Abstract: A method includes acquiring image data from for a given time step. The image data represents at least one of an instrument and a target within an image space that includes patient anatomy. A given belief of system state is estimated to include an estimate of instrument state and target state determined from corresponding measurement and motion models computed based on the acquired image data and control input parameters for the given time step. An expected belief of system state is estimated for a subsequent time step based on the estimated given belief of system state and based on the measurement models and the motion models computed over a plurality of different control inputs parameters. An information metric is computed for each of the expected beliefs of system state and control input parameters are selected for the subsequent time step based on the computed information metrics.

Abstract: A temperature stable nanoparticle is provided comprising a core, a water soluble polymer and a peptide, the water soluble polymer attached to the core at a first terminus of the water soluble polymer, the peptide attached to a second terminus of the water soluble polymer, the peptide comprising an RGD amino acid sequence, the water soluble polymer of having sufficient length to allow binding of the peptide to glycoprotein lib/Ilia (GPIIb/llla). In one aspect, the nanoparticle has a melting temperature over 35° C. In various aspects, the nanoparticle has a spheroid shape and a diameter of less than 1 micron.