Abstract: Alignment systems and devices are provided for controlling the alignment of an optical payload. In some embodiments, an optical positioning system is provided that includes a yoke supporting an optical payload. The yoke, which includes a plurality of articulated segments and associated pivot joints, is mechanically coupled to the optical payload, such that when the optical payload is oriented in a given direction, such as towards a distal target, the optical payload is rotatable about a distal pivot axis associated with a distal pivot joint of the yoke. The pivot joints of the yoke may be configured such that the rotation axis associated with a given pivot joint passes sufficiently close to a respective center of mass of a distalward portion of the optical alignment system beyond the given pivot joint, such that the position and orientation of the optical payload is maintained in the absence of external forces.

Abstract: Systems and methods are provided in which an intraoperative video feed is augmented with one or more virtual display features based on a detected orientation and position of the tracked medical instrument. In some example embodiments, the virtual display features may be employed to represent, in an augmented video feed, information associated with a previously-detected intraoperative position and orientation of the tracked medical instrument. The virtual display element may be employed, for example, to facilitate the alignment of an untracked medical instrument with a previously determined intraoperative position and orientation of the tracked medical instrument. In other example embodiments, the virtual display element may be dynamically displayed in a fixed spatial relationship relative to the tracked medical instrument.

Abstract: Disclosed are systems and methods for obtaining a structured light reconstruction using a hybrid spatio-temporal pattern sequence projected on a surface. The method includes projecting a structured light pattern, such as a binary de Bruijn sequence, onto a 3D surface and acquiring an image set of at least a portion of this projected sequence with a camera system, and projecting a binary edge detection pattern onto the portion of the surface and acquiring an image set of the same portion of the projected binary pattern. The acquired image set of the binary pattern is processed to determine edge locations therein, and then employed to identify the locations of pattern edges within the acquired image set of the structured light pattern. The detected edges of the structured light pattern images are employed to decode the structured light pattern and calculate a disparity map, which is used to reconstruct the 3D surface.

Abstract: Systems and methods are provided for use in image-guided surgical procedures, in which intraoperatively acquired surface data is employed to verify the correspondence between intraoperatively selected fiducial points and volumetric fiducial points, where the volumetric fiducial points are selected based on volumetric image data. Segmented surface data obtained from the volumetric image data is registered to the intraoperative surface data using the intraoperative and volumetric fiducial points for initial surface alignment, and this process is repeated for other permutations of the correspondence between the intraoperatively fiducial points and the volumetric fiducial points. Quality measures may be determined that relate to the registration quality for each fiducial correspondence permutation, where the quality measures may be employed to assess of the likelihood that the initially prescribed fiducial correspondence is correct.

Abstract: Systems and methods are disclosed whereby a surface detection system is employed to obtain intraoperative surface data characterizing an exposed surface of the spine. In some embodiments, this intraoperative surface data is registered to segmented surface data obtained from volumetric data of the spine in order to assess the intraoperative orientation of the spine and provide feedback associated with the intraoperative orientation of the spine. The feedback may characterize the intraoperative spinal orientation as a change relative to the preoperative orientation.

Abstract: Devices and systems are provided for tracking a position and orientation of a handheld implement, such that the handheld implement may be trackable with an overhead tracking system. A support member secures one or more markers relative to a longitudinal portion of the handheld implement, and a marker plane containing the markers is orientated an angle relative to a longitudinal axis of the longitudinal portion. A marker assembly may include a support member for supporting the markers, and a connector for removably attaching the marker assembly to one or more handheld implements. The marker assembly may be configured to be removably attachable to a plurality of connection adapters, where each connection adapter is further connectable to a handheld implement, optionally at a calibrated position, such that a single connection adapter can be optionally employed to track a plurality of handheld implements. The handheld implement may be a medical instrument.

Abstract: The present disclosure relates to the generation of partial surface models them volumetric datasets for subsequent registration of such partial surface models to surface topology datasets. Specifically, given an object that is imaged using surface topology imaging and another volumetric modality, the volumetric dataset is processed in combination with an approach viewpoint to generate one or more partial surfaces of the object that will be visible to the surface topology imaging system. This procedure can eliminate internal structures from the surfaces generated from volumetric datasets, thus increases the similarity of the dataset between the two different modalities, enabling improved and quicker registration.

Abstract: Systems and methods are provided in which intraoperatively acquired surface data is employed to verify the correspondence of an intraoperatively selected spinal level with a spinal level that is pre-selected based on volumetric image data. Segmented surface data corresponding to the pre-selected spinal levels may be obtained from the volumetric image data, such that the segmented surface data corresponds to a spinal segment that is expected to be exposed and identified intraoperatively during the surgical procedure.

