Abstract: A method for determining an applicable path of movement of an object in human or animal tissue is based on intensity data obtained by a 3D imaging technique. The applicable path of movement connects a starling position of the object with a defined target location. The method includes defining the target location of a reference point of the object and choosing at least one possible starting position of the reference point of the object. Further, the method includes determining a candidate path of movement between the corresponding possible starling position and the defined target location. Next, the candidate path of movement is evaluated for being an applicable path. The candidate path is evaluated based on information about local intensity extrema and/or intensity variation resulting from the intensity data along the candidate path of movement.

Abstract: A system and method of tracking a flexible elongate instrument within a patient is disclosed herein. The system is configured to obtain remote localization measurement data of the flexible elongate instrument and obtain elongation measurement data of the flexible elongate instrument. This data is combined and transformed to a coordinate reference frame to produce a localization of the flexible elongate instrument that is more accurate than the remote localization measurements or elongation measurement data alone. The combined localization is then provided to a localization consumer.

Abstract: A therapy planner is configured to construct a therapy plan based on a planning image segmented into segments delineating features of a subject. A predictive plan adaptation module is configured to adjust the segments to represent a foreseeable change in the subject and to invoke the therapy planner to construct a therapy plan corresponding to the foreseeable change. A data storage stores a plurality of therapy plans generated for a subject by the therapy planner and the predictive plan adaptation module based on at least one planning image of the subject. A therapy plan selector is configured to select one of the plurality of therapy plans for use in a therapy session based on a preparatory image acquired preparatory to the therapy session.

Abstract: The present application provides an apparatus arid method for determining a position of a joint prosthesis using a computer assisted orthopedic surgery system in support of an arthroplasty surgery. The apparatus and method includes attaching a first beatable element to a first bone on one side of a joint, providing a sensor having a second beatable element and moving the sensor in proximity of the joint to locate a plurality of positions of the sensor relative to the first beatable element using a tracking device. The apparatus and method further includes selecting a generic model of a joint determining the generic model in response to the plurality of positions located using the tracking device to generate a deformed model, determining a position for a joint prosthesis on the deformed model, and outputting on a display the determined position upon the deformed model.

Abstract: Methods and systems for automatic classification of images of internal structures of human and animal bodies. A method includes receiving a magnetic resonance (MR) image testing model and determining a testing volume of the testing model that includes areas of the testing model to be classified as bone or cartilage. The method includes modifying the testing model so that the testing volume corresponds to a mean shape and a shape variation space of an active shape model and producing an initial classification of the testing volume by fitting the testing volume to the mean shape and the shape variation space. The method includes producing a refined classification of the testing volume into bone areas and cartilage areas by refining the boundaries of the testing volume with respect to the active shape model and segmenting the MR image testing model into different areas corresponding to bone areas and cartilage areas.

Abstract: A tele-health services cabin includes a plurality of vital signs monitoring devices, a cabin management unit, and videoconferencing hardware via which a remote practitioner in a remote medical call center videoconferences with a patient in the cabin to diagnose symptoms of the patient. The cabin management unit includes a processor that controls the cabin, a data input at which patient data is provided from the vital signs monitoring devices, and a transmitter connectable to a communication link for bi-directional communication between the cabin management unit and the medical call center, where the transmitter transmits the patient data to the medical call center. The tele-health services cabin may include a patient chair including a motorized seat back and at least one sensor encapsulated in the seat back. The tele-health services cabin may include a hands-free medical device station. The tele-health services cabin may include an automatic cleaning system.

Abstract: A data processing apparatus, system and method for simulating radiological imaging of a physical object, comprising: an object model generator configured to generate a data model, wherein the data model comprises data representative of the orientation of the physical object with respect to a frame of reference and simulated composition data; and an image simulator configured to perform a radiological simulation on the data model and generate a simulated radiological image of the physical object.

Abstract: A method for determining a resection volume of a pathologic femur having a femoral head and a femoral neck is provided. The method may determine a first point of a desired contour based on a pathologic alpha angle of the pathologic femur, determine a second point of the desired contour based on a desired alpha angle of the pathologic femur, determine a third point of the desired contour on the femoral neck of the pathologic femur, and generate a resection volume of the pathologic femur based on the first, second and third points of the desired contour.

