Abstract: A method for simulating a deep-brain stimulation in a computer-assisted platform that includes providing to a neurosurgeon, through a man-machine interface, visual information of a pre-operative situation, including a representation of a brain. The method also includes monitoring inputs of said neurosurgeon on the man-machine interface, until a trajectory is determined between an entry point and a target for the placement of an electrode. The method further includes comparing said trajectory to a set of previously-established trajectories for the pre-operative situation, so as to determine an overall measurement representative of a quality of the trajectory compared to the previously-established trajectories.

Abstract: In a method for spatially localizing mass-spectrometry analysis of an analyte derived from an energy event, an electrical device is used to deliver an energy event to a substrate, and the analyte produced is analyzed using mass spectrometry. Electrical signals sent to and received from the electrical device under different modes of operation are sensed and classified according to each different mode of operation. A location of the electrical device is tracked in three dimensions during the energy event, and a processor is used to perform spatial-temporal alignment of the mass-spectrometry, the determined modes of operation of the electrical device, and the tracked location of the electrical device, wherein mass spectrometry data corresponding to the determined modes of the electrical device are identified and localized within the site of the energy event. The substrate may be tissue in a surgical site, and the electrical device may be an electrocautery device.

Abstract: An apparatus and method for surgical tracking comprises an imaging device that generates an image of a tissue volume; an electromagnetic (EM) sensor that creates a reference frame for EM tracking in three dimensions; at least one EM sensor adapted to be attached to the tissue to track local deformation and movement of the tissue volume; a processor that registers the image with the EM-tracked tissue volume and surgical tool in real time, and produces an output; and a feedback device that provides feedback about the location of the surgical tool relative to the tissue volume, based on the processor output. Embodiments are particularly useful in soft tissue, such as breast, where deformation before and during a procedure such as tumor resection complicate tracking of the tissue volume and a surgical tool.

Abstract: Provided are apparatus and methods for tracking a volume of interest in three dimensions in real time, using fewer than 6 DOF tracking information together with an external 6 DOE coordinate system. The apparatus and methods described herein provide more accurate, smaller, and less expensive tracking systems than prior approaches based on full 6 DOF tracking comprising translation and full orientation information. Embodiments may be used in applications such as surgical navigation, gaming, robotics, motion capture, and training.

Abstract: In a method for spatially localizing mass-spectrometry analysis of an analyte derived from an energy event, an electrical device is used to deliver an energy event to a substrate, and the analyte produced is analyzed using mass spectrometry. Electrical signals sent to and received from the electrical device under different modes of operation are sensed and classified according to each different mode of operation. A location of the electrical device is tracked in three dimensions during the energy event, and a processor is used to perform spatial-temporal alignment of the mass-spectrometry, the determined modes of operation of the electrical device, and the tracked location of the electrical device, wherein mass spectrometry data corresponding to the determined modes of the electrical device are identified and localized within the site of the energy event. The substrate may be tissue in a surgical site, and the electrical device may be an electrocautery device.

Abstract: This invention relates to a method for simulating a deep-brain stimulation in a computer-assisted platform, comprising steps of: providing to a neurosurgeon, through a man-machine interface, visual information of a pre-operative situation, including a representation of a brain; monitoring inputs of said neurosurgeon on the man-machine interface, until a trajectory is determined between an entry point and a target for the placement of an electrode; comparing said trajectory to a set of previously-established trajectories for the pre-operative situation, so as to determine an overall measurement representative of a quality of the trajectory compared to the previously-established trajectories.

Abstract: Provided are apparatus and methods for tracking a volume of interest in three dimensions in real time, using fewer than 6 DOF tracking information together with an external 6 DOE coordinate system. The apparatus and methods described herein provide more accurate, smaller, and less expensive tracking systems than prior approaches based on full 6 DOF tracking comprising translation and full orientation information. Embodiments may be used in applications such as surgical navigation, gaming, robotics, motion capture, and training.

Abstract: An apparatus for electromagnetic (EM) tracking or localization is described which includes one or more EM transmitters and receivers (sensors, or trackers), an indication of relative locations of the one or more transmitter and sensor with respect to one or more instrument, optionally, a model of the one or more instrument flexibility, a measurement uncertainty analyzer that reports an uncertainty associated with each measurement, an equation of motion or dynamic model with motion constraints that describes an expected behavior of the one or more instrument, a probabilistic simultaneous localization and mapping (SLAM) algorithm that simultaneously estimates a pose of one or more instrument and updates a field distortion map, or parameters of a field distortion model, a field distortion estimator that uses currently-available information of the field distortion map and estimates field distortion in the vicinity of the one or more instrument, to be used for future measurement compensation, a transient analyzer

Abstract: A method for tracking movement of a movable portion of an interventional device disposed within a natural or artificial body opening is provided. In particular, image data of fiducials is acquired and therefrom an initial position of an interventional device movable portion with respect to a given coordinate system is determined. Next, real time position data from the encoders is acquired as the movable portion is moved from the initial position, and a displaced position from the initial position is determined. From this acquired information, a position of the movable portion in the coordinate system is determined using both the initial position as determined from the image data and the real time displaced position as determined from the encoders.

