Abstract: A device to image registration method includes obtaining image data of a device, the device including a plurality of fiducials arranged as a fiducial frame on the device; detecting fiducial objects within the image data; cropping the image data to generate cropped image data; applying a feature enhancement to the cropped image data to enhance the fiducial objects; generating a candidate list of candidate objects based on the feature enhancement, and determining a common plane based on at least three points in the candidate list; determining a representative point for each candidate object; determining outlier candidate objects based on the common plane; determining resultant objects by extracting the outlier candidate objects from the candidate list; and registering the resultant objects to the device by matching the representative points of the resultant objects with a model of the fiducial frame.

Abstract: One or more devices, systems, methods and storage mediums for performing medical procedure (e.g., needle guidance, ablation, biopsy, etc.) planning and/or performance, and/or for performing visualization and manipulation of registration result(s), are provided. Examples of applications for such devices, systems, methods and storage mediums include imaging, evaluating and diagnosing biological objects, such as, but not limited to, lesions and tumors, and such devices, systems, methods and storage mediums may be used for radiotherapy applications (e.g., to determine whether to place seed(s) for radiotherapy).

Abstract: A medical guidance apparatus (100) includes a base assembly (110) configured to be attached to a subject and a guide (150) configured to be removably mated with the base assembly (110). The base assembly (110) has an opening (160), and the guide (150) includes a rotatable ring (152) and an arc member (154). The arc member (154) includes a first end (162) and a second end (164), the first end of the arc member is connected to the rotatable ring (152) and the second end extends diametrically opposite to the first end across the rotatable ring. A probe holder (600) is mounted on the arc member (154) so as to hold a needle-like instrument (2161) at a desired angle relative to an axis (Ax) of the rotatable ring (152). In some embodiments, the arc member is monolithically integrated with the rotatable ring. In other embodiments, the arc member is pivotable and/or completely removable from the rotating ring.

Abstract: System and methods for out-of-band pairing sterile medical device with non-sterile devices without compromising sterility thereof. A system includes a sterile medical device; a non-sterile computing device; at least one near field communication (NFC) tag; and a sterile packaging enclosing the sterile medical device. In one example, a sterile percutaneous needle guidance device needs to pair and communicate with a non-sterile computer. The sterile device has an NFC tag embedded in the sterile device and an NFC tag embedded in the sterile packaging. The two NFC tags include identification information duplicate of each other. Before opening the sterile packaging either NFC tag can be scanned with the non-sterile device to initiate wireless pairing. If the sterile package is opened before pairing, the NFC tag contained in the packaging can be brought out of the sterile field and scanned with the non-sterile computer thus preserving the sterility of the sterile device.

Abstract: A system and method for supporting multi-probe guidance are disclosed. The system comprises: a medical guidance apparatus comprising: a rotatable portion which is rotatable around a first axis; an arc guide attached to or integrally formed with the rotatable portion, and a probe holder movably mounted on the arc guide. The probe holder is rotatable around a second axis perpendicular to the first axis by being translated along an arcuate path defined by the shape of the arc guide. In one embodiment, the probe holder includes a plurality of probe channels to guide a corresponding plurality of probes parallel to each other towards a subject. In other embodiment, the probe holder includes a single probe channel which is offset from a center point of the guidance apparatus by a fixed distance such that each probe can be inserted sequentially through a different insertion point without colliding at the center point.

Abstract: System and methods for out-of-band pairing sterile medical device with non-sterile devices without compromising sterility thereof. A system includes a sterile medical device; a non-sterile computing device; at least one near field communication (NFC) tag; and a sterile packaging enclosing the sterile medical device. In one example, a sterile percutaneous needle guidance device needs to pair and communicate with a non-sterile computer. The sterile device has an NFC tag embedded in the sterile device and an NFC tag embedded in the sterile packaging. The two NFC tags include identification information duplicate of each other. Before opening the sterile packaging either NFC tag can be scanned with the non-sterile device to initiate wireless pairing. If the sterile package is opened before pairing, the NFC tag contained in the packaging can be brought out of the sterile field and scanned with the non-sterile computer thus preserving the sterility of the sterile device.

Abstract: System and methods for out-of-band pairing sterile medical device with non-sterile devices without compromising sterility thereof. A system includes a sterile medical device; a non-sterile computing device; at least one near field communication (NFC) tag; and a sterile packaging enclosing the sterile medical device. In one example, a sterile percutaneous needle guidance device needs to pair and communicate with a non-sterile computer. The sterile device has an NFC tag embedded in the sterile device and an NFC tag embedded in the sterile packaging. The two NFC tags include identification information duplicate of each other. Before opening the sterile packaging either NFC tag can be scanned with the non-sterile device to initiate wireless pairing. If the sterile package is opened before pairing, the NFC tag contained in the packaging can be brought out of the sterile field and scanned with the non-sterile computer thus preserving the sterility of the sterile device.

Abstract: The present disclosure relates generally to medical imaging and, more particularly to systems, methods, and devices for planning and carrying out minimally invasive procedures using external devices for needle guidance and the display and manipulation of the image set when planning and performing the procedure.

Abstract: A device to image registration method includes obtaining image data of a device, the device including a plurality of fiducials arranged as a fiducial frame on the device; detecting fiducial objects within the image data; cropping the image data to generate cropped image data; applying a feature enhancement to the cropped image data to enhance the fiducial objects; generating a candidate list of candidate objects based on the feature enhancement, and determining a common plane based on at least three points in the candidate list; determining a representative point for each candidate object; determining outlier candidate objects based on the common plane; determining resultant objects by extracting the outlier candidate objects from the candidate list; and registering the resultant objects to the device by matching the representative points of the resultant objects with a model of the fiducial frame.