Abstract: Reconstruction in positron emission tomography is performed with partially known attenuation. A PET-CT scanner is used to generate a PET image with time of flight emission information. To limit x-ray dose while providing increased sensitivity at the ends of the CT volume in the PET image, attenuation coefficients for oblique LORs passing outside the CT volume are determined from the time of flight emission information. The attenuation coefficients for LORs within the CT volume are derived from the CT data. An objective function may be maximized for the emission distribution without reconstructing the attenuation distribution.

Abstract: An image processing method, includes: obtaining an image, the image having marker images and a background image; identifying presence of an object in the background image using a processor; and providing a signal for stopping a procedure if the presence of the object is identified. An image processing apparatus, includes: a processor configured for: obtaining an image, the image having marker images and a background image; identifying presence of an object in the background image; and providing a signal for stopping a procedure if the presence of the object is identified. A computer product having a non-transitory medium storing a set of instructions, an execution of which causes an image processing method to be performed, the method includes: obtaining an image, the image having marker images and a background image; identifying presence of an object in the background image; and providing a signal for stopping a procedure if the presence of the object is identified.

Abstract: A radiation therapy apparatus including a robot supporting a robot head; a therapeutic radiation source attached to the robot head; a collimator for adjusting a radiation field shape of therapeutic radiation radiated from the therapeutic radiation source; a first therapeutic radiation detector attached to the robot head; a couch configured to support a patient lying supine thereon; a second therapeutic radiation detector for detecting the therapeutic radiation, disposed opposite the first therapeutic radiation detector with the couch disposed therebetween; at least two X-ray sources and detectors for position detection of a marker and/or a treatment target; an image processor for reconstructing an image of the treatment target; and a CPU that computes the intensity, irradiation direction, dose, and dose distribution of the therapeutic radiation, and dose absorbed by the treatment target, radiation field shape, and position of the treatment target in real time for feedback to a next irradiation.

Abstract: This invention relates to a system that adaptively compensates for subject motion in real-time in an imaging system. An object orientation marker (30), preferably a retro-grate reflector (RGR), is placed on the head or other body organ of interest of a patient (P) during a scan, such as an MRI scan. The marker (30) makes it possible to measure the six degrees of freedom (x, y, and z-translations, and pitch, yaw, and roll), or “pose”, required to track motion of the organ of interest. A detector, preferably a camera (40), observes the marker (30) and continuously extracts its pose. The pose from the camera (40) is sent to the scanner (120) via an RGR processing computer (50) and a scanner control and processing computer (100), allowing for continuous correction of scan planes and position (in real-time) for motion of the patient (P).

Abstract: A navigation system is provided to direct control of a user interface work-flow during a procedure. Such a need can arise in sterile environments were touchless interaction is preferable over physical contact. The system includes a wand and receiver for controlling a pagination and parameter entry of the work-flow, a processor to compare wand movement profiles, a clock for limiting a time window between the comparison, and a controller for activating a user interface control in the workflow when a wand movement profile or gesture is recognized. The comparison can be based on the wand's direction, orientation and movement to and from various locations. Other embodiments are disclosed.

Abstract: Disclosed is an injection system (1) for injecting liquids within a strong magnetic field, an alternating magnetic field, and/or a high-frequency electric field to be used with a technical medical system. Said injection system comprises a space (2) that is shielded from electromagnetic fields with the aid of a shield, an injection device (6) by means of which liquid to be injected can be dispensed to a patient (23), a driving mechanism for the injection device (6), by means of which at least one conveying element (11, 12) can be displaced for injection purposes, and a control and monitoring unit (8) which is located outside said space (2). The inventive injection system prevents interfering electromagnetic fields from being created exclusively by the fact that a hydraulic driving mechanism (10) is provided whose at least one hydraulic conduit (13, 14, 15, 16) is guided out of the space (2) to a pressure generating unit (71, 72, 73, 74).

Abstract: A system for processing an image data volume acquired with a medical imaging acquisition device 100 from a body comprising a needle is provided. It has been realized it is advantageous to display 150 a plane intersecting the image data volume showing the needle to a user of the system. This allows better positioning of the needle. The system comprises a needle-plane determination 110 module for determining a plane being parallel to and intersecting a representation in the image data volume of the needle and being parallel to a viewing direction. The needle plane determination module may make use of pixel processing and/or spectral transformation, in particular the Gabor transform.

