Abstract: A method and apparatus for approximating a path of movement of a target. The method includes referencing a temporal sequence of images, identifying a plurality of data points associated with a selected volume element of the volume of interest, and calculating an estimated location of the selected volume element based on a cost function having a constraint which favors continuous spatial motion of the selected volume element over time. Each of the images of the temporal sequence of images depicts a volume of interest. Each of the plurality of data points corresponds to one of the images.

Abstract: An image-guided radiation treatment system includes a robotic positioning system and a tracking system that enables a radiation target to be imaged and aligned at one location and treated at another location by transferring positional data from the imaging system to the positioning system and the radiation treatment system.

Abstract: Systems and methods for automatically determining a beam parameter at each of a plurality of treatment nodes are disclosed. The beam parameter may include a beam shape, beam size and/or beam orientation. Systems and methods for automatically selecting multiple collimators in a radiation treatment system are also disclosed.

Abstract: A method and system for aligning a volume of interest in a three-dimensional treatment coordinate system with a reference position using stereoscopic imaging data and for monitoring and correcting alignment of the volume of interest in the three-dimensional treatment coordinate system using monoscopic imaging data.

Abstract: Systems and methods for tracking cardiac targets are disclosed. The cardiac targets may be tracked dynamically. The process may include registering a cardiac target at different phases of a cardiac cycle. Movement of the cardiac target can be determined by correlating respiratory motion and cardiac pumping motion. Radiation treatment can then be delivered to the cardiac target taking into account the movement of the cardiac target.

Abstract: Fiducial localization methods and apparatus are described.

Abstract: An image-guided radiation treatment system includes a robotic positioning system and a tracking system that enables a radiation target to be imaged and aligned at one location and treated at another location by transferring positional data from the imaging system to the positioning system and the radiation treatment system.

Abstract: A method and apparatus for tracking a target by tracking the location of an imaging device while the imaging device is tracking the target is described.

Abstract: A non-invasive method and system for using 2D angiographic images for radiosurgical target definition uses non-invasive calibration devices and methods to calibrate an angiographic imaging system and a six-parameter registration algorithm to register angiographic images with 3D scan data for radiation treatment planning.

Abstract: A method and apparatus for approximating a path of movement of a target. The method includes referencing a temporal sequence of images, identifying a plurality of data points associated with a selected volume element of the volume of interest, and calculating an estimated location of the selected volume element based on a cost function having a constraint which favors continuous spatial motion of the selected volume element over time. Each of the images of the temporal sequence of images depicts a volume of interest. Each of the plurality of data points corresponds to one of the images.

Abstract: Systems, methods and apparatus for directly tracking radiation targets during image-guided radiation treatment using 2D contouring and adaptive windowing

Abstract: Systems and methods for automatically determining a beam parameter at each of a plurality of treatment nodes are disclosed. The beam parameter may include a beam shape, beam size and/or beam orientation. Systems and methods for automatically selecting multiple collimators in a radiation treatment system are also disclosed.

Abstract: A method and apparatus for treatment planning using four dimensional imaging data.

Abstract: A system, method and apparatus for enhancing 2D-3D registration with digitally reconstructed radiographs derived from segmented spine data.

Abstract: An image of a patient taken through X-ray computed tomography or the like is registered to physical measurements taken on the patient's body. Different parts of the patient's body are given different numerical weights; for example, if bone measurements are deemed to be more accurate than skin measurements, the bones can be given a higher weight than the skin. The weights are used in an iterative registration process to determine a rigid body transformation function. The transformation function is used in robot-assisted surgical procedures, stereotactic procedures or the like.

Abstract: An implantable fiducial marker having a sealed cavity for the introduction of an imaging agent that provides imaging capability in several modes, including Computed Tomographic imaging (CT) and Magnetic Resonance Imaging (MRI) is disclosed. The marker may be permanent, or it may be temporary and readily detachable from its anchor site. Combinations or agents imageable under CT scanning are combined with agents imageable under MRI scanning.

Abstract: An implantable fiducial marker having a sealed cavity for the introduction of an imaging agent that provides imaging capability in several modes, including Computed Tomographic imaging (CT) and Magnetic Resonance Imaging (MRI) is disclosed. The marker may be permanent, or it may be temporary and readily detachable from its anchor site. Combinations or agents imageable under CT scanning are combined with agents imageable under MRI scanning.

Abstract: An A-mode ultrasound transducer is tracked in three-dimensions by an optical position tracking system as the transducer is scanned over the skin to generate measurements of bone surface distance from the transducer. A processor correlates the ultrasound data with position and orientation data to generate a three-dimensional physical space model of the bone surface which is registered with an image space model of the bone surface generated from a tomographic image to produce an alignment of the two models. The ultrasound transducer is replaced by an instrument which is also optically tracked. The alignment is used to translate instrument position in physical space to a position in image space for generation on a monitor of a composite display of the instrument and the tomographic image. This composite display can be used to guide positioning and orienting the instrument in physical space with respect to sites of interest observed in the tomographic image on the display.

Abstract: An automatic computer implemented technique which may be used for identifying markers and determining the centroids of fiducial markers (e.g., cylindrical fiducial markers) attached to the head in magnetic resonance (MR) and X-ray computed tomography (CT) volume images is disclosed. This technique may be referred to as image space localization. A first portion of the technique identifies many candidate voxel points included in a bright area of the image which may correspond to candidate markers. A second portion of the technique selects from the identified candidate voxels a predetermined number of candidate points of the image volume that are most likely to lie within an actual fiducial marker. The centroid for each of these markers is then determined. The method finds markers whose images are of a higher intensity than their surroundings and which have a given shape and size.

Abstract: A surgeon can select an entry point and a target point in a preoperative image volume of the patient. The target point and entry point form a trajectory line along which the surgeon wishes to perform a surgical procedure such as a biopsy and line up a surgical instrument. Once a surgical platform is moved along a guide arm arc close to a point on the trajectory line, the surgical platform is locked to the guiding arm. A pivot point position at the center of a ball joint in the middle of a metal plate is then arranged to be exactly at a point on the trajectory line. The metal plate is locked down and the ball joint is rotated to ensure that the surgical sleeve extends exactly along the trajectory line. This allows a decoupling between the position and orientation movements required to line the surgical sleeve up with the trajectory line to perform a surgical procedure. An interoperative localization device (ILD) is used to track the position of the surgical guide relative to the image space.