Abstract: Apparatus, systems and methods for percutaneous ablation of a tumor in a subject, and more specifically, percutaneous tumor ablation with the ability for real-time, intra-operative ablation planning, execution and adjustment.

Abstract: Exemplary methods, apparatus, and systems are disclosed for automated registration and motion compensation of patient-mounted needle guide medical devices using fiducial markers, and processing algorithms where a re-registration step is provided. These methods, apparati, and systems adaptively compensate for the displacement of the medical device and/or target location due to the patient movement or internal organ motion.

Abstract: System and methods for out-of-band pairing sterile medical device with non-sterile devices without compromising sterility thereof. A system includes a sterile medical device; a non-sterile computing device; at least one near field communication (NFC) tag; and a sterile packaging enclosing the sterile medical device. In one example, a sterile percutaneous needle guidance device needs to pair and communicate with a non-sterile computer. The sterile device has an NFC tag embedded in the sterile device and an NFC tag embedded in the sterile packaging. The two NFC tags include identification information duplicate of each other. Before opening the sterile packaging either NFC tag can be scanned with the non-sterile device to initiate wireless pairing. If the sterile package is opened before pairing, the NFC tag contained in the packaging can be brought out of the sterile field and scanned with the non-sterile computer thus preserving the sterility of the sterile device.

Abstract: Systems, methods, and computer-readable media are provided. Some embodiments include obtaining image data of a subject and a medical device, the medical device including fiducial markers, wherein the image data includes three-dimensional image data. Information is generated representing a three-dimensional shape based on a planned insertion point for performing a medical procedure. A cropping process is applied to the image data to generate cropped image data based on the three-dimensional shape. In some embodiments, the cropped image data includes image data of at least two of the fiducial markers. Fiducial marker objects are detected within the cropped image data, and the fiducial marker objects are registered by matching a model of the fiducial markers with the fiducial marker objects.

Abstract: The present disclosure relates generally to medical imaging and, more particularly to systems, methods, and devices for planning and carrying out minimally invasive procedures using external devices for needle guidance and the display and manipulation of the image set when planning and performing the procedure.

Abstract: One or more devices, systems, methods and storage mediums for performing medical procedure (e.g., needle guidance, ablation, biopsy, etc.) planning and/or performance, and/or for performing visualization and manipulation of registration result(s), are provided. Examples of applications for such devices, systems, methods and storage mediums include imaging, evaluating and diagnosing biological objects, such as, but not limited to, lesions and tumors, and such devices, systems, methods and storage mediums may be used for radiotherapy applications (e.g., to determine whether to place seed(s) for radiotherapy).

Abstract: A medical guidance apparatus includes a base assembly including a base ring having an inner circumference defining an opening; and a guide rotateably mateable with the base assembly, the guide including: a frame comprising: an inner circumference defining an opening; and an outer circumference, wherein, in a configuration where the guide is mated with the base assembly, the opening of the frame overlays the opening of the base ring; a gap extending from the inner circumference of the frame to the outer circumference of the frame; and an arc member including a first end integrally formed with the frame and a second end integrally formed with the frame, wherein the first end of the arc member is diametrically opposed to the second end of the arc member.

Abstract: A medical guidance apparatus (100) includes a base assembly (110) configured to be attached to a subject and a guide (150) configured to be removably mated with the base assembly (110). The base assembly (110) has an opening (160), and the guide (150) includes a rotatable ring (152) and an arc member (154). The arc member (154) includes a first end (162) and a second end (164), the first end of the arc member is connected to the rotatable ring (152) and the second end extends diametrically opposite to the first end across the rotatable ring. A probe holder (600) is mounted on the arc member (154) so as to hold a needle-like instrument (2161) at a desired angle relative to an axis (Ax) of the rotatable ring (152). In some embodiments, the arc member is monolithically integrated with the rotatable ring. In other embodiments, the arc member is pivotable and/or completely removable from the rotating ring.

Abstract: A system and method for supporting multi-probe guidance are disclosed. The system comprises: a medical guidance apparatus comprising: a rotatable portion which is rotatable around a first axis; an arc guide attached to or integrally formed with the rotatable portion, and a probe holder movably mounted on the arc guide. The probe holder is rotatable around a second axis perpendicular to the first axis by being translated along an arcuate path defined by the shape of the arc guide. In one embodiment, the probe holder includes a plurality of probe channels to guide a corresponding plurality of probes parallel to each other towards a subject. In other embodiment, the probe holder includes a single probe channel which is offset from a center point of the guidance apparatus by a fixed distance such that each probe can be inserted sequentially through a different insertion point without colliding at the center point.

Abstract: Systems, methods, and computer-readable media are provided. Some embodiments include obtaining image data of a subject and a medical device, the medical device including fiducial markers, wherein the image data includes three-dimensional image data. Information is generated representing a three-dimensional shape based on a planned insertion point for performing a medical procedure. A cropping process is applied to the image data to generate cropped image data based on the three-dimensional shape. In some embodiments, the cropped image data includes image data of at least two of the fiducial markers. Fiducial marker objects are detected within the cropped image data, and the fiducial marker objects are registered by matching a model of the fiducial markers with the fiducial marker objects.

Abstract: Exemplary methods, apparatus, and systems are disclosed for automated registration and motion compensation of patient-mounted needle guide medical devices using fiducial markers, and processing algorithms where a re-registration step is provided. These methods, apparati, and systems adaptively compensate for the displacement of the medical device and/or target location due to the patient movement or internal organ motion.