Abstract: Performance of a medical procedure on an anatomical site can include acquiring a holographic image dataset from a patient. An instrument can be tracked using a sensor to provide a tracked instrument dataset and the holographic image dataset and the tracked instrument dataset can be registered with the patient. A hologram can be rendered based on the holographic image dataset from the patient for viewing by the user and to generate a feedback based on the holographic image dataset from the patient and the tracked instrument dataset. Performance of a portion of the medical procedure on the patient can occur while the user views the patient and the hologram with an augmented reality system, where the user can employ the augmented reality system for visualization, guidance, and/or navigation of the instrument during the medical procedure in response to the feedback.

Abstract: A system and method for performing a structural heart repair or replacement procedure on a patient includes an augmented reality system, a tracked instrument, a first image acquisition system, and a computer system. The method includes a step of acquiring the first holographic image dataset from the patient. The computer system tracks, in a next step, the tracked instrument using the plurality of sensors to provide a tracked instrument dataset. The method also includes a step of registering the first holographic image dataset and the tracked instrument dataset with the patient. The augmented reality system then renders, in a next step, a first hologram based on the first holographic image dataset from the patient for viewing by a practitioner. The practitioner is thereby permitted to perform the procedure on the patient while viewing the patient and the first hologram with the augmented reality system.

Abstract: A testing device and method used on pressure relief valve while installed on an inland cargo barge to open the pressure relief valve and to determine its set lift pressure. Use of the testing device does not require the testing to be performed at a shipyard. The testing device includes a lift unit that mounts to the top of the valve's spring housing and engages the valve stem. Hydraulic pressure applied to pistons on the lift device moves the valve stem. Proper separation of plates on the lift unit indicates proper opening of the valve. The pressure reading for the applied hydraulic pressure is then correlated to the lift pressure set for the valve under test.

Abstract: A system and method for performing a structural heart repair or replacement procedure on a patient includes an augmented reality system, a tracked instrument, a first image acquisition system, and a computer system. The method includes a step of acquiring the first holographic image dataset from the patient. The computer system tracks, in a next step, the tracked instrument using the plurality of sensors to provide a tracked instrument dataset. The method also includes a step of registering the first holographic image dataset and the tracked instrument dataset with the patient. The augmented reality system then renders, in a next step, a first hologram based on the first holographic image dataset from the patient for viewing by a practitioner. The practitioner is thereby permitted to perform the procedure on the patient while viewing the patient and the first hologram with the augmented reality system.

Abstract: A holographic augmented reality ultrasound needle guide system and method includes an augmented reality display such as a headset wearable by a user. The augmented reality display is configured to depict a virtual ultrasound image. The augmented reality display is further configured to allow a user to select a desired reference point on the virtual ultrasound image. The system is configured to depict a holographic needle guide based on the selection of the desired reference point. The system is also configured to adjust a trajectory of the holographic needle guide to avoid intersecting undesired anatomical structures. The augmented reality display is further configured to stamp the holographic needle guide into a selectively locked trajectory and position.

Abstract: A method and a system for image-guided intervention such as a percutaneous treatment or diagnosis of a patient may include at least one of a pre-registration method and a re-registration method. The pre-registration method is configured to permit for an efficient virtual representation of a planned trajectory to target tissue during the intervention, for example, as a holographic light ray shown through an augmented reality system. In turn, this allows the operator to align a physical instrument such as a medical probe for the intervention. The re-registration method is configured to adjust for inaccuracy in the virtual representation generated by the pre-registration method, as determined by live imaging of the patient during the intervention. The re-registration method may employ the use of intersectional contour lines to define the target tissue as viewed through the augmented reality system, which permits for an unobstructed view of the target tissue for the intervention.

Abstract: A holographic augmented reality ultrasound needle guide system and method includes an augmented reality display such as a headset wearable by a user. The augmented reality display is configured to depict a virtual ultrasound image. The augmented reality display is further configured to allow a user to select a desired reference point on the virtual ultrasound image. The system is configured to depict a holographic needle guide based on the selection of the desired reference point. The system is also configured to adjust a trajectory of the holographic needle guide to avoid intersecting undesired anatomical structures. The augmented reality display is further configured to stamp the holographic needle guide into a selectively locked trajectory and position.

Abstract: A method and a system for image-guided intervention such as a percutaneous treatment or diagnosis of a patient may include at least one of a pre-registration method and a re-registration method. The pre-registration method is configured to permit for an efficient virtual representation of a planned trajectory to target tissue during the intervention, for example, as a holographic light ray shown through an augmented reality system. In turn, this allows the operator to align a physical instrument such as a medical probe for the intervention. The re-registration method is configured to adjust for inaccuracy in the virtual representation generated by the pre-registration method, as determined by live imaging of the patient during the intervention. The re-registration method may employ the use of intersectional contour lines to define the target tissue as viewed through the augmented reality system, which permits for an unobstructed view of the target tissue for the intervention.

Abstract: A system for dynamic registration of autonomy using augmented reality can include an augmented reality system, an imaging system, a measuring system, and a computer system. The augmented reality system can be configured to display an augmented representation. The imaging system can be configured to image an anatomical feature of the patient and can generate anatomical imaging data. The measuring system can be configured to measure an anatomical movement of the patient and can generate an anatomical movement data. The computer system can be configured to receive the anatomical imaging and positional data and the anatomical movement data, generate the augmented representation based on the anatomical imaging data, associate the augmented representation with the anatomical movement data, render the augmented representation on the augmented reality system, and selectively update the augmented representation based on the anatomical movement data.

