Abstract: Various embodiments of the present disclosure include a C-arm registration system employing a controller (70) for registering a C-arm (60) to a X-ray ring marker (20). The X-ray ring marker (20) includes a coaxial construction of a chirp ring (40) and a centric ring (50) on an annular base (30). In operation, the controller (70) acquires a baseline X-ray image illustrative of the X-ray ring marker (20) within a baseline X-ray projection by the C-arm (60) at a baseline imaging pose, derives baseline position parameters of the X-ray ring marker (20) within the baseline X-ray projection as a function of an illustration of the centric ring (50) within the baseline X-ray image, and derives a baseline twist parameter of the X-ray ring marker (20) within the baseline X-ray projection as a function of the baseline position parameters and of an illustration of the chirp ring (40) within the baseline X-ray image.

Abstract: An optical shape sensing device includes an elongated outer body with flexible tubing configured to maneuver through a passage; a multicore optical fiber extending through the elongated outer body, and enabling shape sensing by tracking deformation of the multicore optical fiber along a length of the multicore optical fiber; a termination piece attached to a distal tip of the multicore optical fiber, the termination piece having a distal tip; and a force sensing region integrated with the elongated outer body and configured to enable determining of an axial force exerted on a distal end of the elongated outer body. The shape sensing occurs along the multicore optical fiber to the distal tip of the termination piece.

Abstract: A computer-implemented method of identifying an out-of-plane deviation of an elongate interventional device (110). The method includes identifying (SI 30) in the one or more X-ray images (180), and based on a distance (1901 . . . n-1) between one or more pairs of the fiducial markers (1601 . . . n) detected in the one or more X-ray images (180), a position of one or more segments (1701 . . . n-1) of the elongate interventional device (110) having an out-of-plane deviation respective the image plane (120).

Abstract: A system includes: a robotic arm which has an instrument interface; a force/torque sensor for sensing forces at the instrument interface; a robot controller for controlling the robotic arm and to control a robot control parameter; and a system controller. The system controller: receives temporal force/torque data, wherein the temporal force/torque data represents the forces at the instrument interface over time during a collaborative procedure with a user; analyzes the temporal force/torque data to determine a current intention of the user and/or a state of the collaborative procedure; and causes the robot controller to control the robotic arm in a control mode which is predefined for the determined current intention of the user or state of the collaborative procedure, wherein the control mode determines the robot control parameter.

Abstract: An intervention system employing an interventional robot (30), an interventional imaging modality (10) and an interventional controller (70). In 5 operation, the interventional controller (70) navigates an anatomical roadmap (82) of an anatomical region of a patient in accordance with an interventional plan to thereby control a navigation of the interventional robot (30) within the anatomical region in accordance with the anatomical roadmap (82).

Abstract: A system for controlling a robotic tool includes a memory that stores instructions and a processor that executes the instructions. When executed by the processor, the instructions cause the system to perform a process that includes monitoring sequential motion of tissue in a three-dimensional space. The process also includes projecting locations and corresponding times when the tissue will be at projected locations in the three-dimensional space. An identified location of the tissue in the three-dimensional space is identified based on the projected locations. A trajectory of the robotic tool is set to meet the tissue at the identified location at a projected time corresponding to the identified location.

Abstract: Ultrasound image devices, systems, and methods are provided. An ultrasound imaging system comprising a processor circuit in communication with an ultrasound transducer array, the processor circuit configured to receive, from the ultrasound transducer array, a set of images of a three-dimensional (3D) volume of a patients anatomy including an anatomical feature; obtain first measurement data of the anatomical feature in a first image of the set of images; generate second measurement data for the anatomical feature in one or more images of the set of images by propagating the first measurement data from the first image to the one or more images; and output, to a display in communication with the processor circuit, the second measurement data for the anatomical feature.

Abstract: An ultrasound device (10) comprises a probe (12) including a tube (14) sized for in vivo insertion into a patient and an ultrasound transducer (18) disposed at a distal end (16) of the tube. A camera (20) is mounted at the distal end of the tube in a spatial relationship to the ultrasound transducer.

Abstract: The following relates generally to systems and methods of trans-esophageal echocardiography (TEE) automation. Some aspects relate to a TEE probe with ultrasonic transducers on a distal end of the TEE probe. In some implementations, if a target is in a field of view (FOV) of the ultrasonic transducers, an electronic beam steering of the probe is adjusted; if the target is at an edge of the FOV, both the electronic beam steering and mechanical joints of the probe are adjusted; and if the target is not in the FOV, only the mechanical joints of the probe are adjusted.

Abstract: Various embodiments of the present disclosure encompass manipulative endoscopic guidance device employing an endoscopic viewing controller (20) for controlling a display of an endoscopic view (11) of an anatomical structure, and a manipulative guidance controller (30) for controlling a display of one or more guided manipulation anchors (50-52) within the display of the endoscopic view (11) of the anatomical structure. A guided manipulation anchor (50-52) is representative of a location marking and/or a motion directive of a guided manipulation of the anatomical structure (e.g., grasping, pulling, pushing, sliding, reorienting, tilting, removing, or repositioning of the anatomical structure).

Abstract: An ultrasound device (10) includes a probe (12) including a tube (14) sized for insertion into a patient and an ultrasound transducer (18) disposed at a distal end (16) of the tube. A camera (20) is mounted at the distal end of the tube in a fixed spatial relationship to the ultrasound transducer. At least one electronic processor (28) is programmed to: control the ultrasound transducer and the camera to acquire ultrasound images (19) and camera images (21) respectively while the ultrasound transducer is disposed in vivo inside the patient; and construct a keyframe (36) representative of an in vivo position of the ultrasound transducer including at least ultrasound image features (38) extracted from at least one of the ultrasound images acquired at the in vivo position of the ultrasound transducer and camera image features (40) extracted from one of the camera images acquired at the in vivo position of the ultrasound transducer.

