A computer assisted system is disclosed that includes an optical tracking system and one or more computing devices. The optical tracking system includes an RGB sensor and is configured to capture color images of an environment in the visible light spectrum and tracking images of fiducials in the environment in a near-infrared spectrum. The computer assisted system is configured to generate a color image of the environment using the color images, identify fiducial locations using the tracking images, generate depth maps from the color images, reconstruct three-dimensional surfaces of structures based on the depth maps, and output a display comprising the reconstructed three-dimensional surface and one or more surgical objects that are associated with the tracked fiducials. The computer assisted system can further include a monitor or a head-mounted display (HMD) configured to present augmented reality (AR) images during a procedure.

In an embodiment, an electrogram (EGM) processing system provides, for display by a head-mounted display (HMD) worn by a user, a holographic rendering of intracardiac geometry. The HMD also displays an electrogram waveform. The EGM processing system determines a gaze direction of the user by processing sensor data from the HMD. The HMD displays a marker overlaid on the electrogram waveform at a location based on an intersection point between the gaze direction and the electrogram waveform. The EGM processing system determines a measurement of the electrogram waveform using the location of the marker. The HMD displays the measurement of the electrogram waveform.

A device sized and shaped for insertion into a body comprising: at least one mechanical limb comprising: a support segment; a first flexible section extending from the support segment and terminating in a coupling section; and a second flexible section extending from the coupling section and terminating in a tool or a connector for a tool; wherein a long axis of one or more of the flexible sections is bendable in a single bending plane; wherein a long axis length of the first flexible section is at least double a maximum extent of the first flexible section perpendicular to a flexible section long axis; wherein a long axis length of the second flexible section is at least double a maximum extent of the second flexible section perpendicular to a flexible section long axis.

A computer assisted surgery system comprising: a computerised surgical apparatus; and a control apparatus; wherein the control apparatus comprises circuitry configured to: receive information indicating a first region of a surgical scene from which information is obtained by the computerised surgical apparatus to make a decision; receive information indicating a second region of the surgical scene from which information is obtained by a medical professional to make a decision; determine if there is a discrepancy between the first and second regions of the surgical scene; and if there is a discrepancy between the first and second regions of the surgical scene: perform a predetermined process based on the discrepancy.

A computer assisted surgery system comprising an image capture apparatus, a display, a user interface and circuitry, wherein the circuitry is configured to: receive information indicating a surgical scenario and a surgical process associated with the surgical scenario; obtain an artificial image of the surgical scenario; output the artificial image for display on the display; receive permission information via the user interface indicating if there is permission for the surgical process to be performed if the surgical scenario is determined to occur.

A robotic arm system for surgery is described. The method includes: processing circuitry configured to: apply a virtual barrier preventing a human controlled surgical device from entering an area within a surgical scene; and release the virtual barrier in response to a gesture.

Systems, methods, and instrumentalities are disclosed for switching a control scheme to control a set of system modules and/or modular devices of a surgical hub. A surgical hub may determine a first control scheme that is configured to control a set of system modules and/or modular devices. The surgical hub may receive an input from one of the set of modules or a device located in an OR. The surgical hub may make a determination that at least one of a safety status level or an overload status level of the surgical hub is higher than its threshold value. Based on at least the received input and the determination, the surgical hub may determine a second control scheme to be used to control the set of system modules. The surgical hub may send a control program indicating the second control scheme to one or more system modules and/or modular devices.

Techniques for segmenting a percutaneous medical procedure based on one or more determinable phases. The techniques may include obtaining a first set of features over a first time period. The first set of features may be derived from instrument telemetry data corresponding to an endoluminal scope instrument. The technique may also include obtaining a second set of features over the first time period. The second set of features may be derived from instrument telemetry data corresponding to a percutaneous needle instrument. Based on the first set of features and the second set of features, the techniques may classify at least a portion of the first time period as a first phase of the percutaneous medical procedure.

A wearable medical screening device using electrical impedance tomogram and associated operation method. The wearable medical screening device includes electrodes, signal generator, and signal processor. The electrodes are arranged to be arranged on a body part of a wearer. The signal generator is arranged to provide a signal to at least one of the electrodes for transmission of a respective excitation signal to the body part of the wearer. The signal processor is arranged to process respective response signal received by at least one of the remaining electrodes as a result of the respective excitation signal, for determination of an electrical impedance tomogram for real-time preliminary medical screening of a disease associated with body part on which the wearable medical screening device is worn.

An ultrasonic instrument includes a body, an actuation assembly, a shaft assembly, and an end effector. The actuation assembly includes a mode selection member and an activation member. The shaft assembly extends distally from the body. The shaft assembly includes an acoustic waveguide. The end effector includes an ultrasonic blade. The ultrasonic blade is in acoustic communication with the acoustic waveguide. The end effector is configured to be activated in a first activation mode in response to actuation of the activation member when the mode selection member is in a first position. The end effector is configured to be activated in a second activation mode in response to actuation of the activation member when the mode selection member is in a second position.