Abstract: A method and a system for image-guided intervention such as a percutaneous treatment or diagnosis of a patient may include at least one of a pre-registration method and a re-registration method. The pre-registration method is configured to permit for an efficient virtual representation of a planned trajectory to target tissue during the intervention, for example, as a holographic light ray shown through an augmented reality system. In turn, this allows the operator to align a physical instrument such as a medical probe for the intervention. The re-registration method is configured to adjust for inaccuracy in the virtual representation generated by the pre-registration method, as determined by live imaging of the patient during the intervention. The re-registration method may employ the use of intersectional contour lines to define the target tissue as viewed through the augmented reality system, which permits for an unobstructed view of the target tissue for the intervention.

Abstract: A system for controlling movement of a device comprises at least one processor configured to receive a first input from a sensor upon detection of an obstacle in a first region of the device and a different second input from the sensor upon detection of the object in a different second region of the device and further configured to transmit a first signal to at least one actuator upon receiving the first input from the sensor, the first signal including a strength of first value and transmit a second signal upon receiving the second input from the sensor, the second value being greater than the first value.

Abstract: A method and a system for image-guided intervention such as a percutaneous treatment or diagnosis of a patient may include at least one of a pre-registration method and a re-registration method. The pre-registration method is configured to permit for an efficient virtual representation of a planned trajectory to target tissue during the intervention, for example, as a holographic light ray shown through an augmented reality system. In turn, this allows the operator to align a physical instrument such as a medical probe for the intervention. The re-registration method is configured to adjust for inaccuracy in the virtual representation generated by the pre-registration method, as determined by live imaging of the patient during the intervention. The re-registration method may employ the use of intersectional contour lines to define the target tissue as viewed through the augmented reality system, which permits for an unobstructed view of the target tissue for the intervention.

Abstract: Systems and methods for operating autonomous tug robots are disclosed. Robotic tugs disclosed herein are configured to autonomously maneuver to a desired location to pick up and retrieve an item, such as a load or a cart, nest the item within the robot, transport the item, and deliver the item to a desired location.

Abstract: A system for dynamic registration of autonomy using augmented reality can include an augmented reality system, an imaging system, a measuring system, and a computer system. The augmented reality system can be configured to display an augmented representation. The imaging system can be configured to image an anatomical feature of the patient and can generate anatomical imaging data. The measuring system can be configured to measure an anatomical movement of the patient and can generate an anatomical movement data. The computer system can be configured to receive the anatomical imaging and positional data and the anatomical movement data, generate the augmented representation based on the anatomical imaging data, associate the augmented representation with the anatomical movement data, render the augmented representation on the augmented reality system, and selectively update the augmented representation based on the anatomical movement data.

Abstract: A system for dynamic registration of autonomy using augmented reality can include an augmented reality system, an imaging system, a measuring system, and a computer system. The augmented reality system can be configured to display an augmented representation. The imaging system can be configured to image an anatomical feature of the patient and can generate anatomical imaging data. The measuring system can be configured to measure an anatomical movement of the patient and can generate an anatomical movement data. The computer system can be configured to receive the anatomical imaging and positional data and the anatomical movement data, generate the augmented representation based on the anatomical imaging data, associate the augmented representation with the anatomical movement data, render the augmented representation on the augmented reality system, and selectively update the augmented representation based on the anatomical movement data.

Abstract: Systems and methods for initializing a robot to autonomously travel a route are disclosed. In some exemplary implementations, a robot can detect an initialization object and then determine its position relative to that initialization object. The robot can then learn a route by user demonstration, where the robot associates actions along that route with positions relative to the initialization object. The robot can later detect the initialization object again and determine its position relative to that initialization object. The robot can then autonomously navigate the learned route, performing actions associated with positions relative to the initialization object.

Abstract: A method and a system for image-guided intervention such as a percutaneous treatment or diagnosis of a patient may include at least one of a pre-registration method and a re-registration method. The pre-registration method is configured to permit for an efficient virtual representation of a planned trajectory to target tissue during the intervention, for example, as a holographic light ray shown through an augmented reality system. In turn, this allows the operator to align a physical instrument such as a medical probe for the intervention. The re-registration method is configured to adjust for inaccuracy in the virtual representation generated by the pre-registration method, as determined by live imaging of the patient during the intervention. The re-registration method may employ the use of intersectional contour lines to define the target tissue as viewed through the augmented reality system, which permits for an unobstructed view of the target tissue for the intervention.

Abstract: A testing device and method used on pressure relief valve while installed on an inland cargo barge to open the pressure relief valve and to determine its set lift pressure. Use of the testing device does not require the testing to be performed at a shipyard. The testing device includes a lift unit that mounts to the top of the valve's spring housing and engages the valve stem. Hydraulic pressure applied to pistons on the lift device moves the valve stem. Proper separation of plates on the lift unit indicates proper opening of the valve. The pressure reading for the applied hydraulic pressure is then correlated to the lift pressure set for the valve under test.