Abstract: A controller (122) includes a memory (12220) that stores instructions and a processor (12210) that executes the instructions. When executed, the instructions cause the controller (122) to implement a process that includes obtaining (S405) pre-operative imagery of the tissue in a first modality, registering (S425) the pre-operative imagery of the tissue in the first modality with a set of sensors (195-199) adhered to the tissue, and receiving (S435), from the set of sensors (195-199), sets of electronic signals for positions of the set of sensors (195-199). The process also includes computing (S440) geometry of the positions of the set of sensors (195-199) for each set of the sets of electronic signals and computing (S450) movement of the set of sensors (195-199) based on changes in the geometry of the positions of the set of sensors (195-199) between sets of electronic signals from the set of sensors (195-199).

Abstract: Various embodiments of the present disclosure encompass a visual endoscopic guidance device employing an endoscopic viewing controller (20) for controlling a display of an endoscopic view (11) of an anatomical structure, and a visual guidance controller (130) for controlling of a display 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 location marking and/or a motion directive of a guided manipulation of the anatomical structure. The visual guidance controller (130) further controls a display of a hidden feature anchor relative to the display of the endoscopic view (11) of the anatomical structure. The hidden feature anchor (53) being representative of a position (e.g., a location and/or an orientation) of a guided visualization of the hidden feature of the anatomical structure.

Abstract: An OSS animated display system for an interventional device (40) including an integration of one or more optical shape sensors and one or more interventional tools. The OSS animated display system employs a monitor (121) and a display controller (110) for controlling a real-time display on the monitor (121) of an animation of a spatial positional relationship between the OSS interventional device (40) and an object (50). The display controller (110) derives the animation of the spatial positional relationship between the OSS interventional device (40) and the object (50) from a shape of the optical shape sensor(s).

Abstract: A registration system for medical navigation includes a shape sensing device (SSD) (104, 504) having at least one sensor (450, 505) for providing corresponding sensor information (SI) indicative of at least one of a position of the at least one sensor (450, 505); a registration fixture (106) having a channel (130) configured to receive at least part of the SSD and defining a registration path (P). The registration fixture may be configured to be attached to a registrant object (RO) (119) defining a workspace. A controller (110) may be configured to: sense a shape of a path traversed by the SSD based upon the SI when the at least one sensor is situated within the channel (130), determine whether the sensed shape of the path corresponds with a known shape selected from one or more known shapes, and perform a coordinate registration based upon the determination.

Abstract: A sensor device includes a flexible instrument (20) including a lumen (22). A plurality of shape or strain sensing optical fibers (14, 16, 18) is integrated in the flexible instrument in the lumen and extends over a length of the flexible instrument. The plurality of optical fibers is configured to measure movement relative to one another to sense a change in distance between the plurality of optical fibers to detect a state of a reconfigurable portion (24) of the flexible instrument.

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: An OSS foreshortening detection system employing an interventional device (40) including a OSS sensor (20) having shape nodes for generating shape sensing data informative of a shape of OSS sensor (20). The system further employs a OSS foreshortening detection device (80) including a OSS shape controller (90) for reconstructing a shape of a portion/entirety of interventional device (40) derived from a generation of the shape sensing data by OSS sensor (20). Device (80) further includes a OSS foreshortening controller (100) for monitoring any foreshortening of the interventional device (40) within an image of the interventional device (40) including the OSS foreshortening controller (100) detecting a location of any occurrence of a foreshortening of the interventional device (40) within the image of interventional device (40) derived from the reconstruction of the shape of the portion/entirety of interventional device (40) by the OSS shape controller (90).

Abstract: A torque detection vascular therapy system employing a vascular therapy device (101) and a torque detection controller (130). The vascular therapy device (101) is operable to be transitioned from a pre-deployed state to a post-deployed state, and includes a matrix of imageable markers representative of a geometry of the vascular therapy device (101).

