Abstract: Provided are simulation systems and methods for simulation of planning and executing a procedure for robotic insertion and/or steering of a medical instrument toward an internal target.

Abstract: A system for determining the position and orientation of a medical device relative to an image space during image-guided medical procedures. The system comprises a flexible pad mounted on the subject such that a part covers the region of interest. The pad incorporates detectable registration members. Prior to the procedure, the device is coupled to the pad, which is then rigidized, so that there is no movement of the registration members relative to each other and relative to the device. The fixed relation-ship between the device and the registration members is determined from initial images, for example using detectable markers attached to the device, enabling the pose of the device relative to the image space of images of the region of interest to be determined later, even if the device is remote from the region of interest. This minimizes exposure of the subject and medical staff to radiation.

Abstract: A system for determining the position and orientation of a medical device relative to an image space during image-guided medical procedures. The system comprises a flexible pad mounted on the subject such that a part covers the region of interest. The pad incorporates detectable registration members. Prior to the procedure, the device is coupled to the pad, which is then rigidized, so that there is no movement of the registration members relative to each other and relative to the device. The fixed relationship between the device and the registration members is determined from initial images, for example using detectable markers attached to the device, enabling the pose of the device relative to the image space of images of the region of interest to be determined later, even if the device is remote from the region of interest. This minimizes exposure of the subject and medical staff to radiation.

Abstract: Provided are computer-implemented methods and systems for generating and/or utilizing model(s) for determining optimized checkpoint locations along a trajectory in an image-guided procedure for inserting a medical instrument to a target in a body of a patient based, inter alia, on data related to an automated medical device and/or to operation thereof.

Abstract: Provided are computer-implemented methods and systems for generating and/or utilizing data analysis algorithm(s) for predicting and/or detecting a clinical condition related to insertion of a medical instrument toward a target in a body of a patient based, inter alia, on data related to an automated medical device and/or to operation thereof.

Abstract: Provided are computer-implemented methods and systems for generating and/or utilizing data analysis algorithm(s) for providing operating instructions, enhancements and/or recommendations to optimize insertion of a medical instrument toward a target in a body of a patient based, inter alia, on data related to an automated medical device and/or to operation thereof.

Abstract: Provided are systems, devices and methods for automated steering of medical instrument in a subject's body for diagnostic and/or therapeutic purposes, wherein the steering of the medical instrument within the subject's body is based on a planned 3D trajectory and real-time updating the 3D trajectory, to allow safely and accurately reaching a target within the subject's body.

Abstract: Provided are systems, devices and methods for assisting a user in positioning an automated medical device on, or in close proximity to, a body of a subject, by simulating the position and orientation of the medical device on one or more images of the subject, and providing the user with instructions regarding the actual positioning of the medical device and/or correction thereof, based on the simulated position and orientation.

Abstract: A method of planning an image-guided interventional procedure to be performed on a patient, where expected motion of the patient, such as that of a breathing cycle, is determined on a sequence of preoperative images, and the procedure trajectory is planned accordingly. The method takes into account the initial positions of the interventional entry, the target region, and any obstructions or forbidden regions between the entry point and the target region, and uses object tracking methods of image processing on the preoperative images to determine how the positions of these three elements change relative to each other during the patient's motion cycle. The method may automatically search in at least some of the preoperative images taken at different temporal points of the motion cycle, for a path connecting the entry point with the target and avoiding the obstacles, which provides minimal lateral pressure on the patient's tissues.

Abstract: A method of planning an image-guided interventional procedure to be performed on a patient, where expected motion of the patient, such as that of a breathing cycle, is determined on a sequence of preoperative images, and the procedure trajectory is planned accordingly. The method takes into account the initial positions of the interventional entry, the target region, and any obstructions or forbidden regions between the entry point and the target region, and uses object tracking methods of image processing on the preoperative images to determine how the positions of these three elements change relative to each other during the patient's motion cycle. The method may automatically search in at least some of the preoperative images taken at different temporal points of the motion cycle, for a path connecting the entry point with the target and avoiding the obstacles, which provides minimal lateral pressure on the patient's tissues.

Abstract: A system and method for controlling the insertion of a medical tool, such as a needle, into a subject's body based on measurements of an interaction parameter associated with the interaction between the tool and a bodily tissue, such as the forces exerted on the tool during insertion. The system comprises an insertion device, at least one sensor configured to measure the interaction parameter and at least one processor configured to receive sensor measurements, detect one or more predefined patterns in the sensor measurements and control an operation of at least one of the insertion device and an imaging device, upon detecting the predefined patterns. The processor may be configured to compare the actual correlation between the sensor measurements and an insertion parameter, such as insertion depth, with an expected correlation, and determine if the medical tool is following its pre-planned trajectory based on the result of that comparison.

Abstract: A system and method for controlling the insertion of a medical tool, such as a needle, into a subject's body based on measurements of an interaction parameter associated with the interaction between the tool and a bodily tissue, such as the forces exerted on the tool during insertion. The system comprises an insertion device, at least one sensor configured to measure the interaction parameter and at least one processor configured to receive sensor measurements, detect one or more predefined patterns in the sensor measurements and control an operation of at least one of the insertion device and an imaging device, upon detecting the predefined patterns. The processor may be configured to compare the actual correlation between the sensor measurements and an insertion parameter, such as insertion depth, with an expected correlation, and determine if the medical tool is following its pre-planned trajectory based on the result of that comparison.