Abstract: An ultrasound imaging probe supports determination of the location of an object scanned within a 3D volume. A handheld movable ultrasound imaging device emits ultrasound waves and detects corresponding ultrasound waves reflected from an object. At least three light emitting elements are mounted on the ultrasound imaging device and are detectable by a camera located at a fixed position with respect to a 3D volume where the object is imaged. A motion detector provides data indicating detected movement of the ultrasound imaging device in at least one axis. The data indicating detected movement is used together with distance data indicating distance of the ultrasound imaging device from the camera derived using the light emitting elements and the camera, to determine a location of the object scanned within a 3D volume using the ultrasound imaging device.

Abstract: An ultrasound breast imaging assembly includes first and second compression plates angled with respect to one another, a breast compression area defined between the first and second compression plates, at least one pivot assembly, and an ultrasound probe. The pivot assembly allows relative motion between the first and second compression plates. The ultrasound probe, which is configured to translate over one of the first and second compression plates, includes an active matrix array (AMA) positioned on one of the first and second compression plates.

Abstract: Systems and methods for tracking a target volume, e.g., tumor, in real-time during radiation treatment are provided. Under one aspect, a system includes an ultrasound probe, an x-ray imager, a processor, and a computer-readable medium that stores a 3D image of the tumor in a first reference frame and instructions for causing the processor to: instruct the x-ray imager and ultrasound probe to substantially simultaneously obtain inherently registered x-ray and set-up ultrasound images of the tumor in a second reference frame; establish a transformation between the first and second reference frames by registering the 3D image and the x-ray image; instruct the ultrasound probe to obtain an intrafraction ultrasound image of the tumor; registering the intrafraction ultrasound image with the set-up ultrasound image; and track target volume motion based on the registered intrafraction ultrasound image.

Abstract: A vital sign measurement robot which automatically measures vital signs, and a control method thereof. The vital sign measurement robot includes an input unit to receive vital sign measurement instructions, an image recognition unit to detect a distance between the robot and a person, vital signs of whom are to be measured, and a measurement portion of the body of the person, when the vital sign measurement instructions are received, a control unit to move electrodes provided on hands so as to locate the electrodes at the measurement portion of the body of the person, when the distance between the robot and the person and the measurement portion of the body of the person are detected, and a vital sign measurement unit to measure a vital sign, when the electrodes are located at the measurement portion of the body of the person.

Abstract: Embodiments disclosed herein provide systems and methods for automating the acquisition and analysis of contrast enhancement images. Model-free discrimination methods are provided in which discrimination between well-perfused pixels (e.g. normal tissue) and perfusion-deficient pixels (e.g. ablation lesions) is automated based on histogram shape. For example, in selected embodiments, discrimination is made based on pixels corresponding to abnormal perfusion (e.g. ablation lesions) and normal perfusion (e.g. normal tissue) form distinctive lobes separated by a minimum formed due to the presence of border pixels. Segmentation of cumulative dynamic contrast enhancement maps by thresholds identified on such histograms is employed to separate abnormally-perfused tissue from the normally-perfused tissue without any user interactions, freeing the user from the necessity to analyze and interpret original dynamic contrast enhancement images or maps derived from them.

Abstract: A system and method for commissioning of a beam model for a three dimensional radiation therapy treatment planning system is described. The system includes an intensity modulated radiotherapy (IMRT) unit for generating a two dimensional intensity modulated beam pattern, a two dimensional diode array for detecting a two dimensional dose map for the beam pattern, and a processor configured to execute instructions for iteratively adjusting one or more parameters for the beam model, in order to increase agreement between the detected dose map and a calculated dose map calculated using the beam model.

Abstract: An orthopedic implant comprising: (a) a distal femoral component comprising a first condyle bearing surface having a first profile comprising at least three consecutive arcs of curvature; and (b) a proximal tibial component comprising a first condyle bearing surface having a second profile comprising at least three parallel arcs of curvature. The disclosure also includes a method of designing and fabricating an orthopedic implant, the method comprising: (a) evaluating images of distal femurs of a particular ethnicity to extract common shape features exhibited across an ethnicity that are unique to the ethnicity to create an ethnic specific template; (b) designing a distal femoral component comprising a first condyle surface using the ethnic specific template; and, (c) fabricating a distal femoral component embodying the first condyle surface.

Abstract: A method and system include a processor that outputs a model of anatomical structures of a region in which a leadwire is implanted, the structures being distinguished by graphical indicia associated with respective textual descriptions in a legend. Electrodes of a model of the leadwire overlaid on the anatomical structure models are selectable, in response to which selection the processor displays a control for modifying an electrical setting of the selected contact.

