MRI-guided robotics offers possibility for physicians to perform interventions remotely on confined anatomy. While the pathological and physiological changes could be visualized by high-contrast volumetric MRI scan during the procedure, robots promise improved navigation with added dexterity and precision. In cardiac catheterization, however, maneuvering a long catheter (1-2 meters) to the desired location and performing the therapy are still challenging. To meet this challenge, this invention presents an MRI-conditional catheter robotic system that integrates intra-op MRI, MR-based tracking units and enhanced visual guidance with catheter manipulation. This system differs fundamentally from existing master/slave catheter manipulation systems, of which the robotic manipulation is still challenging due to the very limited image guidance. This system provides a means of integrating intra-operative MR imaging and tracking to improve the performance of tele-operated robotic catheterization.

Systems and methods for aligning directionally operable medical devices with and upon target tissue. Systems and methods for aligning medical devices such as directional ablation catheters to and upon target tissue by monitoring irrigant backpressure. The current disclosure provides solutions to the problem of rotationally or angularly aligning a directional medical device toward tissue.

Medical devices are disclosed having improved visualization of a portion of the medical device insertable into a patient's body while minimizing obstruction of fluid flow through a lumen of the device and while minimizing an increase in the outer diameter of the device attributable to the feature providing improved visualization. The device can include, for example, an imaging marker distal to lumen openings (exit ports), or, where the device comprises a tube, such as a metallic tube, an imaging marker embedded into a wall of the tube. Another embodiment includes attaching a marker to the surface on the inside of a lumen of a medical device without embedding the marker. Various alternative embodiments, methods and applications of using such devices are disclosed as well.

A medical robot system, including a robot coupled to an effectuator element with the robot configured for controlled movement and positioning. The system may include a transmitter configured to emit signals, and the transmitter is coupled to an instrument coupled to the effectuator element. The system may further include a motor assembly coupled to the robot and a plurality of receivers configured to receive the signals emitted by the transmitter. A control unit is coupled to the motor assembly and the plurality of receivers, and the control unit is configured to supply instruction signals to the motor assembly. The instruction signals can be configured to cause the motor assembly to selectively move the effectuator element and is further configured to (i) calculate a position of the transmitter; (ii) display the position of the at least one transmitter; and (iii) selectively control actuation of the motor assembly.

An ablation catheter including an elongate shaft, an inflatable balloon positioned at a distal region of the elongate shaft, a first ablation electrode disposed outside of and carried by an outer surface of the inflatable balloon, a first ultrasound transducer disposed outside of the inflatable balloon, and a flexible circuit. The flexible circuit includes a first conductor and a second conductor and is disposed outside of and carried by the outer surface of the inflatable balloon. The first conductor is in electrical communication with the first ablation electrode, and the second conductor in electrical communication with the first ultrasound transducer.

Systems and methods for visualization of a surgical site are disclosed. An imaging device provides image data of the surgical site. A computing device detects, in the image data, at least one obstruction. The computing device filters the image data to remove the at least one obstruction by being configured to alter pixels related to the at least one obstruction based on at least one of (i) one or more buffered frames and (ii) one or more pixels adjacent to the pixels related to the at least one obstruction. The computing device generates an output from the filtered image data. A display device presents the output for visualization of the surgical site.

Methods and systems for detecting undesirable electrocautery arcing events during an electrocautery surgical procedure may include introducing an electrosurgical treatment instrument to a surgical site to perform an electrocautery surgical procedure. A healthcare provider may view the surgical site with a surgical camera assembly having a surgical field-of-view. The healthcare provider also may view a portion of the electrosurgical treatment instrument with an electrocautery arc detection system including an arc detection camera having an arc detection field-of-view different than the surgical field-of-view obtained by the surgical camera. The electrocautery arc detection system may identify thermal infrared emission or tissue color changes as indicators of undesirable electrocautery arcing. Some implementations alert a healthcare provider of undesirable electrocautery arcing.

A robotic surgery system includes a robotic manipulator and a cutting guide to be coupled to the robotic manipulator. The cutting guide is configured to guide a cutting tool so that the cutting tool cuts tissue of the patient. A control system is coupled to the robotic manipulator to control a location of the cutting guide and/or the cutting tool relative to the tissue.

A system includes a base, and an actuator having a first end and a second end. The system also includes a shaft configured to rotate relative to the base, and a drive link fixed to the shaft. The system further includes a support arm. A first end of the support arm being fixed to the shaft such that rotation of the shaft causes commensurate rotation of the support arm. The system also includes a timing link having a first end pivotably connected to the base and a second end opposite the first end. Additionally, the system includes a mount coupled to the second end of the timing link. The mount is configured to maintain a substantially constant orientation relative to the base as the support arm transitions between a raised position and a lowered position.

A control system for a surgical instrument. The control system includes an RFID scanner and a control circuit coupled to the RFID scanner. The control circuit is configured to receive data from RFID tags associated with devices and/or users, determine a type of the surgical instrument being utilized or surgical procedure being performed according to the received data, and determine an operational setting for the surgical instrument or another device within the surgical system, which may be tailored according to the particular user identity scanned by the RFID scanner.