Abstract: Systems and methods for rapid calculation of parameters for delivering ultrasound energy to selected locations in the brain. An example method for delivering ultrasound energy to a region of a blood-brain barrier may comprise generating a model of the region of the blood-brain barrier and surrounding tissues. The method may also comprise determining a plurality of intermediate parameters by simulating acoustic paths of a plurality of ultrasound beams propagating from the region of the blood-brain barrier to a plurality of locations. The method may also comprise determining transmission parameters for ultrasound beams to be emitted from a plurality of ultrasound transducers based on the intermediate parameters and measured locations of the ultrasound transducers.

Abstract: Methods and systems confirm the treatment focus location of ultrasound energy to be delivered to a patient from a plurality of transducers. The location of focus of treatment ultrasound may be confirmed prior to the start of ultrasound therapy. In some embodiments, ultrasound therapy may comprise delivering treatment ultrasound energy from the treatment ultrasound transducers through the skull to the brain of a patient. Methods for confirming the treatment ultrasound focus location comprise determining receive focus profiles ?x,vi for particular candidate three-dimensional (3D) treatment focus locations and particular assumed ultrasound propagation velocity profiles; performing a pre-treatment (e.g. low-power) ultrasound transmission into the brain of the patient; receiving return signals; and determining the location of treatment focus based at least in part on the received return signals and the receive focus profiles ?x,vi.

Abstract: An ultrasound transducer assembly is connectable to an ultrasound system and comprises one or more ultrasound transducer elements supported by a cap. The ultrasound transducer elements are operable to direct ultrasound energy toward brain tissue of a subject and/or to receive echo ultrasound energy when the ultrasound transducer assembly is mounted on the head of the subject. Some embodiments include a fillable jacket coupled to the inner surface of the cap and in acoustic contact with the one or more transducer elements.

Abstract: An instrument system that includes an elongate instrument body and an optical fiber sensor is provided. The optical fiber sensor includes an elongate optical fiber that is coupled to the elongate instrument body, wherein a portion of the optical fiber is coupled to the elongate instrument body in a manner to provide slack in the fiber to allow for axial extension of the elongate instrument body relative to the optical fiber.

Abstract: A method for mapping an internal structure of a patient with an elongate body is provided. The method includes detecting, at a plurality of instances, contact between a distal portion of an elongate body and an internal structure of the patient; determining a plurality of geometric configurations of the distal portion, the plurality of geometric configurations corresponding to the plurality of instances of contact between the distal portion and the internal structure; determining a plurality of positions of the distal portion, the plurality of positions corresponding to the plurality of geometric configurations; and generating a map of the internal structure based on the plurality of positions of the distal portion.

Abstract: Methods and systems of using machine learning to create a trusted model that improves the operation of a computer system controller are provided herein. In some embodiments, a machine learning method includes training a model using input data, extracting the model, and determining whether the model satisfies the trust-related constraints. If the model does not satisfy the trust-related constraint, modifying at least one of: the model using one or more model repair algorithms, the input data using one or more data repair algorithms, or a reward function of the model using one or more reward repair algorithms, and re-training the model using at least one of the modified model, the modified input data, or the modified reward function. If the model satisfies the trust-related constraints, providing the model as a trusted model that enables a computer system controller to perform system actions within predetermined guarantees.

Abstract: A method for ultrasound imaging generates an interleaved ultrasound beam pattern that alternates transmission between a focused ultrasound signal and a plane wave ultrasound signal during a scan. Reflected signal data from the focused ultrasound signal is directed to a first signal processing path that executes delay/sum processing and generates successive lines of image data. Reflected signal data from the plane wave ultrasound signal is directed to a second signal processing path that generates a full plane of image data. Pixel location and timing for data from the first signal processing path are synchronized with location and timing for the second signal processing path. The combined, synchronized image data from the first and second signal processing paths can be displayed, stored, or transmitted.

Abstract: Methods and systems of using machine learning to create a trusted model that improves the operation of a computer system controller are provided herein. In some embodiments, a machine learning method includes training a model using input data, extracting the model, and determining whether the model satisfies the trust-related constraints. If the model does not satisfy the trust-related constraint, modifying at least one of: the model using one or more model repair algorithms, the input data using one or more data repair algorithms, or a reward function of the model using one or more reward repair algorithms, and re-training the model using at least one of the modified model, the modified input data, or the modified reward function. If the model satisfies the trust-related constraints, providing the model as a trusted model that enables a computer system controller to perform system actions within predetermined guarantees.

Abstract: An instrument system that includes an image capture device, an elongate body, an optical fiber and a controller is provided. The elongate body is operatively coupled to the image capture device. The optical fiber is operatively coupled to the elongate body and has a strain sensor provided on the optical fiber. The controller is operatively coupled to the optical fiber and adapted to receive a signal from the strain sensor and to determine a position or orientation of the image capture device based on the signal.

