Apparatus is provided for use with a steerable catheter that includes a thumb control adapted to control a deflection of a distal tip of the catheter. The apparatus includes a robot, including an end-effector, adapted to be coupled to the thumb control, and a controller, adapted to drive the end-effector to deflect the distal tip by manipulating the thumb control.

Robotically guided catheter

A surgical instrument can be disinfected or sterilized, and has a rechargeable secondary battery incorporated therein. A distal treatment section of the surgical instrument is ultrasonically oscillated or otherwise activated using the secondary battery as a driving power source to perform surgery on a living tissue. Electromagnetic energy generated by an energy generation unit located outside the surgical instrument is received by a reception coil incorporated in the surgical instrument with the surgical instrument by induction from the energy generation unit. The electromagnetic energy is then converted into charging power with which the secondary battery is recharged. Thus, the surgical instrument can be readily recharged without compromising sterility.

Surgical apparatus permitting recharge of battery-driven surgical instrument in noncontact state

An apparatus and method for adjusting the orientation of a surgical viewing instrument, which may be used to view a patient target site and any intervening tissue from outside the body, as the position of the instrument is changed by a user. The instrument is attached to a robotic arm assembly and is movable by both the user and the robot. As the user moves the instrument to a different position, the robot automatically corrects the orientation of the instrument to maintain a viewing trajectory defined by the axis of the instrument and a target coordinate in the patient target site. In another aspect there is an apparatus and method for using a surgical robot and attached ultrasound probe to track a moving target in a patient's body. The ultrasound probe has a pressure sensor in its tip, which is maintained in contact with a tissue surface at a specific location at a constant pressure. Subject to this constraint, the robot is directed to adjust the orientation of the probe, as the target point moves, to maintain the axis of the probe in line with the target point.

Method and apparatuses for maintaining a trajectory in sterotaxi for tracking a target inside a body

In one embodiment of the invention, a method for a robotic system is disclosed to track one or more robotic instruments. The method includes generating kinematics information for the robotic instrument within a field of view of a camera; capturing image information in the field of view of the camera; and adaptively fusing the kinematics information and the image information together to determine pose information of the robotic instrument. Additionally disclosed is a robotic medical system with a tool tracking sub-system. The tool tracking sub-system receives raw kinematics information and video image information of the robotic instrument to generate corrected kinematics information for the robotic instrument by adaptively fusing the raw kinematics information and the video image information together.

Methods and systems for robotic instrument tool tracking with adaptive fusion of kinematics information and image information

The invention provides a body-worn vital sign monitor that measures a patient's vital signs (e.g. blood pressure, SpO2, heart rate, respiratory rate, and temperature) while simultaneously characterizing their activity state (e.g. resting, walking, convulsing, falling) and posture (upright, supine). The monitor processes this information to minimize corruption of the vital signs and associated alarms/alerts by motion-related artifacts. It also features a graphical user interface (GUI) rendered on a touchpanel display that facilitates a number of features to simplify and improve patient monitoring and safety in both the hospital and home.

Body-worn vital sign monitor

A system for medical ultrasound in which the ultrasound probe is positioned by a robot arm under the shared control of the ultrasound operator and the computer is proposed. The system comprises a robot arm design suitable for diagnostic ultrasound, a passive or active hand-controller, and a computer system to co-ordinate the motion and forces of the robot and hand-controller as a function of operator input, sensed parameters and ultrasound images.

Robotically assisted medical ultrasound

Apparatus for relating pain and activity experienced by a patient comprises: pain transducing means for allowing a patient to select any one pain level from a predetermined number of pain levels and for producing a pain level signal indicative of the selected level; activity transducing means responsive to the pain level signal for measuring a level of a parameter of a physical activity of the patient near the time corresponding to the selection of the pain level and for producing an activity parameter level signal indicative of the measured level of the parameter; and relating means responsive to the pain level signal and the activity parameter level signal for characterizing the activity of the patient corresponding to the selected level of pain to be one activity level of a predetermined number of predefined activity levels and for producing a signal indicative of the characterized level of activity and the corresponding pain level.

Apparatus and method for relating pain and activity of a patient

Apparatus for evaluating the stability of the shoulder joint of a human subject includes a rotatable, elbow-holding assembly that has sensors and associated processing components for producing an indication of the rotational angle of the long axis of the humerus of the subject relative to a reference. Sensors measure muscle activity as the humerus is rotated. Changes in the muscle activity measurement are processed to produce an indication of the changes in the subject's apprehension as the humerus is moved. The apparatus may include a clock that indicates the times when muscle activity occurs. The levels of muscle activity may be recorded at different times and indicated to the operator. Pressure can be applied in a direction normal to the long axis of the humerus, and sensors produce an indication of the level of the applied pressure and corresponding apprehension of the subject. Also available is an indication of the level of muscle activity that occurs when such pressure is applied.

Alexei John Marko

Papers

Robotically assisted medical ultrasound

Apparatus and method for relating pain and activity of a patient

Apparatus and method for evaluation of shoulder stability