[Object]

Provided is a catheter that can enhance the smoothness of a lumen.

Solution

A balloon catheter includes: an outer shaft to be inserted into a body, the outer shaft including a main lumen that extends in an axial direction from a proximal end side toward a distal end side; and a second member exposed in a portion of an inner circumferential surface of the outer shaft to the main lumen and having frictional properties lower than those of a first member (an inner shaft) that forms the inner circumferential surface of the outer shaft. The balloon catheter further includes sub-shafts that include sub-lumens extending in the axial direction and that are formed of the second member, and a portion of outer circumferential surfaces of the sub-shafts is exposed in a portion of the inner circumferential surface of the outer shaft to the main lumen.

An imaging and display system for guiding medical interventions includes a wearable display, such as a goggle display, for viewing by a user. The display presents a composite, or combined image that includes pre-operative surgical navigation images, intraoperative images, and in-vivo microscopy images or sensing data. The pre-operative images are acquired from scanners, such as MRI and CT scanners, while the intra-operative images are acquired in real-time from a camera system carried by the goggle display for imaging the patient being treated so as to acquire intraoperative images, such as fluorescence images. A probe, such as a microscopy probe or a sensing probe, is used to acquire in-vivo imaging/sensing data from the patient. Additionally, the intra-operative and in-vivo images are acquired using tracking and registration techniques to align them with the pre-operative image and the patient to form a composite image for display by the goggle display.

A surgical system and method involve a robotic system that has a moveable arm that supports an end effector relative to a surgical site to remove material from a bone. A scanner scans the surgical site and detects a vessel on the bone. Controller(s) is/are coupled to the robotic system and the scanner. The controller(s) obtain image data of the bone and receive, from the scanner, positional information of the vessel on the bone. The controller(s) input the positional information of the vessel to the image data of the bone and generate a boundary for the vessel. The controller(s) register the boundary to the bone for navigation and control the robotic system to remove material from the bone with the end effector and prevent interaction between the end effector and the vessel with the boundary.

Robotic system and methods for robotic arthroplasty are provided. The robotic system includes a machining system and a guidance system. The guidance station tracks movement of one or more of various objects in the operating room, such as a surgical tool, a tibia of a patient, a talus of the patient, or a component of an implant. The guidance system tracks these objects for purposes of displaying their relative positions and orientations to the surgeon and, in some cases, for purposes of controlling movement of the surgical tool of the machining system relative to virtual cutting boundaries or other virtual objects associated with the tibia and talus to facilitate preparation of bone to receive an ankle implant system.

The present disclosure involves object recognition as a method of registration, using a stereoscopic camera on Augmented Reality (AR) glasses or an endoscope as the image capture technology. Exemplary objects include surgical tools, anatomical components or features, such as bone or cartilage, etc. By detecting just a portion of the object in the image data of the surgical scene, the present disclosure may register and track a portion of the patient's anatomy, such as the pelvis, the knee, etc. The present disclosure also optionally displays information on the AR glasses themselves, such as the entire pelvis, the femur, the tibia, etc. The present disclosure may include combinations of the foregoing features, and may eliminate the need for electromagnetic, inertial, or infrared stereoscopic tracking as the tracking technology.

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 one or more 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 one or more 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 one or more instruction signals to the motor assembly. The instruction signals can be configured to cause the motor assembly to selectively move the effectuator element

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 one or more 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 one or more 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 one or more 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 at least one transmitter by analysis of the signals received by the plurality of receivers; (ii) display the position of the at least one transmitter with respect to the body of the patient; and (iii) selectively control actuation of the motor assembly in response to the signals received by the plurality of receivers.

An augmented reality, AR, system (100) for use in a medical procedure is disclosed. The AR system (100) comprises an AR headset (2), and a processor (12), The AR headset (2) comprises a camera (6a, 6b), a near eye display (4a, 4b) and a distance sensor (10a, 10b). The processor (12) is configured to adjust the position of the image obtained by the camera (6a, 6b) on the display (4a, 4b) throughout the medical procedure based on changes in the distance measured by the distance sensor (10a, 10b).

The invention provides a system for investigating a tissue of a subject by way of diffuse reflectance spectroscopy, the tissue including a fluorescent agent adapted to absorb light in a first wavelength range and emit light in a second wavelength range, different to the first. The system includes a cannula having a distal end to be positioned adjacent the tissue and an internal cavity for providing a suction force to the tissue. The system further includes a light source adapted to generate light at the first wavelength range and a fiber optic element to be positioned adjacent the tissue. The fiber optic element is adapted to receive a light signal from the fluorescent agent, the light signal comprising light in the first and second wavelength ranges. The system further includes a processing system adapted to determine a concentration of the fluorescent agent in the tissue based on the light signal.

This application concerns a loupe-based wearable device that is enhanced by a mounted visualization aid on the housing body of at least one of the loupe eyepieces, the aid providing a dual light source, a beam splitter, and a camera directed in the same optical path as a user's eyesight such that both visible light and fluorescent dye exciting light can be directed at a site of operation to enhance real time visualization of tissue resection.