Abstract: An illustrative virtual image processing system may be configured to constrain a degree of freedom associated with movement of a user input device, detect a user force applied to the user input device in the degree of freedom, and manipulate, based on the user force, a pose of a virtual object being displayed by a display device.

Abstract: A first ultrasonic beacon transmission includes a first pilot signal and a first encoded information signal. An apparatus may detect the first pilot signal and decode, based on the first pilot signal, the first encoded information signal to identify a medical system associated with the first ultrasonic beacon transmission. Based on the first encoded information signal, the apparatus may enter into a first pairing state in which the apparatus is communicatively paired with the medical system. While the apparatus is operating in the first pairing state and within a threshold time of entering the first pairing state, the apparatus may detect a second pilot signal included in a second ultrasonic beacon transmission, which also includes a second encoded information signal. Based on the detection of the second pilot signal within the threshold time, the apparatus may continue operating in the first pairing state without decoding the second encoded information signal.

Abstract: An exemplary image management system accesses semantic information regarding an anatomical object in a surgical scene, wherein the semantic information includes a current phase of a procedure performed on the anatomical object and registers, based at least in part on the semantic information regarding the anatomical object, an image of the surgical scene with a model of the anatomical object.

Abstract: An exemplary image management system accesses semantic information regarding an anatomical object in a surgical space and registers, based at least in part on the semantic information regarding the anatomical object, a first dataset of a first visual representation of the surgical space with a second dataset of a second visual representation of the surgical space.

Abstract: A device pairing system is configured to determine that an auxiliary device detects an ultrasonic beacon; identify, in response to determining that the auxiliary device detects the ultrasonic beacon and based on a first transmission of the ultrasonic beacon and a second transmission of the ultrasonic beacon that is subsequent to the first transmission, a medical system associated with the ultrasonic beacon; and communicatively pair, in response to identifying the medical system, the auxiliary device with the identified medical system.

Abstract: An illustrative system is configured to determine that a particular object is present at a site depicted by a first version of an image during a medical procedure, access content associated with the particular object, and augment, using the content associated with the particular object and based on an operational context of the medical procedure, a depiction of the particular object within a second version of the image that is presented to a user associated with the medical procedure.

Abstract: This disclosure describes a system for measuring a distance between two points in a surgical space. The system moves an imaging device to a first pose to capture first imaging data showing a first region of a surface of an anatomical structure, receives first imaging data, determines a first distance between the imaging device in the first pose and a first point on the surface, and determines first coordinates of the first point. The system moves the imaging device to a second pose to capture second imaging data showing a second region of the surface, receives second imaging data, determines a second distance between the imaging device in the second pose and a second point on the surface, and determines second coordinates for the second point. The system determines, based on the first coordinates and the second coordinates, a third distance between the first point and the second point.

Abstract: An exemplary object masking system is configured to mask a recognized object during an application of a synthetic element to an original image. For example, the object masking system accesses a model of a recognized object depicted in an original image of a scene. The object masking system associates the model with the recognized object. The object masking system then generates presentation data for use by a presentation system to present an augmented version of the original image in which a synthetic element added to the original image is, based on the model as associated with the recognized object, prevented from occluding at least a portion of the recognized object. In this way, the synthetic element is made to appear as if located behind the recognized object. Corresponding systems and methods are also disclosed.

Abstract: A computer-assisted surgical system is configured to perform a process comprising: generating an ultrasound image; determining a plurality of local descriptor values each corresponding to a different pixel included in a plurality of pixels included in an ultrasound image, the plurality of pixels including at least a first pixel corresponding to a first local descriptor value included in the plurality of local descriptor values and a second pixel corresponding to a second local descriptor value included in the plurality of local descriptor values; and classifying each pixel in the plurality of pixels individually as either showing tissue or showing non-tissue, the classifying comprising classifying the first pixel as showing tissue or showing non-tissue based only on the first local descriptor value and classifying the second pixel as showing tissue or showing non-tissue based only on the second local descriptor value.

Abstract: A device pairing system is configured to determine that an auxiliary device detects an ultrasonic beacon emitted by a beacon generator and identify, in response to the determination that the auxiliary device detects the ultrasonic beacon, a medical system associated with the ultrasonic beacon. The auxiliary device is further configured to communicatively pair, in response to the identification of the medical system, the auxiliary device with the identified medical system.

Abstract: An exemplary contextual assistance system identifies, during a surgical procedure, an operational context of the surgical procedure while a particular object is present at a surgical site depicted by a first version of an image. Based on the identified operational context, the contextual assistance system augments a depiction of the particular object within a second version of the image that is presented to a user associated with the surgical procedure. Corresponding systems and methods are also disclosed.