Abstract: An ultrasound calibration phantom comprises a portion including at least one fiducial structure having a selected geometric arrangement; a portion adapted for mechanical coupling of the ultrasound calibration phantom to a transrectal ultrasound (TRUS) stepper; and a guide for at least one surgical instrument, the guide being mechanically coupled to the fiducial structure and/or to the TRUS stepper at a selected pose relative to the fiducial structure. A calibration method uses the calibration phantom and provides automatic, intraoperative calibration of ultrasound imaging systems. The invention is useful in ultrasound-guided clinical procedures.

Abstract: In one aspect the invention provides a reference device that enhances image-guided surgical interventions. The reference device is tracked by the imaging system and used to verify the accuracy of the intervention tool placement before and during the intervention. The reference device holds a reference sensor in a position aligned with patient anatomy, so that images are displayed in the correct orientation to the operator, aiding in target recognition and better navigation. Also provided are methods using the reference device and programmed computer media for implementing at least a part of the methods.

Abstract: The end-effector includes a sheath and a medical device or needle carrier that is disposed within the interior compartment of the sheath. An aperture is located in a portion of the sheath proximal a distal end of the sheath that is inserted into a natural or artificial cavity. This device is guided by a real-time imager.

Abstract: An apparatus for electromagnetic (EM) tracking or localization is described which includes one or more EM transmitters and receivers (sensors, or trackers), an indication of relative locations of the one or more transmitter and sensor with respect to one or more instrument, optionally, a model of the one or more instrument flexibility, a measurement uncertainty analyzer that reports an uncertainty associated with each measurement, an equation of motion or dynamic model with motion constraints that describes an expected behavior of the one or more instrument, a probabilistic simultaneous localization and mapping (SLAM) algorithm that simultaneously estimates a pose of one or more instrument and updates a field distortion map, or parameters of a field distortion model, a field distortion estimator that uses currently-available information of the field distortion map and estimates field distortion in the vicinity of the one or more instrument, to be used for future measurement compensation, a transient analyzer

Abstract: An apparatus and method for surgical tracking comprises an imaging device that generates an image of a tissue volume; an electromagnetic (EM) sensor that creates a reference frame for EM tracking in three dimensions; at least one EM sensor adapted to be attached to the tissue to track local deformation and movement of the tissue volume; a processor that registers the image with the EM-tracked tissue volume and surgical tool in real time, and produces an output; and a feedback device that provides feedback about the location of the surgical tool relative to the tissue volume, based on the processor output. Embodiments are particularly useful in soft tissue, such as breast, where deformation before and during a procedure such as tumor resection complicate tracking of the tissue volume and a surgical tool.

Abstract: This invention provides a method for estimating C-arm fluoroscope pose. The method involves introducing a coordinate system into a C-arm image, and applying intensity-based 2D/3D registration without segmentation to the coordinate system C-arm image and an image or known model of the coordinate system, wherein the intensity-based 2D/3D registration yields the C-arm pose. The coordinate system may be provided by introducing one or more markers or a fiducial into an image.

Abstract: Disclosed is a system and method for registering images from two medical imaging modalities in a six-degree-of-freedom coordinate space, for the purpose of providing real time registered imagery for optimization of medical procedures. The system and method uses fiducial that is visible to the first imager and in a fixed position and orientation relative to the second imager. The first imager may be an X-ray device such as a C-arm fluoroscope, and the second imager may be a Transrectal Ultrasound (TRUS) device.

Abstract: This invention provides a method for estimating C-ARM fluoroscope rotation pose, and related programmed media and kits. In one embodiment the method includes measuring an angle of the C-arm using an accelerometer affixed to the C-arm, wherein the accelerometer is not moving during the measurement. The method includes generating angle correction equations based on differences between C-arm poses and corresponding accelerometer angles, and optionally generating structural compensation equations to compensate for structural flexion or deformation of the C-arm.

Abstract: Disclosed is a system and method for registering images from two medical imaging modalities in a six-degree-of-freedom coordinate space, for the purpose of providing real time registered imagery for optimization of medical procedures. The system and method uses fiducial that is visible to the first imager and in a fixed position and orientation relative to the second imager. The first imager may be an X-ray device such as a C-arm fluoroscope, and the second imager may be a Transrectal Ultrasound (TRUS) device.

Abstract: In one aspect the invention provides a reference device that enhances image-guided surgical interventions. The reference device is tracked by the imaging system and used to verify the accuracy of the intervention tool placement before and during the intervention. The reference device holds a reference sensor in a position aligned with patient anatomy, so that images are displayed in the correct orientation to the operator, aiding in target recognition and better navigation. Also provided are methods using the reference device and programmed computer media for implementing at least a part of the methods.

Abstract: The end-effector includes a sheath and a medical device or needle carrier that is disposed within the interior compartment of the sheath. An aperture is located in a portion of the sheath proximal a distal end of the sheath that is inserted into a natural or artificial cavity. This device is guided by a real-time imager.