Abstract: A system for facilitating identification and marking of a target in a fluoroscopic image of a body region of a patient, the system comprising one or more storage devices having stored thereon instructions for: receiving a CT scan and a fluoroscopic 3D reconstruction of the body region of the patient, wherein the CT scan includes a marking of the target; and generating at least one virtual fluoroscopy image based on the CT scan of the patient, wherein the virtual fluoroscopy image includes the target and the marking of the target, at least one hardware processor configured to execute these instructions, and a display configured to display to a user the virtual fluoroscopy image and the fluoroscopic 3D reconstruction.

Abstract: Endoluminal robotic systems and corresponding methods include subsystems for visualization, navigation, pressure sensing, platform compatibility, and user interfaces. The user interfaces may be implemented by one or more of a console, haptics, image fusion, voice controls, remote support, and multi-system controls.

Abstract: Systems and methods of estimating movement of anatomical structures of a new patient include learning one or more deformation models from preoperative and intraoperative imaging data of a set of other patients and estimating movement of anatomical structures of the new patient based on the one or more deformation models and preoperative imaging data of the new patient. Estimating movement of the anatomical structures may include applying deformation models to map data derived from preoperative imaging data of a new patient to obtain deformed map data for each deformation model, and determining the deformation model that best fits the intraoperative imaging data of the new patient. Applying a deformation model to map data may include applying a transformation to the deformation model and interpolating to obtain a deformed map data. Registration is computed between locations of a medical device sampled during navigation of the medical device through the new patient and the original and deformed map data.

Abstract: A method for placing a set of one or more markers in a luminal network in a patient's body includes using at least one hardware processor for receiving image data of the anatomy of a luminal network of a patient and a location of at least one target in the luminal network anatomy, obtaining a rule set defining one or more rules for placing the set of one or more markers in the luminal network anatomy and with respect to the at least one target, during a survey performed by a user via a navigation module in a portion of the luminal network surrounding the at least one target, acquiring, via the navigation module, sample-locations in the surveyed portion of the luminal network, and identifying a set of one or more marker locations for placing the set of one or more markers from the acquired sample-locations, which complies with the rule set.

Abstract: A method for placing a set of one or more markers in a luminal network in a patient's body includes using at least one hardware processor for receiving image data of the anatomy of a luminal network of a patient and a location of at least one target in the luminal network anatomy; obtaining a rule set defining one or more rules for placing the set of one or more markers in the luminal network anatomy and with respect to the at least one target; during a survey performed by a user via a navigation system in a portion of the luminal network surrounding the at least one target, acquiring, via the navigation system, sample-locations in the surveyed portion of the luminal network; and identifying a set of one or more marker locations for placing the set of one or more markers from the acquired sample-locations, which complies with the rule set.

Abstract: A method and system for facilitating identification and marking of a target in a displayed Fluoroscopic Three-Dimensional Reconstruction (F3DR) of a body region of a patient. The system includes a display and a storage device storing instructions for receiving an initial selection of the target in the F3DR, fining the F3DR based on the initial selection of the target, displaying the fined F3DR on the display, and receiving a final selection of the target in the fined F3DR via a user selection. The system further includes at least one hardware processor configured to execute said instructions. The method and instructions may also include receiving a selection of a medical device in two two-dimensional fluoroscopic images, where the medical device is located in an area of the target, and initially fining the F3DR based on the selection of the medical device.

Abstract: Systems and methods for image-guided medical procedures use fluoroscopic 3D reconstructions to plan and navigate a percutaneously-inserted device such as a biopsy tool from an entry point to a target.

Abstract: Systems and methods for image-guided medical procedures use fluoroscopic 3D reconstructions to plan and navigate a percutaneously-inserted device such as a biopsy tool from an entry point to a target.

Abstract: Imaging systems and methods estimate poses of a fluoroscopic imaging device, which may be used to reconstruct 3D volumetric data of a target area, based on a sequence of fluoroscopic images of a medical device or points, e.g., radiopaque markers, on the medical device captured by performing a fluoroscopic sweep. The systems and methods may identify and track the points along a length of the medical device appearing in the captured fluoroscopic images. The 3D coordinates of the points may be obtained, for example, from electromagnetic sensors or by performing a structure from motion method on the captured fluoroscopic images. In other aspects, a 3D shape of the catheter is determined, then the angle at which the 3D catheter projects onto the 2D catheter in each captured fluoroscopic image is found.

Abstract: Surgical guidance systems and methods visually mark a structure of interest (SOI) of an organ on intraoperative images captured by a locatable imaging device. A location of the SOI relative to a body structure (e.g., a passageway system) associated with the organ is determined in a preoperative image that is captured by a medical diagnostic imaging (MDI) system. The location of the SOI relative to the body structure in the preoperative image is then mapped onto a reconstructed version of the body structure based on location information provided by localization sensors distributed on the body structure. An intraoperative image taken by the locatable imaging device is aligned with the reconstructed version of the body structure and an image object representing the SOI is overlaid on the intraoperative image at a location that is mapped from the reconstructed version of the body structure.

Abstract: A system and method for registration of a pre-procedural image data set (e.g. CT data) or a 3D model derived therefrom with a patient's luminal structure (e.g., airways in the lungs) using intraprocedural fluoroscopic imaging techniques.