Abstract: An instrument system that includes a first optical fiber, a second optical fiber and a controller is provided. The first optical fiber is operatively coupled to an elongate body that is adapted to be placed inside a patient. The second optical fiber is operatively coupled to the patient, to an actuating element adapted to actuate the elongate body, or to a portion of an imaging system adapted to identify a location of the portion relative to the elongate body. The controller is operatively coupled to the first optical fiber and the second optical fiber and is adapted to receive a first signal from the strain sensor provided on the first optical fiber, receive a second signal from the strain sensor provided on the second optical fiber; and determine a position or orientation of the elongate body based on the first signal and based on the second signal.

Abstract: An instrument system that includes an optical fiber and a controller is provided. The optical fiber is coupled to an external structure of a patient and has a strain sensor provided thereon. The controller is operatively coupled to the optical fiber and adapted to receive a signal from the strain sensor and to determine a property of respiration of the patient based on the signal.

Abstract: An instrument system that includes an elongate body in a geometric configuration, an optical fiber, and a controller is provided. The optical fiber is operatively coupled to the elongate body and has a strain sensor provided on the optical fiber, wherein at least a portion of the optical fiber is in the geometric configuration. The controller is operatively coupled to the optical fiber and adapted to receive, from a source other than the optical fiber, information indicative of the geometric configuration, receive a signal from the strain sensor, and associate the signal with the geometric configuration.

Abstract: An instrument system that includes an elongate body, an optical fiber, a localization sensor and a controller is provided. The optical fiber is operatively coupled to the elongate body and has a strain sensor provided on the optical fiber. The localization sensor is operatively coupled to the elongate body. The controller is operatively coupled to the optical fiber and to the localization sensor and is adapted to receive a first signal from the strain sensor, receive a second signal from the localization sensor, and determine a position or orientation of the elongate body based on the first signal and the second signal.

Abstract: An instrument system that includes an elongate instrument body and an optical fiber sensor is provided. The optical fiber sensor includes an elongate optical fiber that is coupled to the elongate instrument body, wherein a portion of the optical fiber is coupled to the elongate instrument body in a manner to provide slack in the fiber to allow for axial extension of the elongate instrument body relative to the optical fiber.

Abstract: Robotic medical instrument systems and associated methods utilizing an optical fiber sensors such as Bragg sensor optical fibers. In one configuration, an optical fiber is coupled to an elongate instrument body and includes a fiber core having one or more Bragg gratings. A controller is configured to initiate various actions in response thereto. For example, a controller may generate and display a graphical representation of the instrument body and depict one or more position and/or orientation variables thereof, or adjust motors of an instrument driver to reposition the catheter or another instrument. Optical fibers having Bragg gratings may also be utilized with other system components including a plurality of working instruments that are positioned within a sheath lumen, an instrument driver, localization sensors, and/or an image capture device, and may also be coupled to a patient's body or associated structure that stabilizes the body.

Abstract: An instrument system that includes an elongate instrument body and an optical fiber sensor is provided. The optical fiber sensor includes an elongate optical fiber that is coupled to the elongate instrument body, wherein a portion of the optical fiber is coupled to the elongate instrument body in a manner to provide slack in the fiber to allow for axial extension of the elongate instrument body relative to the optical fiber.

Abstract: An instrument system that includes an elongate body, an optical fiber, and a controller is provided. The optical fiber is operatively coupled to the elongate body and has a plurality of strain sensors provided on the optical fiber. Each of the plurality of strain sensors has a reflectivity, wherein one of the plurality of strain sensors has a different reflectivity than another one of the plurality of strain sensors. The controller is operatively coupled to the optical fiber and adapted to: receive one or more signals from the plurality of strain sensors; and determine a position of the elongate body based on the one or more signals.

Abstract: An instrument system that includes an elongate body and an optical fiber is provided. The elongate body has a longitudinal axis and capable of being twisted about the longitudinal axis. The optical fiber is operatively coupled with the elongate body and having a strain sensor provided thereon. The strain sensor is configured to indicate twist of the elongate body.

Abstract: A method for measuring bending is provided. The method includes receiving a reflected signal from a strain sensor provided on an optical fiber; determining a spectral profile of the reflected signal; and determining bending of the optical fiber based on a comparison of the spectral profile of the reflected signal with a predetermined spectral profile.

Abstract: An instrument system that includes an elongate body, an optical fiber, and a detector is provided. The elongate body is capable of being twisted. The optical fiber includes a first portion coupled to the elongate body and a second portion having a curved shape adapted to reduce transfer of twisting or bending from the elongate body to the second portion, the second portion having a strain sensor provided thereon. The detector is coupled to the optical fiber and adapted to receive a signal from the strain sensor.