Abstract: A medical system comprises a memory for receiving intraoperative external image data for at least a portion of a patient anatomy. The memory further receives intraoperative pose data for a medical instrument of the medical system. The medical system further comprises a processor configured for generating a first model of the patient anatomy. The processor is further configured for, based on the intraoperative external image data, intraoperatively generating an updated model of the patient anatomy that is different from the first model. The updated model includes an anatomical structure that is not present in the first model.

Abstract: A method of image-guided radiation treatment is described. The method may include acquiring digitally reconstructed radiographs (DRRs) 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 DRRs to obtain a registration result, tracking movement and position of the target using the registration result to generating tracking information.

Abstract: A medical robotic system comprises a memory for receiving intraoperative external image data for at least a portion of a patient anatomy. The portion of the patient anatomy includes a target anatomy, and the intraoperative external image data includes image data for the target anatomy and for an effect of a substance on the target anatomy. The system further includes a processor configured for at least semi-automatically controlling a medical instrument of the medical robotic system based on the intraoperative external image data to deliver the substance to the target anatomy through the medical instrument. The processor is further configured for determining the effect of the substance on the target anatomy. The processor is further configured for, using the determined effect, adjusting a control parameter for delivering the substance to the target anatomy.

Abstract: A medical system comprises a flexible device configured to be positioned at least partially within a patient anatomy. The patient anatomy includes a plurality of anatomical passageways. The medical system further comprises a memory device including computer executable instructions, the computer executable instructions for performing operations. The operations comprise determining a shape of the flexible device and determining a deformation force for a section of the flexible device. The operations further comprise registering a model of a candidate anatomical passageway of the plurality of anatomical passageways to a model of the flexible device based on the shape of the flexible device and the deformation force for the section of the flexible device. The operations further comprise generating a composite model of the patient anatomy based on the registering.

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 system for performing an interventional procedure comprises an interventional instrument and a control system. The control system comprises a processor and a memory comprising machine-readable instructions that, when executed by the processor, cause the control system to receive a model of an anatomic structure record a target location for a target structure identified in the model, determine a planned deployment location for the interventional instrument to perform the interventional procedure on the target structure, receive sensor data including an operative image of the target structure from a sensor system, and identify, based on the operative image of the target structure, a revised deployment location for the interventional instrument to perform the interventional procedure on the target structure.

Abstract: A method comprises determining a shape of a device positioned at least partially within an anatomical passageway. The method further comprises determining a set of deformation forces for a plurality of sections of the device, where determining the set of deformation forces comprises determining a stiffness of each section of the plurality of sections of the device. The method further comprises generating a composite model indicating a position of the device relative to the anatomical passageway based on: the shape of the device, the set of deformation forces, including an effect of each section of the plurality of sections on a respective portion of the anatomical passageway, and anatomical data describing the anatomical passageway.

Abstract: A method of image-guided radiation treatment is described. The method may include acquiring digitally reconstructed radiographs (DRRs) 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 DRRs to obtain a registration result, tracking movement and position of the target using the registration result to generating tracking information.

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 system for planning a procedure to be performed using an interventional instrument may comprise a sensor system that generates sensor data and a control system that may receive information about an operational capability of the interventional instrument within a plurality of passageways in a model of an anatomic structure. The control system may also identify a plurality of optional deployment locations for positioning a distal tip of the interventional instrument to perform the procedure on a target structure in the model based on at least one of the sensor data or the information about the operational capability of the interventional instrument. A display system may display the model of the anatomic structure having the plurality of passageways and display the plurality of optional deployment locations in the model. A code may be displayed that provides information about a relative quality of each of the plurality of optional deployment locations.

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 receive a reference three-dimensional volumetric representation of a branched anatomical formation in a reference state and obtain a reference tree of nodes and linkages based on the reference three-dimensional volumetric representation. 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.

Abstract: A method of image-guided radiation treatment is described. The method may include acquiring digitally reconstructed radiographs (DRRs) 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, wherein the first energy level is an energy level selected within the range of 50-100 kV and the second energy level is an energy level selected within the range of 100-150 kV. The method ma 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.

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 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 receive a reference three-dimensional volumetric representation of a branched anatomical formation in a reference state and obtain a reference tree of nodes and linkages based on the reference three-dimensional volumetric representation. 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.

Abstract: A method comprises identifying linked anatomical structures in stored images of a patient anatomy and modeling a structure of linkage elements. Each linkage element corresponds to one of the linked anatomical structures. The method also includes modeling a portion of the patient anatomy as a plurality of search slabs and assigning each of the linkage elements to one of the plurality of search slabs. The method also includes receiving tracking data corresponding to a sensed instrument portion. The tracking data includes position information and orientation information for the sensed instrument portion. The method also includes identifying one of the plurality of search slabs which includes the position information for the sensed instrument portion and matching the sensed instrument portion to a matched linkage element from among the linkage elements assigned to the identified one of the plurality of search slabs.

Abstract: A method comprises determining a predicted pose of an elongate medical device within a patient anatomy. The method further comprises extracting a plurality of reference images from 3-D reference information, wherein the plurality of reference images includes a predicted reference image corresponding to the predicted pose of the elongate medical device. The method comprises capturing an x-ray image of the patient anatomy, wherein the captured x-ray image includes captured x-ray attenuation information. The method further comprises searching for a closest matching reference image between the captured x-ray image and one of the plurality of reference images. The method comprises determining an offset between the captured x-ray image and the closest matching reference image.

Abstract: A medical system comprises an image capture probe having a camera at its tip, a sensor system, and a processor. The processor is configured to receive an image from the camera when the image capture probe is located within an anatomic region of a patient anatomy; identify the tip's position based on information received from the sensor system; identify a tissue structure in the image; and define a subregion of a model of the anatomic region that corresponds to an area surrounding the tip. The processor is configured to compare the tissue structure to at least a portion of virtual tissue structures in the subregion to identify a best matched virtual tissue structure. The processor is configured to register the image to the model based on identification of the best matched virtual tissue structure to identify a virtual probe position for the tip with respect to the model.

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 method of modeling anatomic deformation comprises receiving a reference three dimensional model of a branched anatomical formation in a reference state. The method further comprises detecting deflection of the branched anatomical fomation with a shape sensor to create a three dimensional deformation field. The method further comprises applying the three dimensional deformation field to the reference three dimensional model to create a deformed three dimensional model of a deformed state of the branched anatomical formation. The method further comprises dynamically displaying an image of the deformed three dimensional model of the deformed state of the branched anatomical formation. The method further comprises displaying a composite image including an image of an interventional instrument positioned within the branched anatomical formation and the dynamically displayed image of the deformed three dimensional model of the deformed state of the branched anatomical formation.

Abstract: A method comprises identifying connected anatomical structures in stored images of a patient anatomy and generating a first three-dimensional model of anatomic passageways including a set of anatomical centerlines of the anatomic passageways, and generating a second three-dimensional model of the anatomic passageways including a plurality of linkage elements each including two base points defining a linkage element centerline spanning a shortest distance between the two base points. The method also comprises receiving tracking data corresponding to a point on an instrument positioned within the connected anatomical structures, matching the point on the instrument to one of the plurality of linkage elements representing one of the connected anatomical structures to locate the instrument relative to the connected anatomical structures in the stored images of the patient anatomy, and updating the matching of the point on the instrument to one of the plurality of linkage elements.