Teleoperative, partially automated, and fully automated robotic surgery systems and methods are described herein. These systems and methods relate to at least improvement of robotic movements, three dimensional tracking and pose correction for robots interacting with deformable objections, controlling and optimizing the redundant axis of a seven degree of freedom robotic arm, virtual robotic surgery and simulation, and task coordination and optimization for multi-robot surgery.

A medical system comprises an entry guide, a display, and a processor. The processor may be configured to receive state information for an articulatable image capture device controllably extendable out of a distal end of the entry guide. The processor may be configured to generate a view including a graphical representation of a distal end portion of the articulatable image capture device as determined from the received state information and a graphical representation of a field of view of the articulatable image capture device extending distally from the distal end portion of the articulatable image capture device. The processor may also cause the view to be displayed on the display.

A data processing method, performed by a computer, for determining implant positions of two implant components relative to two bones, wherein each of the implant components is to be attached to one of the bones such that the implant components form a joint between the bones, and wherein an implant position is a relative position between the implant component and the corresponding bone, said method comprising the steps of: a) acquiring a set of target poses, wherein a target pose represents a relative position to be achieved between the two bones; b) calculating a set of virtual poses for a pair of virtual test implant positions, wherein the set of virtual poses comprises one virtual pose for each of the target poses and wherein a virtual pose represents a relative position between the two bones if the virtual test implant positions were applied as the implant positions; c) calculating a pose deviation value for each of the target poses, wherein a pose deviation value represents the difference between a target pose and the corresponding virtual pose; d) calculating an overall pose deviation value from all the individual pose deviation values; e) repeating steps b) to d) for different pairs of virtual test implant positions until the overall pose deviation value fulfils a minimisation criterion; and f) using the pair of virtual test implant positions for which the minimisation criterion is fulfilled as the implant positions.

Various embodiments disclosed relate to a method for producing an implant model and associated systems. The method can include receiving patient specific data, producing a preliminary implant model based on the received patient specific data, running a simulation on the preliminary implant model to produce a revised implant model with a range of motion zone using the patient specific kinematics, optimizing the preliminary implant model with a dynamic simulation to determine a cup anteversion angle, analyzing the revised implant model for spino-pelvic risk, and outputting the implant model.

Devices and methods for performing a surgical step or surgical procedure with visual guidance using an optical head mounted display are disclosed.

An osteotomy assistance kit includes a bone treatment assistance device and an attaching position confirmation device. The attaching position confirmation device includes a feature point indication rod to be applied via a tip portion to a feature point of the bone, a rod support unit that removably supports the feature point indication rod such that the tip portion is indicating the feature point of the bone, and a second support member that movably supports the rod support unit and indicates one of scales on the rod support unit. The bone treatment assistance device includes cutting slits, and first guide holes that guides first rods set to a predetermined positional relation. The second support member of the attaching position confirmation device is attached to the protrusion of the bone treatment assistance device.

A route selection assistance system, a recording medium on which a route selection assistance program is recorded, a route selection assistance method, and a diagnosis method that enable easy selection of a route of a living body lumen for delivering a medical instrument to a site within a living body via the living body lumen. A route selection assistance system includes: a receiving section configured to receive an input of site information specifying a target site; an image obtaining section configured to obtain image information on a living body of a target patient; a route extracting section configured to extract a plurality of routes of a living body lumen; a ranking assigning section configured to assign rankings to the plurality of routes extracted by the route extracting section; and an output section configured to output the plurality of routes extracted and the rankings assigned by the ranking assigning section.

The disclosure relates to a method and also to a correspondingly configured imaging device for planning support for an interventional procedure. In the method, a model of a hollow organ is created from a 3D image dataset. A deformation of the hollow organ is then simulated based on a course of a guide facility in the hollow organ through a deformation of the model. In accordance with the deformed model, a spatially resolved compression and/or stretching of the hollow organ, which is brought about by an introduction of the guide facility, is determined and specified.

A method and system to align a pin or drill a tunnel along a single line in space with a two degree of freedom (2-DOF) surgical device in a patient is provided. A plane is defined relative to a desired location for an implant or tunnel on a bone, where the implant or tunnel has an axis. An end-effector of the 2-DOF surgical device is aligned coincident with the plane, and the 2-DOF surgical device is moved side-to until a first indicator signals when the end-effector aligns with an entry point for the desired location for the implant or tunnel on the bone. A tip of the end-effector is anchored into the bone at the entry point; and the 2-DOF surgical device is rotated about the anchored tip until a second indicator signals when the end-effector aligns with the axis of the implant or tunnel at the desired location.

A computer-implemented method to improve the point collection process during registration of a bone for a computer-assisted surgical procedure is provided. Based on bone digitization data, a simulation is performed to confirm the accuracy of the registration for different digitization regions. Results are tested to identify which digitization regions meet a predefined accuracy requirement. The resulting information is used to perform a computer-assisted surgical procedure. A computerized simulation method for registration of a bone for a computer-assisted surgical procedure is also provided based on processor executing random stroking an expected exposed surface of a bone model with multiple of stroke curves to cover most of the bone model surface with uniform noise and a random sample consensus is applied to remove outlying point to yield the best registration results, to find the top subset as to overlap. A method to perform computer-assisted surgery is also provided.