Surgical devices and methods for utilizing optical coherence tomography (OCT) to monitor and control tissue sealing are disclosed. The surgical device includes an end effector assembly that includes first and second jaw members that are movable between a first, spaced-apart position and a second proximate position. An OCT system, at least a portion of which is incorporated into the end effector assembly, is configured to sense properties of the tissue, e.g., the structural density of the tissue, disposed between the first and second jaw members. A tissue-sealing energy source may be disposed within at least one of the jaw members and may provide tissue-sealing energy to tissue disposed between the jaw members. A controller, which is coupled to the OCT system and the tissue-sealing energy source, controls the tissue-sealing energy generated by the tissue-sealing energy source based on the properties of the tissue sensed by the OCT system.

Systems and methods for verification and calibration of robotic instruments are provided. A robotic system may include an instrument carriage to receive an elongate device, and the instrument carriage may comprise a set of drive sensors. The system may also include a tracking system configured to receive an indication that the elongate device is installed on the instrument carriage, operate a set of actuators to articulate a distal portion of the elongate device, and generate a set of drive sensor data from the set of drive sensors. The tracking system may also be configured to generate a set of articulation sensor data from a shape sensor of the elongate device, compare the set of drive sensor data to the set of articulation sensor data to generate a test profile, and determine whether the test profile corresponds to a reference profile. Corrective action may be determined.

A robotic surgical system comprises a surgical instrument moveable by a robotic manipulator within a work area. A processor is configured to receive input identifying a structure at the operative site to be avoided by the surgical instrument, to automatically determine whether the surgical instrument is approaching contact with the structure, and to initiate an avoidance step if the system determines that the surgical instrument is approaching contact with the structure.

Multichannel optical coherence systems are disclosed in which optical coherence tomography (OCT) subsystems are operably and respectively connected to optical fibers of a multichannel optical probe, such that each optical fiber forms at least a distal portion of a sample beam path of a respective OCT subsystem. The optical fibers are in optical communication with distal optical elements such that external beam paths associated therewith are directed towards a common spatial region external to the housing. Image processing computer hardware is employed to process OCT signals obtained from the plurality of OCT subsystems to generate an OCT image dataset comprising a plurality of OCT A-scans and process the OCT image dataset to generate volumetric image data based on known positions and orientations of the external beam paths associated with the OCT subsystems.

Systems and methods are described herein for tracking an elongate instrument or other medical instrument in an image.

An apparatus is provided that includes a detector configured to detect, cumulatively during an exposure period, spatially modulated light. The apparatus also includes modulation means for applying multiple different effective spatial modulations to received light, during the exposure period. A different effective spatial modulation is applied to received light in dependence upon a time during the exposure period of the detector and a frequency of the light, to produce spatially modulated light for detection by the detector.

A drape for an input control console of an elongate device may comprise a main drape section configured to fit over the input control console via a main opening at one end of the main drape section. The drape may also comprise a plurality of pockets. Each of the plurality of pockets may include a pocket opening that is attached to a respective secondary opening in the main drape section. Each of the plurality of pockets may be configured to be anchored, at the pocket opening, to a side surface of a respective raised ring or bezel on the input control console using a respective tightening element.

A UI for a HMD system includes a HMD configured to be worn by a surgeon. A tracker is configured to track head gestures by the surgeon. A footswitch is configured to detect foot motion inputs by the surgeon. A computer couples to the HMD, the tracker, and the footswitch. A user interface includes the HMD, tracker, and footswitch. The use interface is configured to: provide to the computer the head gesture in association with the foot motion input, and display an image relating to a surgical procedure on the HMD. The computer is configured to: apply the head gesture received in association with the foot motion input to perform a first action on the HMD system when the HMD system is in a first system mode, and perform a second action on the HMD system when the HMD system is in a second system mode.

A method for updating a patient registration during a medical procedure is disclosed. The medical procedure uses an optical navigation system for optically tracking a patient reference object in a real-world space. The method includes: acquiring a first set of image data depicting a region of interest on the patient while a first patient registration is intact; detecting that the first patient registration has been lost; obtaining a second set of image data depicting the region of interest; and applying a transform to data points of the first region to obtain data points for an updated patient registration, the transform obtained based on the first and second sets of image data.

Novel tools and techniques are provided for implementing intelligent assistance (“IA”) ecosystem. In various embodiments, a computing system might receive device data associated with a device(s) configured to perform a task(s), might receive sensor data associated with sensors configured to monitor at least one of biometric, biological, genetic, cellular, or procedure-related data of a subject, and might receive imaging data associated with an imaging device(s) configured to generate images of a portion(s) of the subject. The computing system might analyze the received device data, sensor data, and imaging data (collectively “received data”), might map two or more of the received data to a 3D or 4D representation of the portion(s) of the subject based on the analysis, might generate and present (using a user experience (“UX”) device) one or more extended reality (“XR”) images or experiences based on the mapping.