Abstract: A method is disclosed for determining at least one PET parameter for a PET examination in a combined magnetic resonance/PET scanner designed for isocentric measurement. In at least one embodiment, at least one acquisition time for the PET examination is determined as a PET parameter from magnetic resonance data, recorded for determining patient-specific examination parameters for a magnetic resonance examination, and/or from at least one patient-specific information value derived therefrom, and is displayed and/or used for controlling the scanner.

Abstract: A method for guiding nanoparticles to a target location by a magnetic gradient field and/or holding them at the target location is proposed. The magnetic gradient field is generated by a magnet system with at least one magnet. A focus of the magnet system is registered with an X-ray device. At least one three-dimensional image dataset showing the target location is captured by the X-ray device. The position of the target location is determined manually and/or automatically in the image dataset or in an image dataset determined therefrom and is positioned automatically based on the registration of the focus so that the focus coincides with the position of the target location.

Abstract: The present application provides an apparatus and method for determining a position of a joint prosthesis using a computer assisted orthopedic surgery system in support of an arthroplasty surgery. The apparatus and method includes attaching a first locatable element to a first bone on one side of a joint, providing a sensor having a second locatable element and moving the sensor in proximity of the joint to locate a plurality of positions of the sensor relative to the first locatable element using a tracking device. The apparatus and method further includes selecting a generic model of a joint, determining the generic model in response to the plurality of positions located using the tracking device to generate a deformed model, determining a position for a joint prosthesis on the deformed model, and outputting on a display the determined position upon the deformed model.

Abstract: Systems and methods for automatically and dynamically modifying an image acquisition parameter for use in tomosynthesis breast imaging. A selected image acquisition parameter is modified in response to a measured characteristic of an imaged object such as a breast, and thus tailored to provide the highest quality image for the particular object. For example, image quality in a breast tomosynthesis system can be improved by dynamically varying motion and other acquisition parameters of the tomosynthesis system in response to physical characteristics of the breast to be imaged (determined during image acquisition), such as the breast thickness, density or composition.

Abstract: Embodiments include a fiducial deployment system and method for use thereof. A fiducial may include one or more protuberances configured to engage one or more slots in a needle of the system. The needle may be configured to deliver a plurality of fiducials to a target location in serial fashion, one at a time. In certain embodiments, echogenic placement of fiducials may present certain advantages.

Abstract: A method, apparatus, article of manufacture, and computer program product display multiple slices of a three-dimensional body in a computer drawing application. A first view of a 3D body is displayed. One or more slice sketches are defined on the first view. A single slice view of the three dimensional body is displayed. The single slice view simultaneously depicts all of the slices with a zero-depth representation of each slice.

Abstract: An atherectomy catheter includes an elongate flexible catheter body, an elongate deflectable distal tip coupled to the catheter body at a hinge point, a rotatable cutter near the distal end of the catheter body, and a drive shaft extending within the catheter body and configured to rotate the cutter. The atherectomy catheter further includes an optical fiber extending through the drive shaft substantially on-axis with the catheter body and attached to the cutter. The optical fiber is configured to rotate with the drive shaft. The atherectomy catheter further includes a wedge configured to deflect the distal tip away from the catheter body at the hinge point upon axial movement of the drive shaft.

Abstract: Specific embodiments of the invention are directed to improved surgical procedures involving the use of processed non-visual three-dimensional data (i.e. diagnostic scan data) to provide a surgeon with additional guidance (i.e. more than that generally obtained from visual observation of the working area) concerning the distance separating a working end of a surgical instrument and the posterior portion of a target tissue. Separation information may be used to aid the surgeon in minimizing the risk of unintended penetration of adjacent tissue with the working end of the instrument. Some embodiments provide for the visual and/or auditory conveyance of distance information to the surgeon. Additional embodiments provide for overlaying visual representations of selected three-dimensional structure information (e.g. depths of troughs cut into the lens) with the real surface feature images viewed by the surgeon.

Abstract: An integral laser imaging and coagulation apparatus, and associated systems and methods that allow a physician (e.g., a surgeon) to perform laser surgical procedures on an eye structure or a body surface with an integral laser imaging and coagulation apparatus disposed at a first (i.e. local) location from a control system disposed at a second (i.e. remote) location, e.g., a physician's office. In some embodiments, communication between the integral laser imaging and coagulation apparatus and control system is achieved via the Internet®.

