Abstract: An apparatus for correction of a direction to which a tool channel or a camera moves or is bent in a case where a displayed image is rotated. The apparatus includes at least one memory and at least one processor that executes instructions stored in the memory to receive a directional command of a capturing direction of a camera, move the capturing direction of the camera according to the received directional command, detect a rotation amount of a captured image displayed on a monitor, wherein the captured image is captured by the camera, and correct, based on the detected rotation amount, directional information corresponding to a particular directional command or directional coordinate for moving the camera, wherein the directional information is used for moving the capturing direction of the camera.

Abstract: One or more devices, systems, methods, and storage mediums for performing image correction and/or adjustment are provided herein. Examples of such image correction and/or adjustment include, but are not limited to, correction of a direction to which a tool channel or a camera moves or is bent in a case where a displayed image is rotated. Examples of applications include imaging, evaluating, and diagnosing biological objects, such as, but not limited to, for Gastro-intestinal, cardio, bronchial, and/or ophthalmic applications, and being obtained via one or more optical instruments, such as, but not limited to, optical probes, catheters, endoscopes, and bronchoscopes. Techniques provided herein also improve processing and imaging efficiency while achieving images that are more precise, and also achieve imaging devices, systems, methods, and storage mediums that reduce mental and physical burden and improve ease of use.

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: An articulated medical device having a hollow core, capable of large degrees of maneuverability through small cavities to reach a target with minimal invasiveness, wherein the medical device is capable of manual and robotic manipulation.

Abstract: The subject disclosure is directed to an articulated medical device having a sensor for detecting outside movements applied upon the medical device while in a subject or patient, wherein the device is capable of maneuvering within the subject or patient while taking the outsides movements into consideration.

Abstract: An apparatus for correction of a direction to which a tool channel or a camera moves or is bent in a case where a displayed image is rotated. The apparatus includes at least one memory and at least one processor that executes instructions stored in the memory to receive a directional command of a capturing direction of a camera, move the capturing direction of the camera according to the received directional command, detect a rotation amount of a captured image displayed on a monitor, wherein the captured image is captured by the camera, and correct, based on the detected rotation amount, directional information corresponding to a particular directional command or directional coordinate for moving the camera, wherein the directional information is used for moving the capturing direction of the camera.

Abstract: A method for visualization guidance of device-to-image registration includes acquiring image data of a patient, generating a 3D model of the anatomy of the patient based on the image data, performing initial registration between image space and device space, advancing a device into a structure, tracking trajectory of the device in relation to the model, determining divergence between the device trajectory and the model, and effecting correction to the model or the device trajectory to minimize the divergence.

Abstract: A robot-assisted endoscope system and control methods thereof allow a user to perform intraluminal interventional procedures using a steerable sheath. A processor generates a ghost image based on a non-real-time insertion trajectory of the sheath, and a real-time image based on a real-time insertion trajectory for inserting an interventional tool through the sheath towards the target site. A display screen outputs navigation guidance data for informing a user how to manipulate the distal section of the sheath towards the target site such that the real-time image overlaps or coincides with at least part the ghost image and the real-time insertion trajectory becomes aligned with the non-real-time insertion trajectory.

Abstract: A system and method that provides navigation guidance for intraluminal procedures comprises: a catheter configured to be inserted into a lumen receive an actuating force from an actuator; and a tracking system configured to acquire position and orientation of the catheter with respect a lumen. A processor in communication with the actuator and the tracking system is configured to: register a position and/or orientation of the catheter tip with respect to a reference target, and generate one or more satellite targets in a region of interest surrounding the reference target. A display screen displays a virtual representation of the distal end of the catheter, and a virtual representation of the one or more satellite targets, as navigation guidance. A user is able to determine how to align the catheter tip with the one or more satellite targets to perform an intraluminal procedure.

Abstract: One or more apparatus and systems for articulated movement, particularly for an articulated medical device such as an endoscope or medical robot. The apparatus comprises an articulated movement portion with tendon control, a transition portion comprising actuation rods, springs, and distal stoppers, a conduit portion comprising lumen filled with air or hydraulic fluid; a translation portion comprising a proximal stopper; and a power unit.

Abstract: An articulated medical device having a hollow core, capable of large degrees of maneuverability through small spaces of a patient to reach a target with minimal invasiveness, and once the medical device has reached the target, allowing for finite movement of the distal end of the medical device to hone in on one or more targets or areas of interest, without having to move the remainder of the medical device.

Abstract: There is provided a medical support device for holding and positioning a needle. This device is particularly useful for positioning needles in a less invasive puncture treatment. This device comprises two rotational elements and at least one needle guide attached to a rotational element and. The needle guide guides the direction of insertion of a needle-like instrument and includes a guide portion that guides a needle or other needle-like instrument where the puncture point of the needle in a first position is different from the puncture point when the needle guide guides the needle in a second position.

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: An articulated medical device having a hollow core, capable of large degrees of maneuverability through small cavities to reach a target with minimal invasiveness, wherein the medical device is capable of manual and robotic manipulation.

Abstract: Methods and systems are provided for maintaining alignment of an articulated medical device which allows a reference element or reference trajectory to be set at a location within a subject. A medical tool can be guided through the device and facilitating medical procedures, including endoscopes, cameras, and biopsy tools, to a target when the articulated medical device is subjected to external forces that cause a deviation in the trajectory towards the target.

Abstract: An articulated medical device having a hollow core, capable of large degrees of maneuverability through small spaces of a patient to reach a target with minimal invasiveness, and once the medical device has reached the target, allowing a medical tool to be guided through the hollow chamber for facilitating medical procedures, including endoscopes, cameras, and bendable medical devices, at the target.

Abstract: The subject disclosure is directed to an articulated medical device in communication with a ventilator, used for regulating breathing patterns in a subject, wherein the articulated medical device may be advanced or retracted during repeatable breathing cycles, so as to reduce the possibility of abrasion to the lungs.

Abstract: An apparatus (51) includes a needle placement manipulator (1) and an attachment (52) for the manipulator. The manipulator includes a needle holder and a rotary mechanism. The rotary mechanism (3, 4) has a remote center of motion (RCM: 11) and is configured to position a needle holder (5) such that the axis of the needle holder traces a conical region of coverage (108), the conical region of coverage having the apex thereof at the RCM and the base thereof in a direction towards a subject of needle placement (14). The attachment supports the guide mechanism and is configured to be mounted onto the subject of needle placement. The attachment includes a guide portion (183c) configured to change an inclination of the rotary mechanism with respect to the subject of needle placement such that the axis of the needle holder intersects an insertion target (14) located outside of the conical region of coverage.

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: Exemplary methods, apparatus, and systems are provided for automated detection and registration of medical images using fiducial markers and processing algorithms. By either clustering fiducial markers having a different number, size, shape, configuration, or material property or by using fiducial markers arranged in a ring shape, wherein their arrangement is asymmetric, and then applying a feature extraction to extract the fiducial marker objects, and registering the fiducial marker objects with a model of the fiducial frame, automatic registration can be achieved.