Abstract: Registration of a surgical image acquisition device (e.g. an endoscope) using preoperative and live contour signatures of an anatomical object is described. A control unit includes a processor configured to compare the real-time contour signature to the database of preoperative contour signatures of the anatomical object to generate a group of potential contour signature matches for selection of a final contour match. Registration of an image acquisition device to the surgical site is realized based upon an orientation corresponding to the selected final contour signature match.

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: 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: 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: A medical instrument includes a first device (108) including shape-sensed flexible instrument, a second device (102) disposed over the first device and a third device (109) disposed over the first device and a portion of the second device. The second and third devices include a geometric relationship such that a position of the second device and the third device is determined from shape sensing information of the first device and the geometric relationship.

Abstract: A medical navigation system including a controller configured to: generate a three-dimensional (3D) volume based upon acquired image information of a region of interest (ROI), determine a reference path (RP) to an object-of-interest (OOI) situated within the ROI, the RP defining an on-road path (ONP) through at least one natural pathway of an organ subject to cyclical motion and an adjacent off-road path (ORP) through tissue of the organ leading to the OOI, and an exit point situated between the ONP and the ORP, query an SSD within the at least one natural pathway to obtain SSDI, determine a shape and a pose of one or more portions of the SSD in accordance with the SSDI, calculate an error between the RP and the determined shape and pose of the SSD, and/or determine when or where to exit a wall of the natural pathway and begin the ORP based upon the calculated error.

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: A controller (522) for live annotation of interventional imagery includes a memory (52220) that stores software instructions and a processor (52210) that executes the software instructions. When executed by the processor (52210), the software instructions cause the controller (522) to implement a process that includes receiving (S210) interventional imagery during an intraoperative intervention and automatically analyzing (S220) the interventional imagery for detectable features. The process executed when the processor (52210) executes the software instructions also includes detecting (S230) a detectable feature and determining (S240) at add an annotation to the interventional imagery for the detectable feature. The processor further includes identifying (S250) a location for the annotation as an identified location in the interventional imagery and adding (S260) the annotation to the interventional imagery at the identified location to correspond to the detectable feature.

Abstract: A system and method for determining the position of a non-shape-sensed guidewire (102) and for visualizing the guidewire. The system includes a shape-sensed catheter (104) having a lumen (103) that is configured to receive the non-shape-sensed guidewire. A measurement module (122) is configured to measure a distance that the non-shape-sensed guidewire moves. The measurement module may receive signals from a sensor (124) associated with a measurement assembly that is configured to receive at least a portion of the non-shape-sensed guidewire and/or the shape-sensed catheter. A location module (126) is configured to determine a position of the non-shape-sensed guidewire. The system is configured to generate a virtual image (101) of the guidewire, including a portion of the non-shape-sensed guidewire that does not extend along a shape-sensing optical fiber.

Abstract: A system and method for determining the length of a non-shape-sensed interventional device (102) which includes a shape-sensed guidewire (106) that is received in the lumen (103) of the device. A hub (107) is configured to secure a position of the shape-sensed guidewire and interventional device. A registration module (124) is configured to register a position of the distal tip (117) of the non-shape-sensed interventional device to a position of the shape-sensed guidewire. A determination module (126) determines the length of the non-shape-sensed interventional device using a known position of the device in the hub and the position of the distal tip of the device. The system includes a detection module (146) that receives curvature data from the shape-sensed guidewire and is configured to determine the state of the shape-sensed guidewire with respect to an interventional device.

Abstract: A controller for assisting navigation in an interventional procedure includes a memory that stores instructions and a processor (310) that executes the instructions. When executed by the processor (310), the instructions cause the controller to implement a process that includes obtaining (S410) a three-dimensional model generated prior to an interventional procedure based on segmenting pathways with a plurality of branches in a subject of the interventional procedure. The process also includes determining (S470), during the interventional procedure, whether a current position of a tracked device (250) is outside of the pathways in the three-dimensional model. When the current position of the tracked device (250) is outside of the pathways in the three-dimensional model, the process includes deforming (S480) the three-dimensional model to the current position of the tracked device (250).