Apparatus and methods are described including a robotic system configured for performing intraocular surgery. During a training stage, a computer processor receives programming instructions for performing one or more steps of cataract surgery in an automated manner, based upon standard ranges of dimensions of respective portions of a human eye. During a subsequent stage, the computer processor drives the robotic system to perform the one or more steps of cataract surgery on an eye of a given patient, by receiving at least one image of the eye, determining one or more dimensions of the eye from the at least one image, and performing the one or more steps of cataract surgery based upon the programming instructions and the determined dimensions of the eye. Other applications are also described.

Methods for treating tissue are provided. In one embodiment, an adjunct material, when secured to tissue, can receive at least one physiological element released from the tissue during healing progression of the tissue, and can exhibit first and second stiffnesses in compression that are approximately constant during first and second time periods from contact with the tissue, with the second stiffness decreasing with time as a function of at least one of oxidation, enzyme-catalyzed hydrolysis, and change of pH resulting from interaction with the at least one physiological element. In another embodiment, the adjunct can receive a unit volume of fluid that causes first and second portions of the adjunct to expand according to first and second expansion behaviors that differ from one another to apply different pressures to the tissue.

A medical procedure system, including a medical instrument to be inserted into a body part, and including position-tracking transducers to provide position signals, a distal end, and at least one radiopaque marker, a position tracking sub-system to compute a position including at least one location and orientation of the distal end in a position-tracking sub-system coordinate frame responsively to the position signals, a fluoroscope to capture fluoroscopic images of an interior of the body part and the radiopaque marker(s), and a registration sub-system to render, to a display, the captured fluoroscopic images including at least one marker-image of the radiopaque marker(s), and at least one graphical representation indicative of the computed position of the distal end, receive user-alignment input aligning the graphical representation(s) with the marker-image(s), and register the position-tracking sub-system coordinate frame with a coordinate frame of the fluoroscope responsively to the received user-alignment input.

Disclosed herein are techniques for implementing an intelligent assistance (“IA”) or extended intelligence (“EI”) ecosystem for soft tissue luminal applications. In various embodiments, a computing system analyzes first layer input data (indicating movement, position, and/or relative distance for a person(s) and object(s) in a room) and second layer input data. The second layer input data includes sensor and/or imaging data of a patient. Based on the analysis, the computing system generates one or more recommendations for guiding a medical professional in navigating a surgical device(s) with respect to one or more soft tissue luminal portions of the patient. The recommendation(s) include at least one mapped guide toward, in, and/or around the one or more soft tissue luminal portions. The mapped guide can include data corresponding to at least three dimensions, e.g., a 3D image/video. The computing system can present the recommendation(s) as image-based output, using a user experience device.

An in-body image capturing device (camera unit) with high reliability is suggested. A camera unit (11) includes an image capturing unit that includes a lens (26) and a first illumination unit (27a) and is capable of being introduced into a body. The first illumination unit (27a) and the image capturing unit are housed in a casing (22) that is integrally molded with an integral light-transmitting body (22x) and an integral light shielding body (22y).

A control arm assembly for controlling a robot system includes a gimbal that is moveable and rotatable about three axes, and a handle assembly coupled to the gimbal. The handle assembly includes a body portion having a controller disposed therein and a first actuator disposed thereon. The first actuator is mechanically coupled to the controller via a four-bar linkage such that actuation of the first actuator causes mechanical movement of a component of the controller which is converted by the controller into an electrical signal.

Described embodiments include a system that includes a display and a processor. The processor is configured to modify an image that includes a representation of a wall of an anatomical cavity, by overlaying an icon that represents an intrabody tool on a portion of the image that corresponds to a location of the intrabody tool within the anatomical cavity, and overlaying a marker on a portion of the representation of the wall that corresponds to a location at which the intrabody tool would meet the wall, were the intrabody tool to continue moving toward the wall in a direction in which the intrabody tool is pointing. The processor is further configured to display the modified image on the display. Other embodiments are also described.

A robotic surgical system according to an embodiment may include: a surgical instrument including a pair of jaw members; an operation handle; and a surgical robot that includes a robot arm to which the surgical instrument is attached and which includes a drive part to drive a driven member, and a controller configured to drive the drive part based on a command jaw opening angle associated with an input to the input device for controlling an opening angle between the pair of jaw members. The controller is configured, when it is determined that a current value of the drive part excesses a predetermined threshold value during a closing operation of the pair of jaw members, to drive the drive part in a restriction mode in which a magnitude of the command jaw opening angle is restricted.

The present invention relates to the field of medical monitoring, and in particular non-contact monitoring of one or more physiological parameters in a region of a patient during surgery. Systems, methods, and computer readable media are described for generating a pulsation field and/or a pulsation strength field of a region of interest (ROI) in a patient across a field of view of an image capture device, such as a video camera. The pulsation field and/or the pulsation strength field can be generated from changes in light intensities and/or colors of pixels in a video sequence captured by the image capture device. The pulsation field and/or the pulsation strength field can be combined with indocyanine green (ICG) information regarding ICG dye injected into the patient to identify sites where blood flow has decreased and/or ceased and that are at risk of hypoxia.

Various surgical systems are disclosed. A surgical system comprises a robotic tool, a robot control system, a surgical instrument, and a surgical hub. The robot control system comprises a control console and a control unit in signal communication with the control console and the robotic tool. The surgical hub comprises a display. The surgical hub is in signal communication with the robot control system. The surgical hub is configured to detect the surgical instrument and represent the surgical instrument on the display.