Abstract: A method for image segmentation comprises receiving volumetric image data for an anatomical region and generating a first volumetric patch from the volumetric image data. The method also comprises generating a second volumetric patch from the first volumetric patch by weighting a plurality of volumetric units in the first volumetric patch and receiving the second volumetric patch as an input to a convolutional neural network. The method also comprises conducting a down-sampling filter process and conducting an up-sampling filter process within the convolutional neural network.

Abstract: A system comprises a display system and a control system communicatively coupled to the display system. The control system is configured to receive anatomic image data for an anatomic tree structure and generate an initial segmentation of the anatomic image data. The initial segmentation includes a trunk structure and a branched structure unconnected to the trunk structure. The control system is also configured to determine whether to connect the branched structure to the trunk structure based on an assessment of a shape of the branched structure and an assessment of a relationship between the trunk structure and the branched structure.

Abstract: A method of registering sets of anatomical data for use during a medical procedure is provided herein. The method may include accessing a first set of model points of a patient anatomy of interest and intra-operatively acquiring a second set of model points by visualizing a portion of the anatomical surface in the patient with a vision probe. The method may further include extracting system information, including kinematic information from a robotic arm of a medical system and/or setup information, and generating an initial seed transformation based on the extracted system information. Thereafter, the method may include applying the initial seed transformation to the first set of model points and generating a first registration between the first set of model points and the second set of model points to permit model and actual information to be viewed and used together by an operator.

Abstract: An integrated circuit with a fault reporting structure. The fault reporting structure includes a first fault reporting structure formed in at least one metal layer of the integrated circuit and electrically coupled to a first fault reporting pin of the integrated circuit. The first fault reporting structure may be adapted to report whether burnt point forms in the integrated circuit.

Abstract: A system includes a control means for receiving an input from a user, a manipulator means configured to support a tool having a tool frame, and processing means configured to perform a method. The method involves receiving, from an image capturing system with an image frame, one or more images. The tool is visible in the one or more images. The method further involves determining an estimated frame transform based on the one or more images. The estimated frame transform is used in defining an unknown frame transform between the image frame and the tool frame. The method also involves determining, in response to the input received at the control means, an output movement for the tool based on the estimated frame transform, and causing movement of the tool based on the output movement.

Abstract: A method comprises receiving a set of model points of a model of one or more passageways of a patient. The set of model points comprises a plurality of model segments. The method further comprises receiving a set of measured points collected from within the patient passageways. Each point comprises coordinates within a surgical environment occupied by the patient. The method further comprises: matching each measured point to a model point to generate a set of matches; identifying a particular model segment from the plurality of model segments that includes fewer than a threshold quantity of measured points matched thereto; discarding matches that include a model point of the particular model segment to provide a modified set of matches; and moving the set of measured points relative to the set of model points based on the modified set of matches.

Abstract: A method of registering sets of anatomical data for use during a surgical procedure is provided herein. The method may include segmenting a set of first modality image data representing a model of one or more passageways within a patient and generating a first set of points based on the segmented set of first modality image data representing the model of the one or more passageways. The method may further include determining a set of matches between a second set of points and the first set of points, wherein the second set of points is obtained by a second modality and discarding a subset of the set of matches based on a first heuristic to generate a modified set of matches. The second set of points may then be moved relative to the first set of points based on the modified set of matches and displayed on a display.

Abstract: A method includes receiving geophysical data representative of a geophysical structure; providing the geophysical data as one or more input data to a neural network; training the neural network to reconstruct the geophysical structure that was received and provide one or more uncertainty metrics for one or more features of the geophysical structure that is reconstructed; reconstructing, using the neural network that has been trained, the geophysical structure; and determining, using the neural network that has been trained, the one or more uncertainty metrics by implementing a second drop out condition on the one or more nodes of the one or more hidden layers of the neural network. The training is performed at least partially by implementing a first drop out condition on one or more nodes of one or more hidden layers of the neural network to randomly set an output of the one or more nodes to zero.

Abstract: Some aspects of the present disclosure relate to a non-transitory computer-readable medium storing instructions that, when executed by one or more processing circuitries, cause the one or more processing circuitries to perform a method for a controller of a shared device, the method comprising obtaining (130), from a requester device connected to the shared device via an interconnect fabric, a request for using a functionality of the shared device, and providing (140) access to the functionality of the shared device using a share of performance of the shared device defined by a data structure mapping one or more requester devices to one or more shares of performance of the shared device for the requester device.