Abstract: A system for facilitating identification and marking of a target in a fluoroscopic image of a body region of a patient, the system comprising one or more storage devices having stored thereon instructions for: receiving a CT scan and a fluoroscopic 3D reconstruction of the body region of the patient, wherein the CT scan includes a marking of the target; and generating at least one virtual fluoroscopy image based on the CT scan of the patient, wherein the virtual fluoroscopy image includes the target and the marking of the target, at least one hardware processor configured to execute these instructions, and a display configured to display to a user the virtual fluoroscopy image and the fluoroscopic 3D reconstruction.

Abstract: A method and system for reducing divergence between computed tomography images and a patient using three-dimensional reconstructions. The method utilizes cone beam imaging or three-dimensional fluoroscopy to supplement or supplant pre-operative computed tomography imaging.

Abstract: A method and system for facilitating identification and marking of a target in a displayed Fluoroscopic Three-Dimensional Reconstruction (F3DR) of a body region of a patient. The system includes a display and a storage device storing instructions for receiving an initial selection of the target in the F3DR, fining the F3DR based on the initial selection of the target, displaying the fined F3DR on the display, and receiving a final selection of the target in the fined F3DR via a user selection. The system further includes at least one hardware processor configured to execute said instructions. The method and instructions may also include receiving a selection of a medical device in two two-dimensional fluoroscopic images, where the medical device is located in an area of the target, and initially fining the F3DR based on the selection of the medical device.

Abstract: A system for facilitating identification and marking of a target in a fluoroscopic image of a body region of a patient, the system comprising one or more storage devices having stored thereon instructions for: receiving a CT scan and a fluoroscopic 3D reconstruction of the body region of the patient, wherein the CT scan includes a marking of the target; and generating at least one virtual fluoroscopy image based on the CT scan of the patient, wherein the virtual fluoroscopy image includes the target and the marking of the target, at least one hardware processor configured to execute these instructions, and a display configured to display to a user the virtual fluoroscopy image and the fluoroscopic 3D reconstruction.

Abstract: A system and method for navigating to a target using fluoroscopic-based three dimensional volumetric data generated from two dimensional fluoroscopic images, including a catheter guide assembly including a sensor, an electromagnetic field generator, a fluoroscopic imaging device to acquire a fluoroscopic video of a target area about a plurality of angles relative to the target area, and a computing device. The computing device is configured to receive previously acquired CT data, determine the location of the sensor based on the electromagnetic field generated by the electromagnetic field generator, generate a three dimensional rendering of the target area based on the acquired fluoroscopic video, receive a selection of the catheter guide assembly in the generated three dimensional rendering, and register the generated three dimensional rendering of the target area with the previously acquired CT data to correct the position of the catheter guide assembly.

Abstract: A system for facilitating identification and marking of a target in a fluoroscopic image of a body region of a patient, the system comprising one or more storage devices having stored thereon instructions for: receiving a CT scan and a fluoroscopic 3D reconstruction of the body region of the patient, wherein the CT scan includes a marking of the target; and generating at least one virtual fluoroscopy image based on the CT scan of the patient, wherein the virtual fluoroscopy image includes the target and the marking of the target, at least one hardware processor configured to execute these instructions, and a display configured to display to a user the virtual fluoroscopy image and the fluoroscopic 3D reconstruction.

Abstract: Systems and methods for visualizing navigation of a medical device with respect to a target using a live fluoroscopic view. The methods include displaying, in a screen, a three-dimensional (3D) view of a 3D model of a target from the perspective of a medical device tip. The methods also include displaying, in the screen, a live two-dimensional (2D) fluoroscopic view showing a medical device, and displaying a target mark, which corresponds to the 3D model of the target, overlaid on the live 2D fluoroscopic view. The methods may include determining whether the medical device tip is aligned with the target, displaying the target mark in a first color if the medical device tip is aligned with the target, and displaying the target mark in second color different from the first color if the medical device tip is not aligned with the target.

Abstract: A system and method for confirming placement of a biopsy tool in a target including a navigation component to track the position of a catheter navigated into a luminal network, and a catheter configured to receive a biopsy tool. The system and method receive a first plurality of fluoroscopic images, generate a first fluoroscopic three-dimensional reconstruction from the plurality of fluoroscopic images, and present a first slice of the 3D reconstruction depicting the catheter in relation to a target visible in the slice of the 3D reconstruction.

Abstract: A system and method for navigating to a target using fluoroscopic-based three dimensional volumetric data generated from two dimensional fluoroscopic images, including a catheter guide assembly including a sensor, an electromagnetic field generator, a fluoroscopic imaging device to acquire a fluoroscopic video of a target area about a plurality of angles relative to the target area, and a computing device. The computing device is configured to receive previously acquired CT data, determine the location of the sensor based on the electromagnetic field generated by the electromagnetic field generator, generate a three dimensional rendering of the target area based on the acquired fluoroscopic video, receive a selection of the catheter guide assembly in the generated three dimensional rendering, and register the generated three dimensional rendering of the target area with the previously acquired CT data to correct the position of the catheter guide assembly.