Abstract: The invention disclosed herein discloses selected ribose isomers that are useful as PET probes (e.g. [18F]-2-fluoro-2-deoxy-arabinose). These PET probes are useful, for example, in methods designed to monitor physiological processes including ribose metabolism and/or to selectively observe certain tissue/organs in vivo. The invention disclosed herein further provides methods for making and using such probes.

Abstract: Systems and methods for use of the imaging system are presented. In an embodiment, the imaging system includes a first optical path, a second optical path, a plurality of optical elements, a detector, and a processor. The first optical path guides a first beam of radiation associated with epiluminescence while the second optical path guides a second beam of radiation associated with optical coherence tomography. The plurality of optical elements transmit the first and second beams of radiation onto a sample. The detector generates optical data associated with the first and second beams of radiation returning from the sample. The optical data associated with the first and second beams of radiation correspond to substantially non-coplanar regions of the sample. The processor correlates the optical data of the first beam with the optical data of the second beam and generates an image of the sample.

Abstract: A computer readable storage medium having a computer program stored thereon and representing a set of instructions that when executed by a computer causes the computer to calculate a mapping function that provides a location of each sub-volume of an imaging volume as a function of time from ultrasound data and determine a respective acquisition window for each sub-volume of the imaging volume from the mapping function. The instructions also cause the computer to reconstruct an image of the imaging volume substantially free of motion artifacts from imaging data acquired from the imaging volume.

Abstract: Maximum and minimum dimensional characteristics of a conduit are determined by imaging a portion of the conduit into which an expandable medical device is to be implanted at appropriate points in the cardiac cycle (or other suitable cycle, such as the respiratory cycle, or at other suitable times). The dimensional characteristics of the conduits within the portion of interest may be evaluated and compared to the maximum and minimum dimensional characteristics of the medical device to be implanted in the conduit to determine whether the medical device is of an appropriate size for properly fitting in the conduit.

Abstract: Disclosed are systems, methods, devices and products to identify suitable donor sites for harvesting bone-cartilage grafts and to implant such bone-cartilage grafts. In some embodiments, a method includes providing a computer having access to a donor database, the donor database comprising information on each of a plurality of donor joint sites of the body, receiving first data relating to a defect of a joint of a patient, the defect comprising an area of bone, a portion of which includes at least one of, for example, missing and/or damaged cartilage, and identifying, based on the first data, at least one donor site from the donor database of joints for harvesting a graft of bone and cartilage to repair the defect.

Abstract: Systems and methods for x-ray imaging a patient's breast in combinations of dual-energy, single-energy, mammography and tomosynthesis modes that facilitate screening for and diagnosis of breast abnormalities, particularly breast abnormalities characterized by abnormal vascularity.

Abstract: An optical coherence tomography probe and laser combination device configured for real-time z-directional guidance of the incisional depth of a surgical procedure. It can be used alone or placed within the working channel of an endoscope. The device includes an OCT single mode fiber, and a laser fiber or laser hollow waveguide or electrical surgical wire positioned adjacent to the OCT single mode fiber. The single mode fiber is configured to move laterally when activated by an actuator to scan light data reflected from a sample that is positioned in front of a distal end of the device. The light data can be processed to generate a B-scan image. The device can collect data in real-time during lasing, or immediately prior to and following the cutting. The surgical tool, when coupled to a processor, can deactivate when the B-scan image identifies that the incision is within a predefined tolerance.

Abstract: The present invention relates to a method for tracking image sections which represent indicator body parts of a body in a process sequence of images, wherein changes in the position of the indicator body parts are used as an indicator for changes in the position of a treatment body part of the body which is to be treated using a treatment beam, said method comprising the following steps: providing advance image data which describe an advance sequence of images representing a result of an advance analysis of the body; providing process image data which describe the process sequence of images, wherein the process sequence of images represents a result of a process analysis of the body which is performed after the advance analysis; determining, on the basis of the advance image data, sub-images which undergo similar changes in position in the advance sequence; extracting, on the basis of the process image data and the determined sub-images, image sections from the images of the process sequence which have an ima

Abstract: An implantable device has a body that is substantially rigid and has an imageable shape. The body is further bioabsorbable and may contain permanent metallic elements to aid in its imaging. When the device is implanted in a resected cavity in soft tissue, it can cause the cavity to conform substantially to a known imageable shape. The implantable device is further imageable due to its attenuation properties being different from those of soft tissue such that the boundaries of the tissue corresponding to the predetermined shape can be determined.

