therethrough, the elongate outer sheath can comprise a proximal sheath portion and a distal sheath portion. A first guidewire can comprise a first guidewire end and a second guidewire end, the first guidewire can extend from the first and second guidewire ends through the central lumen and can form a distal looped portion. An occlusion device can be disposed at a distal end of an elongate flexible shaft. The elongate flexible shaft can extend from the proximal sheath portion through the central lumen. The occlusion device can include a guide lumen through which the first guide wire passes.

An esophageal monitoring device includes a camera and, optionally, one or more lights to enable visualization of an interior of a subject's esophagus. Visualization of the interior of the subject's esophagus before and after a left atrial ablation procedure may enable a healthcare provider to determine whether or not the left atrial ablation procedure has damaged the subject's esophagus before the subject experiences any symptoms of such damage. An esophageal monitoring device may also include sensors and/or markers that enable a determination of its location within a subject's esophagus. Such an esophageal monitoring device may be configured for three-dimensional mapping, and enable the generation of an accurate three-dimensional map of the physical relationship between a subject's esophagus and the left atrium of his or her heart. Methods of monitoring a subject's esophagus while a left atrial ablation procedure is being conducted on the subject's heart are also disclosed.

A fiducial marker includes a fastener and a feedback component to provide a registration signal when engaged by a probe. The feedback component includes light-up cap, a conducting component, a magnetic component and an RFID tag. A cap for registering fiducial markers with robotic surgical systems includes a housing, a socket in the housing for coupling to a fastener, an access port in the housing, a switch disposed in the housing proximate the access port, and a sensory indicator device coupled to the switch, wherein the sensory indicator device produces a signal when activated through the access port to confirm marker contact. Methods of registering a fiducial marker fastener, such as with robotic surgical systems, include manipulating a probe to align with a signal-producing feedback component attached to or integrated with the fastener, and engaging the feedback component with the probe to activate a sensory feedback indicator.

A method for visualizing tissue of a subject includes receiving a first series of first imaging modality frames generated by imaging a region of tissue of the subject, and a first series of second imaging modality frames generated by imaging the region of tissue; displaying the first series of first imaging modality frames in combination with the first series of second imaging modality frames; storing a plurality of first imaging modality frames and a plurality of second imaging modality frames of the first series of second imaging modality frames in a memory; receiving a second series of first imaging modality frames generated by imaging the region of tissue; and displaying the second series of first imaging modality frames in combination with one or more of the second imaging modality frames of the first series of second imaging modality frames stored in the memory for visualizing the region of tissue.

Methods of monitoring a medical instrument are provided. The methods may include receiving state information from a control system in communication with the medical instrument; detecting motion of at least a portion of the medical instrument and comparing the motion of the portion of the medical instrument with a threshold motion value that is based on the state information received from the control system. The methods may further include generating a communication message for presentation to an operator of the medical instrument based on the comparison of the motion with the threshold motion value. Corresponding systems are also provided.

A method of operating a surgical control system comprises generating an image of a surgical environment from a viewpoint of an imaging tool. The image includes a field of view. The method further comprises displaying the image on a display system configured to be mounted to a head of a user. The method further comprises detecting a movement of the head of the user and determining if the movement of the user's head is within a boundary corresponding to the field of view. The method further comprises, if the movement of the user's head is determined to be within the boundary: generating a changed image of the surgical environment from a changed viewpoint of the imaging tool; and displaying the changed image on the display system. The changed image includes a changed field of view corresponding to the detected movement of the user's head.

A surgical planning system for use in surgical procedures to repair an anatomy of interest includes a preplanning system to generate a virtual surgical plan and a mixed reality system that includes a visualization device wearable by a user to view the virtual surgical plan projected in a real environment. The virtual surgical plan includes a 3D virtual model of the anatomy of interest. When wearing the visualization device, the user can align the 3D virtual model with the real anatomy of interest, thereby achieving a registration between details of the virtual surgical plan and the real anatomy of interest. The registration enables a surgeon to implement the virtual surgical plan on the real anatomy of interest without the use of tracking markers.

A system is disclosed that includes an optical tracking device and a surgical computing device. The optical tracking device includes a structured light module and an optical module that includes an image sensor and is spaced from the structured light module at a known distance. The surgical computing device includes a display device, a non-transitory computer readable medium including instructions, and processor(s) configured to execute the instructions to generate a depth map from a first image captured by the image sensor during projection of a pattern into a surgical environment by the structured light module. The pattern is projected in a near-infrared (NIR) spectrum. The processor(s) are further configured to execute the stored instructions to reconstruct a 3D surface of anatomical structure(s) based on the generated depth map. Additionally, the processor(s) are configured to execute the stored instructions to output the reconstructed 3D surface to the display device.

A surgical robotic system includes: a surgical table; a plurality of movable carts being oriented toward the surgical table, each of which includes a robotic arm, and an alignment unit configured to determine an orientation of the movable cart and the robotic arm relative to the surgical table; and a computer coupled to each of the plurality of movable carts and configured to calculate a yaw angle for each of the plurality of movable carts.