Abstract: For robotically operating a catheter, a medical catheter is controlled by rotation of the catheter as well as steering in one or more planes of a distal end of the catheter. To robotically rotate the catheter, a handle is rotated. The steering is performed separately using one or more knobs on the handle. The rotation of the handle complicates the robotic control of the knob. A mechanical decoupling is used so that rotation of the handle maintains the position of the knob relative to the handle. Gearing or transmission is used to avoid independent control of the knob and handle rotation. In an alternative or additional approach, the handle may be robotically controlled while also guiding the catheter shaft spaced away from the handle, allowing fine-tuned control of the catheter at the access point to the patient.

Abstract: We present, in exemplary embodiments of the present invention, a system combining anatomical imaging technologies (e.g., MR) with optical technologies. The system can be used for a variety of applications, including, but not limited to, (1) cancer diagnosis and staging; (2) image guidance; and (3) radiation therapy planning. Image guidance may include guiding a biopsy. For example, a prostatectomy potentially has severe side effects, such as impotence and incontinence. Thus, a histologically-confirmed diagnosis, such as one provided from a biopsy, may prevent unnecessary prostatectomy. Image guidance may also include guiding minimal invasive therapy, such as brachytherapy focused ultrasound. The present invention may be used to plan radiation therapy, for example, by detecting, and thus sparing, healthy tissue from radiation exposure.

Abstract: A region of interest (ROI) of a patient's body is repeatedly scanned using an ultrasound transducer array. Data sets representing an image property, such as intensity, from portions of the ROI are used to calculate a representation of the displacement profile within the ROI at different stress levels. From the displacement profile, a function of strain is also preferably calculated. According to one aspect of the invention, a data set representing an estimate of the elasticity profile within the ROI is color-coded and is displayed along with a B-mode display in a single, overlaid display. According to another aspect of the preferred embodiment of the invention, the display of elasticity is adaptively persisted as a function of, for example, a measure of image quality. The invention also provides an on-screen guide that indicates to a user a measure of quality of each of a series of estimated displacement data sets.

Abstract: A method for calculating fluence contributions for radiation delivery from a source to a treatment area through an aperture. The method includes defining a calculation plane located adjacent to said treatment area and a scattering plane located between the radiation source and the calculation plane. A source plane located between the radiation source and scattering plane is also defined. The method further includes ray tracing a point located on the calculation plane to the scattering plane to define a scatter strip and projecting the scatter strip from the scattering plane to the source plane to define a rectangular region. An area integration is performed on the region to determine a fluence value for the rectangular region.