Abstract: A system for performing an interventional procedure comprises an interventional instrument and a control system.

Abstract: A medical system comprises a flexible instrument including a sensor adapted to provide tracking data for a point on the instrument. The medical system further comprises a memory storing images of a patient anatomy and a processor. The processor is configured to identify connected anatomical structures in the stored images of the patient anatomy, generate an anatomical centerline model from the identified connected anatomical structures, select a set of points disposed on a set of anatomical centerlines of the anatomical centerline model, generate a first plurality of cylindrical linkage elements representing the connected anatomical structures, receive the tracking data corresponding to the point on the instrument when the instrument is positioned within at least one of the connected anatomical structures, and match the point on the instrument to one of the first plurality of cylindrical linkage elements.

Abstract: A processing system may comprise a central processing unit, a graphics processing unit, and a memory having computer readable instructions. The computer readable instructions may cause the processing system to obtain a reference tree of nodes and linkages based on a reference 3D volumetric representation of a branched anatomical formation in a reference state and obtain, by the central processing unit, a reference 3D geometric model based on the reference tree. The instructions may also cause the processing system to receive, by the graphics processing unit, a non-rigid transform for the nodes of the reference tree and determine, by the graphics processing unit, a rigid transform for the reference tree nodes based on the non-rigid transform. The instructions may also cause the processing system to transform each node into a deformed node, create a 3D deformation field, and create a deformed 3D geometric model of the branched anatomical formation.

Abstract: A system for displaying enhanced reality images of a body includes a fiducial marker patch, an external medical imaging system, a camera, a tool, a controller, and a display. The fiducial marker is configured to be placed on the body. The tool is configured to be inserted into the body for a medical procedure. The controller is configured to develop 2D or 3D images of the tool positioned within the body in real time based upon images from the external medical imaging system and the camera. The display is configured to display the 2D or 3D images in real time.

Abstract: A method comprises identifying connected anatomical structures in stored images of a patient anatomy and generating a plurality of cylindrical linkage elements representing the connected anatomical structures. The method also comprises receiving tracking data corresponding to a point on an instrument positioned within at least one of the connected anatomical structures; and matching the point on the instrument to one of the plurality of cylindrical linkage elements.

Abstract: A method comprises advancing a medical instrument toward a target within a patient anatomy, and the medical instrument includes a marker. The method further comprises depositing the marker at a location at or near the target along a trajectory of the medical instrument. The method further comprises sensing the marker to indicate a location of the target. The method further comprises, based on the marker, determining a second trajectory along which a treatment instrument may be advanced toward the target to treat the target. The second trajectory is different than the trajectory.

Abstract: A non-transitory machine-readable media storing instructions is provided. The instructions cause one or more processors to: define a subregion of a model of an anatomic region of a patient anatomy, the subregion corresponding to an area surrounding a tip of an image capture probe located within the anatomic region, the subregion including a plurality of virtual tissue structures—a set of virtual tissue structures of the plurality of virtual tissue structures is situated distally from the tip of the probe; compare a tissue structure in an image received from a camera positioned at the tip of the probe to a portion of the plurality of virtual tissue structures to identify a closest matched virtual tissue structure; and based on identification of the closest matched virtual tissue structure, register the image to the model to identify a virtual probe position for the tip of the probe with respect to the model.

Abstract: A method comprises generating an image of a set of connected passageways of a patient anatomy and modeling the set of connected passageways of the patient anatomy as a structure of linked bounded-surface elements. The method also comprises receiving position information for a point on an instrument indicating a position of the point relative to the connected passageways and generating adjusted position information for the point including comparing the received position information to the structure of linked bounded-surface elements. The method also comprises creating an adjusted instrument image with the adjusted position information and generating a composite image including the image of the set of connected passageways and the adjusted instrument image.

Abstract: A method of image-guided radiation treatment is described. The method includes processing a first and second sets of image data to generate an enhanced image, wherein the enhanced image comprises a combination of the first and second sets of image data, wherein part or all of the image data comprises a target of a patient. The method also includes registering the enhanced image with another image to obtain a registration result and tracking the target using the registration result to generate tracking information. The method also includes directing treatment delivery to the target based on the tracking information obtained from the enhanced image.

Abstract: Apparatus, system and methods are described for providing a health care provider (HCP) with an enhanced reality perceptual experience for surgical, interventional, therapeutic, and diagnostic use. The apparatus, system and methods make use of a combination of sensors and audio visual data to cross-correlate information, and present the correlated information to the HCP on to one or more platforms for use during a diagnostic, interventional, therapeutic, or surgical procedure.

Abstract: A medical system comprises an image capture probe having a camera at the probe tip; a sensor system; and a processor configured to: receive an image from the camera when the probe is located within an anatomic region; identify a probe tip position based on information received from the sensor system; identify a tissue structure in the image; define a subregion of a model of the anatomic region, the subregion surrounding the probe tip and including a plurality of virtual tissue structures—a first set of virtual tissue structures is distal of the probe tip; compare the tissue structure to a portion of the plurality of virtual tissue structures to identify a best matched virtual tissue structure; and register the image to the model based on identification of the best matched virtual tissue structure to identify a virtual probe position for the probe tip with respect to the model.