Abstract: Systems and methods are provided for optical topology detection and illumination. Embodiments provide an integrated system, and methods of operation thereof, where the integrated system includes an illumination system and an optical topology detection system, and where at least a portion of the spectral content of illumination light from the illumination system is within an optical detection bandwidth of the optical topology detection system, and where the operation of the optical topology detection system and the illumination system are interleaved to avoid crosstalk, such that the optical topology detection system detects the optical topology detection light when the illumination system is not emitting illumination light. The system may include, and control the operation of, an optical navigation system. The components of the system may be mounted to a rigid frame to maintain calibration.

Abstract: Devices and methods are provide for facilitating registration and calibration of surface imaging systems. Tracking marker support structures are described that include one or more fiducial reference markers, where the tracking marker support structures are configured to be removably and securely attached to a skeletal region of a patient. Methods are provided in which a tracking marker support structure is attached to a skeletal region in a pre-selected orientation, thereby establishing an intraoperative reference direction associated with the intraoperative position of the patient, which is employed for guiding the initial registration between intraoperatively acquired surface data and volumetric image data. In other example embodiments, the tracking marker support structure may be employed for assessing the validity of a calibration transformation between a tracking system and a surface imaging system.

Abstract: The present disclosure relates to the generation of partial surface models from volumetric datasets for subsequent registration of such partial surface models to surface topology datasets. Specifically, given an object that is imaged using surface topology imaging and another volumetric modality, the volumetric dataset is processed in combination with an approach viewpoint to generate one or more partial surfaces of the object that will be visible to the surface topology imaging system. This procedure can eliminate internal structures from the surfaces generated from volumetric datasets, thus increases the similarity of the dataset between the two different modalities, enabling improved and quicker registration.

Abstract: Systems, methods and devices are provided for calibrating a flexible implement that employs fiber Bragg gratings (FBGs) for shape sensing. In some embodiments, methods and devices are provided for determining the longitudinal location of a FBG within an optical fiber that is employed for shape sensing. In other embodiments, methods and devices are employed for the determination of calibration parameters that relate the measured wavelength shift of a set of FBGs to the curvature at the location within the flexible implement where the set of FBGs resides. Various calibration devices are disclosed that employ guiding features for bending the flexible portion of the flexible implement along known curved profiles. In some embodiments, keyed features are incorporated into the flexible implement and the calibration device, such that the flexible implement is inserted into the device in a known orientation. In some embodiments, the flexible implement may incorporate a strain isolation mechanism.

Abstract: Devices and systems are provided for tracking a position and orientation of a handheld implement, such that the handheld implement may be trackable with an overhead tracking system. A support member secures one or more markers relative to a longitudinal portion of the handheld implement, and a marker plane containing the markers is orientated an angle relative to a longitudinal axis of the longitudinal portion. A marker assembly may include a support member for supporting the markers, and a connector for removably attaching the marker assembly to one or more handheld implements. The marker assembly may be configured to be removably attachable to a plurality of connection adapters, where each connection adapter is further connectable to a handheld implement, optionally at a calibrated position, such that a single connection adapter can be optionally employed to track a plurality of handheld implements. The handheld implement may be a medical instrument.

Abstract: The present disclosure relates to the generation of partial surface models from volumetric datasets for subsequent registration of such partial surface models to surface topology datasets. Specifically, given an object that is imaged using surface topology imaging and another volumetric modality, the volumetric dataset is processed in combination with an approach viewpoint to generate one or more partial surfaces of the object that will be visible to the surface topology imaging system. This procedure can eliminate internal structures from the surfaces generated from volumetric datasets, thus increases the similarity of the dataset between the two different modalities, enabling improved and quicker registration.

Abstract: Systems and methods are provided for optical topology detection and illumination. Embodiments provide an integrated system, and methods of operation thereof, where the integrated system includes an illumination system and an optical topology detection system, and where at least a portion of the spectral content of illumination light from the illumination system is within an optical detection bandwidth of the optical topology detection system, and where the operation of the optical topology detection system and the illumination system are interleaved to avoid crosstalk, such that the optical topology detection system detects the optical topology detection light when the illumination system is not emitting illumination light. The system may include, and control the operation of, an optical navigation system. The components of the system may be mounted to a rigid frame to maintain calibration.

Abstract: Methods are provided for rendering an image of an anatomical object on a display of a mobile computing device. Sensors of the mobile computing device are interrogated to determine an orientation, or a change in orientation, of the computing device. Transformations are determined for rotating and positioning the image of the anatomical object such that the image appears to be stationary after a change in the orientation of the mobile computing device. Additional image data associated with a surgical tool or a surgical plan may also be rendered on the device for planning and/or training simulations.