Abstract: Techniques for control using hand tracking include a system having an input control configured to be manipulated by an operator of the system, a hand tracking unit, and a controller. The controller is configured to determine a first position of the input control; receive, from the hand tracking unit, a second position of a hand of the operator; determine whether the first position is within a threshold distance of the second position; and control display of a user interface based on the determination of whether the first position is within the threshold distance of the second position.

Abstract: A method comprises tracking a set of optical fiducials positioned on a reference portion of a medical instrument. The medical instrument includes an elongated flexible body with a distal end and a rigid proximal body which includes the reference portion. The method further comprises receiving shape information from a shape sensor extending within the medical instrument between the reference portion and the distal end and determining a pose of a portion of the elongated flexible body with respect to the patient anatomy.

Abstract: A method for generating high-quality seismic data includes receiving a first dataset. The method also includes selecting a first processing technique based upon the first dataset. The method also includes producing first processed data from the first dataset using the first processing technique. The method also includes selecting a second processing technique based upon the first dataset. The second processing technique is different than the first processing technique. The method also includes producing second processed data from the first dataset using the second processing technique. The method also includes training a machine learning model to transform the first processed data into the second processed data.

Abstract: A medical robotic system and method of operating such comprises taking intraoperative external image data of a patient anatomy, and using that image data to generate a modeling adjustment for a control system of the medical robotic system (e.g., updating anatomic model and/or refining instrument registration), and/or adjust a procedure control aspect (e.g., regulating substance or therapy delivery, improving targeting, and/or tracking performance).

Abstract: A robotic system comprises a display that is viewable by an operator. The robotic system also includes an input device movable by the operator and a control system. The control system is configured to determine whether an alignment target is located in an error region, the alignment target associated with a tool supported by the first manipulator, and the error region associated with an imaging device supported by the second manipulator, and in response to a determination that the alignment target is located in the error region, disable an operator-guided registration mode for performing an operator-guided registration.

Abstract: A system comprises a display system and a control system communicatively coupled to the display system. The control system is configured to receive anatomic image data for an anatomic tree structure and generate an initial segmentation of the anatomic image data. The initial segmentation includes a trunk structure and a branched structure unconnected to the trunk structure. The control system is also configured to determine whether to connect the branched structure to the trunk structure based on an assessment of a shape of the branched structure and an assessment of a relationship between the trunk structure and the branched structure.

Abstract: An integrated circuit with a fault reporting structure. The fault reporting structure includes a first fault reporting structure formed in at least one metal layer of the integrated circuit and electrically coupled to a first fault reporting pin of the integrated circuit. The first fault reporting structure may be adapted to report whether burnt point forms in the integrated circuit.

Abstract: A method comprises receiving a set of model points of a model of one or more passageways of a patient. The method further comprises receiving a set of measured points collected from within the one or more passageways of the patient. Each point comprises coordinates within a medical environment occupied by the patient. The method further comprises matching each measured point to a model point to generate a set of matches. The method further comprises assigning a weight to each of the measured points based on the set of matches to generate a weighted set of matches. The method further comprises moving the set of measured points relative to the set of model points based on the weighted set of matches.

Abstract: According to some embodiments, a motor controller for controlling a motor includes a position interface configured to receive a motor position signal indicative of a position of the motor, and a pulse width modulation (PWM) unit configured to generate a PWM signal for driving the motor. An angle and speed unit is configured to determine a speed and a position of the motor based on transitions in the motor position signal, wherein transition intervals are defined between the transitions, determine a PWM count of cycles in the PWM signal during a first transition interval of the transition intervals, and update the position of the motor during a second transition interval of the transition intervals based on the PWM count to generate an updated position. A controller is configured to send a control signal for controlling the motor to the PWM unit based on the speed and the updated position.

Abstract: A system comprises: a robotic arm operatively coupleable to a tool comprising a working end; and an input device communicatively coupled to the robotic arm. The input device is manipulatable by an operator. The system further comprises a processor configured to cause an image of a work site, captured by an image capture device from a perspective of an image reference frame, to be displayed on a display. The image of the work site includes an image of the working end of the tool. The processor is further configured to determine a position of the working end of the tool in the image of the work site and render a tool information overlay at the position of the working end of the tool in the image of the work site. The tool information overlay visually indicates an identity of the input device.

Abstract: The present invention relates to a method, system and computer program product for task failover in an unstable environment, wherein the unstable environment includes a plurality of reclaimable nodes. According to the method, it is monitored if any node of the plurality of reclaimable nodes is to be reclaimed. Whether a task on any node of the plurality of reclaimable nodes is recoverable is determined. Responsive to the task being recoverable, data of the recoverable task is stored. Responsive to a node being reclaimed and the task on the reclaimed node being recoverable, at least one associated task of at least one associated node of the reclaimed node is notified to wait.