Abstract: The present invention relates to robotic device positioning. By extending the robotic arm into the surgical field, a system is provided that automatically aligns an instrument following a plan, e.g., surgical plan, using only instrument tracking feedback. No tracking markers on the robot are required.

Abstract: A positioning controller (50) including an imaging predictive model (80) and inverse control predictive model (70). In operation, the controller (50) applies the imaging predictive model (80) to imaging data generated by an imaging device (40) to render a predicted navigated pose of the imaging device (40), and applies the control predictive model (70) to error positioning data derived from a differential aspect between a target pose of the imaging device 40) and the predicted navigated pose of the imaging device (40) to render a predicted corrective positioning motion of the imaging device (40) (or a portion of the interventional device associated with this imaging device) to the target pose.

Abstract: Various embodiments of the present disclosure include a C-arm registration system employing a controller (70) for registering a C-arm (60) to a X-ray ring marker (20). The X-ray ring marker (20) includes a coaxial construction of a chirp ring (40) and a centric ring (50) on an annular base (30). In operation, the controller (70) acquires a baseline X-ray image illustrative of the X-ray ring marker (20) within a baseline X-ray projection by the C-arm (60) at a baseline imaging pose, derives baseline position parameters of the X-ray ring marker (20) within the baseline X-ray projection as a function of an illustration of the centric ring (50) within the baseline X-ray image, and derives a baseline twist parameter of the X-ray ring marker (20) within the baseline X-ray projection as a function of the baseline position parameters and of an illustration of the chirp ring (40) within the baseline X-ray image.

Abstract: A registration system includes a controller (160). The controller (160) includes a memory (162) that stores instructions; and a processor (161) that executes the instructions. When executed, the instructions cause the controller (160) to execute a process that includes obtaining a fluoroscopic X-ray image (S810) from an X-ray imaging system (190), and a visual image (S820) of a hybrid marker (110) affixed to the X-ray imaging system (190) from a camera system (140). A transformation between the hybrid marker (110) and the X-ray imaging system (190) is estimated (S830) based on the fluoroscopic X-ray image. A transformation between the hybrid marker (110) and the camera system (140) is estimated (S840) based on the visual image.

Abstract: The present disclosure includes ultrasound systems and methods for smart shear wave elastography in anisotropic tissue. An example method may include identifying muscle fiber structures from a 3D ultrasound image dataset. The method may include providing a representation of at least one identified muscle fiber structure relative to a surface of a transducer. The method may include selecting at least one of the identified muscle fiber structures. The method may include determining a target measurement plane based on an orientation of the selected muscle fiber structure. The method may also include transmitting ultrasound pulses in accordance with a sequence configured to perform shear wave imaging in the target measurement plane.

Abstract: A system (300) for radiation dose monitoring in a medical environment (305) includes an imaging device (310) for directing radiation (312) onto a patient (315) and a radiation dose measuring device (325) for measuring a radiation dose of at least one medical personnel (320) within the medical environment (305). The system further includes a processor (327) for receiving radiation dose information of the patient or of the at least one medical personnel, and for rendering, in real-time, a virtual object (401) associated with each radiation dose measuring device (325), the virtual object (401) representing radiation dose information. The system can further include a display (340) for displaying distribution of radiation (505) in the medical environment (305).

Abstract: Ultrasound image devices, systems, and methods are provided. An ultrasound imaging system comprising a communication interface in communication with an ultrasound imaging device and configured to receive a ultrasound image of a subject's anatomy; and a processor in communication with the communication interface and configured to apply a predictive network to the ultrasound image to identify a plurality of locations of potential malignancies in the subjects anatomy; and determine a plurality of malignancy likelihoods at the plurality of locations of potential malignancies; and output, to a display in communication with the processor, the plurality of locations of potential malignancies and the plurality of malignancy likelihoods for the plurality of locations of potential malignancies to guide a biopsy determination for the subjects anatomy.

Abstract: A plan-specific instrument template system employing an intervention guide base (20), and an instrument guide design controller (60) for controlling a designing of a plan-specific instrument template (40) including one or more instrument guides for guiding one or more intervention instruments during an percutaneous intervention. In operation, the controller (60) generates and positions a generic instrument template (30) relative to an image segmentation of the intervention guide base (20), the generic instrument template (30) being a geometric representation of the plan-specific instrument template (40) including the/each instrument guide of the generic instrument template (30) having a generic location and a generic orientation of a generic configuration relative to a platform of the generic instrument template (30).

Abstract: An optimal imaging POV intervention system employs an intervention instrument (30), an instrument guide (40), one or more force/torque sensors and an optimal imaging POV controller (20). In operation, the instrument guide (40) establishes a planned trajectory of the intervention instrument (30), and the force/torque sensor(s) sense a force and/or a torque exerted against the intervention instrument (30) and/or the instrument guide (40) when the intervention instrument (30) is positioned within the instrument guide (40). The optimal imaging POV controller (20) controls a determination of an optimal imaging POV of the intervention instrument (30) by deriving an imaging axis of the intervention instrument (30) from a measurement of the force and/or the torque exerted against the intervention instrument (30) and/or the instrument guide (40) as sensed by the force/torque sensor(s).