Abstract: A method for improving health may include the steps of receiving patient input from a first patient regarding at least one parameter, scanning the first patient for a biomarker using an internal imaging machine, receiving a health plan for the first patient, accessing a database and searching the database for other patients having patient input similar to the first patient, predicting changes in the biomarker based on a patient having input similar to the first patient, and presenting the first patient with the predicted results. Follow-up monitoring may include the steps of receiving internal imaging data as a baseline for a patient undergoing a health plan to improve one or more biomarkers, measuring the patient for one or more biomarkers, estimating the patient's progress by comparing the measurement taken with the baseline internal imaging data, and presenting the patient with the estimated progress.

Abstract: The invention described herein provides systems and methods for multi-modal imaging with light and a second form of imaging. Light imaging involves the capture of low intensity light from a light-emitting object. A camera obtains a two-dimensional spatial distribution of the light emitted from the surface of the subject. Software operated by a computer in communication with the camera may then convert two-dimensional spatial distribution data from one or more images into a three-dimensional spatial representation. The second imaging mode may include any imaging technique that compliments light imaging. Examples include magnetic resonance imaging (MRI) and computer topography (CT). An object handling system moves the object to be imaged between the light imaging system and the second imaging system, and is configured to interface with each system.

Abstract: Apparatus and methods are described including generating a road map of a blood vessel. Subsequent to the generation of the road map, a tool is inserted into the blood vessel. While the tool is inside the blood vessel, the position of the tool is determined. The road map is modified to account for the determined position of the tool. Other embodiments are also described.

Abstract: An ultrasound medical treatment system includes an end effector insertable into a patient. The end effector includes a tissue-retaining device. The tissue-retaining device includes a first tissue-retaining member having an ultrasound medical-treatment transducer and includes a second tissue-retaining member. The first and second tissue-retaining members are operatively connected together to retain patient tissue between the first and second tissue-retaining members and to release patient tissue so retained. In one example, the second tissue-retaining member has an ultrasound reflector. In the same or a different example, the ultrasound medical-treatment transducer is an ultrasound imaging and medical-treatment transducer.

Abstract: In some embodiments, nerves surrounding arteries or leading to organs are targeted with energy sources to correct or modulate physiologic processes. In some embodiments, different types of energy sources are utilized singly or combined with one another. In some embodiments, bioactive agents or devices activated by the energy sources are delivered to the region of interest and the energy is enhanced by such agents.

Abstract: A catheter for delivering securing elements to a tissue, such as a blood vessel, and imaging the tissue before, after, or during the imaging. The catheters incorporate intravascular ultrasound (IVUS) imaging, including Focused Acoustic Computed Tomography (FACT), as well as optical coherence tomography (OCT).

Abstract: A method and system for tracking an ablation catheter and a circumferential mapping catheter in a fluoroscopic image sequence is disclosed. Catheter electrode models for the ablation catheter and the circumferential mapping catheter are initialized in a first frame of a fluoroscopic image sequence based on user inputs. The catheter electrode models for the ablation catheter and the circumferential mapping catheter are then tracked in each remaining frame of the fluoroscopic image sequence. In each remaining frame, candidates of catheter landmarks such as the catheter tip, electrodes and body points are detected for the ablation catheter and the circumferential mapping catheter, tracking hypotheses for the catheter electrode models are generated, and for each of the ablation catheter and the circumferential mapping catheter, the catheter electrode model having the highest probability score is selected from the generated tracking hypotheses.

Abstract: The present invention relates to diagnostic and therapeutic nanoparticles. More particularly, the present invention relates to creating a copper (Cu)-based nanoparticle and a method for making the same. The Cu-based nanoparticles can further be incorporated with additional therapeutic or diagnostic compounds and used for the diagnosis and treatment of tumors.

Abstract: A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to create a representation of an anatomy of a patient; to associate the anatomy and a surgical device with the representation of the anatomy; to manipulate the surgical device to perform a procedure on a patient by moving a portion of the surgical device in a region of the anatomy; to control the surgical device to provide at least one of haptic guidance and a limit on manipulation of the surgical device, based on a relationship between the representation of the anatomy and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device; and to adjust the representation of the anatomy in response to movement of the anatomy during the procedure.