Abstract: The invention relates to a computerized method (200) for localizing a lesion in an organ of a subject, comprises performing: a first image registration operation (400) for determining a rigid transformation matrix based on alignment of a two-dimensional ultrasound (2D-US) image representation (116) and a three-dimensional computed tomography (3D-CT) image representation (120) of the organ, the 2D-US image representation (116) acquired from a transducer probe (114); a second image registration operation (500) for refining the rigid transformation matrix based on image feature descriptors of the 2D-US and 3D-CT image representations (116, 120); and a localization operation (600) for localizing the lesion relative to the transducer probe (114) based on the refined rigid transformation matrix and a 3D-CT position of the lesion in the 3D-CT image representation (120). A system for performing the method is also disclosed herein.

Abstract: A surgical training system and method. The system comprises means for recording reference data representing a reference manipulation of a computer generated model of an object by a master user; means for physically guiding a trainee user based on the recorded reference data during a training manipulation of the model of the object by the trainee user; and means for recording assessment data representing an assessment manipulation of the model of the object by the trainee user without guidance.

Abstract: A voice prosthesis includes a body carrying a passage, and a magnetic passage sealing mechanism having a ball that can selectively seal/block or open the passage. The voice prosthesis can include an outer skin that covers the body. The voice prosthesis can include a polymer carrying a nanomaterial. The voice prosthesis can be fabricated as a patient specific device in accordance with images of a fistula of a target patient for whom the voice prosthesis is intended.

Abstract: Various embodiments of the present disclosure are directed to apparatuses, devices, and procedures for unsedated in-office tracheoesophageal puncture (TEP) using transnasal esophagoscopy (TNE) and a measurement cannula, referred to as a TEP measurement and insertion device (MAID or TEP MAID). In some embodiments, a MAID is configured for use with a mini-tracheostomy kit; in other embodiments, a MAID is configured to be carried and automatically or semi-automatically deployed, for instance, by a handheld mechatronic device or an automated device such as a medical robot that carries an automated tracheoesophageal puncture and voice prosthesis insertion end effector. In accordance with an aspect of the present disclosure, a MAID has a body that carries or includes indicators, indicia, or markings that facilitate or enable substantially direct and/or immediate estimation, identification, or measurement of a tissue extent or thickness corresponding to or across a tracheoesophageal fistula (e.g.

Abstract: A laparoscopic liver resection device is described. The device combines the Radiofrequency Ablation (RFA) technology with a cutting mechanism, a blood-flow sensor and a flexible actuation mechanism to simultaneously coagulate and cut the liver tissue and detect the presence of blood flow to confirm avascularity. The present invention eliminates the risk of excess bleeding due to cutting too deep and reduces recovery time and the time spent on re-coagulation of coagulated areas, thereby shortening duration of surgery. Also embodiments prevent excess ablation by stopping ablation activity on the target tissue as soon as insufficient or no blood flow in the target tissue is detected. Thus a closed loop control for a bloodless tissue/organ division method is provided.

Abstract: The present disclosure includes a bio-absorbable wound closure clip for wound closure without crushing of the tissue being closed. The bio-absorbable wound closure clip can be used in minimal access surgery as well as on tissue, such as mucosal tissue, where tactile feedback is reduced. Representative surgical instruments for applying the bio-absorbable wound closure clip and methods of using the same are also provided herein.

Abstract: A robotic device for use in image-guided robot assisted surgical training, the robotic device comprising a manual interface structure configured to simulate handling of a surgical tool; a translational mechanism for translational motion of the manual interface structure; a rotational mechanism for rotational motion of the manual interface structure; and a spherical mechanism configured to decouple the orientation of the manual interface structure into spatial coordinates, wherein a linkage between the rotational mechanism, the rotational mechanism and the spherical mechanism, and the manual interface structure are disposed on opposing sides of an intersection of a pitch axis and a yaw axis of the spherical mechanism.

Abstract: A robotic device for use in image-guided robot assisted surgical training, the robotic device comprising a manual interface structure configured to simulate handling of a surgical tool; a translational mechanism for translational motion of the manual interface structure; a rotational mechanism for rotational motion of the manual interface structure; and a spherical mechanism configured to decouple the orientation of the manual interface structure into spatial coordinates, wherein a linkage between the rotational mechanism, the rotational mechanism and the spherical mechanism, and the manual interface structure are disposed on opposing sides of an intersection of a pitch axis and a yaw axis of the spherical mechanism.

Abstract: A surgical training system and method. The system comprises means for recording reference data representing a reference manipulation of a computer generated model of an object by a master user; means for physically guiding a trainee user based on the recorded reference data during a training manipulation of the model of the object by the trainee user; and means for recording assessment data representing an assessment manipulation of the model of the object by the trainee user without guidance.