Abstract: A method of image-guided radiation treatment is described. The method may include acquiring a pre-treatment image of a patient and generating a first set of image data of part or all of the patient using imaging radiation at a first energy level and a second set of image data of part or all of the patient using imaging radiation at a second energy level. The method may also include processing the first and second sets of image data to generate an enhanced image, wherein the enhanced image comprises a combination of the first and second sets of image data, and wherein part or all of the image data comprises the target. The method may also include registering the enhanced image with the pre-treatment image to obtain a registration result and tracking movement and position of the target using the registration result to generate tracking information.

Abstract: A method comprises advancing a medical instrument and a catheter toward a target tissue within a patient anatomy. The instrument includes a distal sheath marker and is slidably received within the catheter. The distal sheath marker includes a channel and an identification feature. A portion of the instrument is slidably received within the channel. The method further comprises depositing the distal sheath marker at a location at or near the target. The distal sheath marker indicates a farthest advancement point of the instrument within the patient anatomy. The method further comprises: after depositing the distal sheath marker, withdrawing the instrument away from the target; determining an orientation of the distal sheath marker based on the identification feature; and, after withdrawing the instrument, using the location and orientation of the deposited distal sheath marker to determine a trajectory of a distal end of the instrument at or near the target.

Abstract: A medical system may comprise a processor and a surgical device including a tracking system disposed along a length of an elongate flexible body. The processor may receive a first model of anatomic passageways of a patient anatomy. The first model may include a set of model passageways representing proximal and distal branches. The processor may also receive from the tracking system a shape of the elongate flexible body positioned within the proximal and distal branches. The processor may also determine, based on the shape of the elongate flexible body, a set of forces acting on the patient anatomy in response to the surgical device positioned within the proximal and distal branches. The processor may also generate a second model by deforming the first model based on the set of forces and display the second model and a representation of the elongate flexible body within the second model.

Abstract: A processing system may comprise a central processing unit, a graphics processing unit, and a memory having computer readable instructions. The computer readable instructions may cause the processing system to obtain a reference tree of nodes and linkages based on a reference 3D volumetric representation of a branched anatomical formation in a reference state and obtain, by the central processing unit, a reference 3D geometric model based on the reference tree. The instructions may also cause the processing system to receive, by the graphics processing unit, a non-rigid transform for the nodes of the reference tree and determine, by the graphics processing unit, a rigid transform for the reference tree nodes based on the non-rigid transform. The instructions may also cause the processing system to transform each node into a deformed node, create a 3D deformation field, and create a deformed 3D geometric model of the branched anatomical formation.

Abstract: A medical system comprises a surgical device including a tracking system disposed along a length of an elongate flexible body of the surgical device.

Abstract: A method of modeling a cyclic anatomical motion comprises receiving a pose dataset for an identified point on an interventional instrument retained within and in compliant movement with a cyclically moving patient anatomy for a plurality of time parameters. The method also includes determining a set of pose differentials for the identified point with respect to a reference point at each of the plurality of time parameters and identifying a periodic signal for the cyclic anatomical motion from the set of pose differentials.

Abstract: A processing system comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to obtain a reference tree of nodes and linkages based on a reference three dimensional volumetric representation of a branched anatomical formation in a reference state. The computer readable instructions also cause the system to obtain a reference three dimensional geometric model based on the reference tree and detect deformation of the branched anatomical formation due to anatomical motion based on measurements from a shape sensor. The computer readable instructions also cause the system to obtain a deformed tree of nodes and linkages based on the detected deformation and create a three dimensional deformation field that represents the detected deformation of the branched anatomical formation.

Abstract: A method of image-guided radiation treatment is described. The method may include acquiring a pre-treatment image of a patient and generating a first set of image data of part or all of the patient using imaging radiation at a first energy level and a second set of image data of part or all of the patient using imaging radiation at a second energy level. The method may also include processing the first and second sets of image data to generate an enhanced image, wherein the enhanced image comprises a combination of the first and second sets of image data, and wherein part or all of the image data comprises the target. The method may also include registering the enhanced image with the pre-treatment image to obtain a registration result and tracking movement and position of the target using the registration result to generate tracking information.

Abstract: A method includes receiving a first set of image data representing passageways at a first cyclical motion state, receiving a second set of image data representing the passageways at a second cyclical motion state, receiving pose data for points describing a shape of an instrument, and comparing the shape of the instrument to the first and second sets of image data. The comparing includes assigning match scores to the sets of image data by comparing each to the shape of the instrument and determining a selected set of image data that matches the shape. The method further includes identifying a phase of a cyclical anatomical motion, generating a command signal indicating an intended movement of the instrument, adjusting the command signal to include an instruction for a cyclical instrument motion of the instrument based on the phase of the cyclical anatomical motion, and causing the intended movement of the instrument.