Abstract: An illustrative image registration system identifies a subsurface structure at a surgical site based on subsurface imaging data from a subsurface image scan at the surgical site and uses the subsurface structure identified at the surgical site for a registration of endoscopic imaging data from an endoscopic imaging modality with additional imaging data from an additional imaging modality. The system provides a composite image of the surgical site, for display by a display device, based on the registration of the endoscopic imaging data from the endoscopic imaging modality with the additional imaging data from the additional imaging modality, wherein the composite image of the surgical site includes a first depiction of anatomy represented by the endoscopic imaging data integrated with a second depiction of anatomy represented by the additional imaging data. Corresponding systems and methods are also disclosed.

Abstract: An exemplary object masking system is configured to mask a recognized object during an application of a synthetic element to an original image. For example, the object masking system accesses a model of a recognized object depicted in an original image of a scene. The object masking system associates the model with the recognized object. The object masking system then generates presentation data for use by a presentation system to present an augmented version of the original image in which a synthetic element added to the original image is, based on the model as associated with the recognized object, prevented from occluding at least a portion of the recognized object. In this way, the synthetic element is made to appear as if located behind the recognized object. Corresponding systems and methods are also disclosed.

Abstract: A contact detection system is configured to classify each pixel in a plurality of pixels included in an ultrasound image captured by an ultrasound probe located within a patient as either showing tissue or showing non-tissue; determine an average pixel classification representative of a number of pixels classified as showing tissue compared to a number of pixels classified as showing non-tissue; determine, if the average pixel classification is above a first contact state threshold, that the ultrasound probe is in a first contact state that indicates that the ultrasound probe is in operative physical contact with the tissue; and determine, if the average pixel classification is below a second contact state threshold lower than the first contact state threshold, that the ultrasound probe is in a second contact state that indicates that the ultrasound probe is not in operative physical contact with the tissue.

Abstract: An illustrative system is configured to access, during a surgical procedure that involves resecting a piece of tissue from a body, a plurality of depth datasets for the resected piece of tissue; determine, during the surgical procedure and based on the plurality of depth datasets, an estimated volume of the resected piece of tissue; and indicate, during the surgical procedure, whether the estimated volume of the resected piece of tissue is within a predetermined threshold of an expected volume of the resected piece of tissue.

Abstract: An exemplary image registration system identifies a subsurface structure at a surgical site based on subsurface imaging data from a subsurface image scan at the surgical site. The image registration system uses the identified subsurface structure at the surgical site for a registration of endoscopic imaging data from an endoscopic imaging modality with additional imaging data from an additional imaging modality. Corresponding systems and methods are also disclosed.

Abstract: A first display image includes a first captured image captured by an imaging device and showing a first view of a surgical area, which shows surface anatomy located at the surgical area and an object located at the surgical area, and an augmentation region. The augmentation region occludes at least a portion of the first view. Subsequent to capture of the first captured image, the system detects an overlap between the object and the augmentation region and determines whether the overlap is due to motion of the object. The system directs the display device to display a second display image including a second captured image captured by the imaging device. Inclusion of the augmentation region in the second display image and/or an extent of the occlusion within the overlap in the second display image is based on the determination whether the overlap is due to motion of the object.

Abstract: An exemplary system accesses images of a surgical space captured by different imaging modalities and, based on the images, generates a composite image and directs a display device to display the composite image. An exemplary composite image includes a first portion of the composite image that includes a first representation of a first portion of the surgical space, the first representation generated based on the first image, and a second portion of the composite image that includes a second representation of a second portion of the surgical space, the second representation generated based on the second image modified by gradient information of the first image.

Abstract: An exemplary tissue volume detection system accesses, during a surgical procedure involving resecting a piece of tissue from a body, a plurality of depth datasets for the resected piece of tissue. Each of the plurality of depth datasets is captured as a different portion of a surface of the resected piece of tissue is presented to an imaging device by an instrument that holds the resected piece of tissue in a manner that sequentially presents the different portions of the surface to the imaging device. During the surgical procedure and based on the depth datasets, the system generates a three-dimensional (3D) occupancy map that includes a set of voxels identified to be occupied by the resected piece of tissue. Based on the 3D occupancy map and still during the surgical procedure, the system determines an estimated volume of the resected piece of tissue. Corresponding systems and methods are also disclosed.

Abstract: An exemplary system accesses imagery of a surgical space captured by different imaging modalities and, based on the accessed imagery, generates composite imagery that includes integrated representations of the surgical space as captured by the different imaging modalities. An exemplary composite image includes a representation of the surgical space as captured by a first imaging modality augmented with an integrated representation of the surgical space as captured by a second imaging modality. The integrated representation of the surgical space as captured by the second imaging modality may be selectively movable and may be generated based on first imagery of the surgical space captured by the first imaging modality and second imagery of the surgical space captured by the second imaging modality in a manner that provides a visually realistic appearance of depth.