Abstract: A system for determining the position and orientation of a medical device relative to an image space during image-guided medical procedures. The system comprises a flexible pad mounted on the subject such that a part covers the region of interest. The pad incorporates detectable registration members. Prior to the procedure, the device is coupled to the pad, which is then rigidized, so that there is no movement of the registration members relative to each other and relative to the device. The fixed relationship between the device and the registration members is determined from initial images, for example using detectable markers attached to the device, enabling the pose of the device relative to the image space of images of the region of interest to be determined later, even if the device is remote from the region of interest. This minimizes exposure of the subject and medical staff to radiation.

Abstract: A system for determining the position and orientation of a medical device relative to an image space during image-guided medical procedures. The system comprises a flexible pad mounted on the subject such that a part covers the region of interest. The pad incorporates detectable registration members. Prior to the procedure, the device is coupled to the pad, which is then rigidized, so that there is no movement of the registration members relative to each other and relative to the device. The fixed relation-ship between the device and the registration members is determined from initial images, for example using detectable markers attached to the device, enabling the pose of the device relative to the image space of images of the region of interest to be determined later, even if the device is remote from the region of interest. This minimizes exposure of the subject and medical staff to radiation.

Abstract: A method of planning an image-guided interventional procedure to be performed on a patient, where expected motion of the patient, such as that of a breathing cycle, is determined on a sequence of preoperative images, and the procedure trajectory is planned accordingly. The method takes into account the initial positions of the interventional entry, the target region, and any obstructions or forbidden regions between the entry point and the target region, and uses object tracking methods of image processing on the preoperative images to determine how the positions of these three elements change relative to each other during the patient's motion cycle. The method may automatically search in at least some of the preoperative images taken at different temporal points of the motion cycle, for a path connecting the entry point with the target and avoiding the obstacles, which provides minimal lateral pressure on the patient's tissues.

Abstract: A method of planning an image-guided interventional procedure to be performed on a patient, where expected motion of the patient, such as that of a breathing cycle, is determined on a sequence of preoperative images, and the procedure trajectory is planned accordingly. The method takes into account the initial positions of the interventional entry, the target region, and any obstructions or forbidden regions between the entry point and the target region, and uses object tracking methods of image processing on the preoperative images to determine how the positions of these three elements change relative to each other during the patient's motion cycle. The method may automatically search in at least some of the preoperative images taken at different temporal points of the motion cycle, for a path connecting the entry point with the target and avoiding the obstacles, which provides minimal lateral pressure on the patient's tissues.

Abstract: A method of planning an image-guided interventional procedure to be performed on a patient, where expected motion of the patient, such as that of a breathing cycle, is determined on a sequence of preoperative images, and the procedure trajectory is planned accordingly. The method takes into account the initial positions of the interventional entry, the target region, and any obstructions or forbidden regions between the entry point and the target region, and uses object tracking methods of image processing on the preoperative images to determine how the positions of these three elements change relative to each other during the patient's motion cycle. The method may automatically search in at least some of the preoperative images taken at different temporal points of the motion cycle, for a path connecting the entry point with the target and avoiding the obstacles, which provides minimal lateral pressure on the patient's tissues.

Abstract: A method of planning an image-guided interventional procedure to be performed on a patient, where expected motion of the patient, such as that of a breathing cycle, is determined on a sequence of preoperative images, and the procedure trajectory is planned accordingly. The method takes into account the initial positions of the interventional entry, the target region, and any obstructions or forbidden regions between the entry point and the target region, and uses object tracking methods of image processing on the preoperative images to determine how the positions of these three elements change relative to each other during the patient's motion cycle. The method may automatically search in at least some of the preoperative images taken at different temporal points of the motion cycle, for a path connecting the entry point with the target and avoiding the obstacles, which provides minimal lateral pressure on the patient's tissues.

Abstract: A system for determining the position and orientation of a medical device relative to an image space during image-guided medical procedures. The system comprises a flexible pad mounted on the subject such that a part covers the region of interest. The pad incorporates detectable registration members. Prior to the procedure, the device is coupled to the pad, which is then rigidized, so that there is no movement of the registration members relative to each other and relative to the device. The fixed relation- ship between the device and the registration members is determined from initial images, for example using detectable markers attached to the device, enabling the pose of the device relative to the image space of images of the region of interest to be determined later, even if the device is remote from the region of interest. This minimizes exposure of the subject and medical staff to radiation.

Abstract: A system and method for controlling the insertion of a medical tool, such as a needle, into a subject's body based on measurements of an interaction parameter associated with the interaction between the tool and a bodily tissue, such as the forces exerted on the tool during insertion. The system comprises an insertion device, at least one sensor configured to measure the interaction parameter and at least one processor configured to receive sensor measurements, detect one or more predefined patterns in the sensor measurements and control an operation of at least one of the insertion device and an imaging device, upon detecting the predefined patterns. The processor may be configured to compare the actual correlation between the sensor measurements and an insertion parameter, such as insertion depth, with an expected correlation, and determine if the medical tool is following its pre-planned trajectory based on the result of that comparison.