Abstract: An ultrasound imaging system having real-time tracking and image registration includes a fiducial-marker system comprising an ultrasound transmitter structured to provide a localized ultrasound pulse at an optically observable localized spot on a body of interest. The system further includes an optical imaging system, a two-dimensional ultrasound imaging system, an optical image processing system, and an ultrasound image processing system.

Abstract: According to some embodiments of the invention, a robot-assisted ultrasound system includes a first ultrasound probe, a robot comprising a manipulator arm having a tool end, and a second ultrasound probe attached to the tool end of the manipulator arm. The robot-assisted ultrasound system further includes a robot control system configured to control at least one of a position or a pose of the second ultrasound probe based on a contemporaneous position and pose of the first ultrasound probe, and an ultrasound processing and display system configured to communicate with at least one of the first and second ultrasound probes to receive and display an ultrasound image based on the first and second ultrasound probes acting in conjunction with each other.

Abstract: A virtual rigid body optical tracking system includes a virtual rigid body generator for projecting a virtual rigid body, wherein the virtual rigid body forms a pattern of light on a surface. The virtual rigid body optical tracking system includes an optical detection system for detecting the pattern of light, and a data processing system in communication with the optical detection system. The data processing system is configured to determine a position of the virtual rigid body generator based on the detected pattern of light.

Abstract: According to some embodiments of the invention, an ultrasound imaging system having real-time tracking and image registration includes a fiducial-marker system comprising an ultrasound transmitter structured to provide a localized ultrasound pulse at an optically observable localized spot on a body of interest.

Abstract: A system and method is provided for solving the AX=XB calibration problem. A calibration method is presented to determine the unknown X in the AX=XB calibration problem. Sensor data is filtered, such that data without the desired screw theory invariants are discarded. The correspondence between A and B is then computed, either through a probabilistic Batch method that treats the data streams as probability density functions, or by formulating the data streams as a time-evolving differential equation which allows for online calibration of the device. Also, a calibration phantom and software is also provided. The phantom is an extension of known Z-fiducial phantoms, in which the Z-fiducials are oriented based on consideration of imaging physics. An additional phantom is designed that does not utilize rods within the phantom to perform the calibration.

Abstract: A virtual rigid body optical tracking system includes a virtual rigid body generator for projecting a virtual rigid body, wherein the virtual rigid body forms a pattern of light on a surface. The virtual rigid body optical tracking system includes an optical detection system for detecting the pattern of light, and a data processing system in communication with the optical detection system. The data processing system is configured to determine a position of the virtual rigid body generator based on the detected pattern of light.

Abstract: According to some embodiments of the invention, a robot-assisted ultrasound system includes a first ultrasound probe, a robot comprising a manipulator arm having a tool end, and a second ultrasound probe attached to the tool end of the manipulator arm. The robot-assisted ultrasound system further includes a robot control system configured to control at least one of a position or a pose of the second ultrasound probe based on a contemporaneous position and pose of the first ultrasound probe, and an ultrasound processing and display system configured to communicate with at least one of the first and second ultrasound probes to receive and display an ultrasound image based on the first and second ultrasound probes acting in conjunction with each other.

Abstract: A system and method of transforming information between UCS and EBCDIC-friendly representations comprises a two-stage transformation process using a first stage which transforms a UCS string to and from an intermediate form string, referred to as an I8-string. A second stage transforms the I8-string to and from a string in an EBCDIC-friendly representation. The two stages employ transformations which result in control characters and other selected characters being represented as single octets in the I8 and EBCDIC-friendly strings and the transformations are symmetric in both stages. The second stage can produce EBCDIC-friendly strings in one or more selected EBCDIC encodings.