Abstract: A laparoscopic liver resection device is described. The device combines the Radiofrequency Ablation (RFA) technology with a cutting mechanism, a blood-flow sensor and a flexible actuation mechanism to simultaneously coagulate and cut the liver tissue and detect the presence of blood flow to confirm avascularity. The present invention eliminates the risk of excess bleeding due to cutting too deep and reduces recovery time and the time spent on re-coagulation of coagulated areas, thereby shortening duration of surgery. Also embodiments prevent excess ablation by stopping ablation activity on the target tissue as soon as insufficient or no blood flow in the target tissue is detected. Thus a closed loop control for a bloodless tissue/organ division method is provided.

Abstract: A device (10) for laparoscopic or thoracoscopic surgery, the device (10) comprising: a first member (20) to be moved across the body (5) of a patient; and a second member (30) to be placed within the body (5), the second member (30) comprising an image capturing device (32) to capture images from within the body (5) and to transmit the captured images for display; wherein the second member (30) is in magnetic engagement with the first member (20) such that the movement of the second member (30) within the body (5) is in response to movement of the first member (20) across the body (5).

Abstract: A robotic system for overlapping radiofrequency ablation (RFA) in tumor treatment is disclosed. The robot assisted navigation system is formed of a robotic manipulator and a control system designed to execute preoperatively planned needle trajectories. Preoperative imaging and planning is followed by interoperative robot execution of the ablation treatment plan. The navigation system combines mechanical linkage sensory units with an optical registration system. There is no requirement for bulky hardware installation or computationally demanding software modules. Final position of the first needle placement is confirmed for validity with the plan and then is used as a reference for the subsequent needle insertions and ablations.

Abstract: A device (10) for laparoscopic or thoracoscopic surgery, the device (10) comprising: a first member (20) to be moved across the body (5) of a patient; and a second member (30) to be placed within the body (5), the second member (30) comprising an image capturing device (32) to capture images from within the body (5) and to transmit the captured images for display; wherein the second member (30) is in magnetic engagement with the first member (20) such that the movement of the second member (30) within the body (5) is in response to movement of the first member (20) across the body (5).

Abstract: The invention provides a system for virtually designing a medical device conformed for use with a specific patient. Using the system, a three-dimensional geometric model of a patient-specific body cavity or lumen is reconstructed from scanned volume images such as obtained x-rays, magnetic resonance imaging (MRI), computer tomography (CT), ultrasound (US), angiography or other imaging modalities. Knowledge of the physical properties of the cavity/lumen is obtained by determining the relationship between image density and the stiffness or elasticity of tissues in the body cavity or lumen and is used to model interactions between a simulated device and a simulated body cavity or lumen.

Abstract: In one aspect, the present invention provides a method of interacting with simulated three-dimensional objects, the method including the steps of the identification of three-dimensional objects from volume images; the association of physical properties with identified objects said properties including at least visual and haptic properties of the identified objects; and incorporating said identified objects and associated physical properties into a system including at least one visual interface device and at least one haptic interface device thus enabling the system to simulate visual and haptic properties of the identified objects, or any part thereof, to a human user interacting with the simulated three-dimensional objects, or any part thereof, said interaction including the generation of signals by the system for transmission to the at least one visual interface device in accordance with the physical properties associated with the objects and the reception of signals from the least one haptic interface devi

Abstract: The invention provides a system for the simulation of image-guided medical procedures and methods of using the same. The system can be used for training and certification, pre-treatment planning, as well therapeutic device design, development and evaluation.

Abstract: An apparatus for use in simulated image guided surgery comprises a positional transducer, clamping means located proximate to the transducer, and a processor. The transducer is responsive to a thin flexible member that can be manipulated by a user, and produces signals representative of displacement and rotation of the thin flexible member. The clamping means responds to a controlling signal to apply a predetermined variable clamping force to the flexible member. The processor receives these displacement and rotation signals, and is programmed to plot the path of the flexible member therefrom as it is manipulated by the user. Additionally, the processor produces the controlling signal to the clamping means in response to the instantaneous position along the path. The processor may be coupled to a display device for displaying an image of the instantaneous position of the flexible wire therealong, or other information. The invention also includes a related method for the simulation of image guided surgery.

Abstract: This invention provides a system and method for computer simulation of image-guided diagnostic and therapeutic procedures such as vascular catheterization, angioplasty, stent, coil and graft placement, embolotherapy and drug infusion therapy. In a particularly preferred aspect, the system is configured to resemble a cardiovascular catheterization laboratory where interventional radiology procedures are performed. A first user can interactively manipulate therapeutic catheters, guidewires and other medical devices in real-time while viewing patient-specific medical image data sets in a manner similar to that encountered in a clinical procedure.

Abstract: The invention provides a system for virtually designing a medical device conformed for use with a specific patient. Using the system, a three-dimensional geometric model of a patient-specific body cavity or lumen is reconstructed from scanned volume images such as obtained x-rays, magnetic resonance imaging (MRI), computer tomography (CT), ultrasound (US), angiography or other imaging modalities. Knowledge of the physical properties of the cavity/lumen is obtained by determining the relationship between image density and the stiffness or elasticity of tissues in the body cavity or lumen and is used to model interactions between a simulated device and a simulated body cavity or lumen.