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: 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.

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: A system may comprise a tool including at least one reference feature. a processor, and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, may cause the system to receive image data including an image of the tool and the at least one reference feature, determine a pose of the tool from the image data, and modify the image data to visually decrement a portion of the image data corresponding to the at least one reference feature.

Abstract: A method is provided for method for navigating a robotic endoscopic apparatus comprising: (a) navigating the robotic endoscopic apparatus to a target region inside of a body part; (b) acquiring a fluoroscopic image using a fluoroscopic imager when a tool is extended through the robotic endoscopic apparatus into the target region, where the fluoroscopic image comprises a plurality of slices stacked in a depth direction; and (c) identifying a first slice with a first coordinate corresponding to a center of the target region in the depth direction, and a second slice with a second coordinate corresponding to the tool in the depth direction; and (d) determining whether the tool is inside the target region based on a difference between the first coordinate and the second coordinate.

Abstract: Embodiments of the present disclosure provide a headphone including a sound production component and an ear hook. The ear hook includes a first portion and a second portion connected in sequence. The first portion being hooked up between an ear auricle and a head of a user, and the second portion is configured to be hang between an auricle of a user and a head of the user, the second portion extends toward a front outer side of the auricle, connects with the sound production component, and is configured to place the sound production component at a position close to an ear canal without blocking an opening of the ear canal, and at least a portion of the sound production component is inserted into an concha cavity. The sound production component and the first portion of the ear hook clamp the auricle in a wearing state.

Abstract: A method performed by a computing system comprises receiving a fluoroscopic image of a patient anatomy while a portion of a medical instrument is positioned within the patient anatomy. The fluoroscopic image has a fluoroscopic frame of reference. The portion has a sensed position in an anatomic model frame of reference. The method further comprises identifying the portion in the fluoroscopic image and identifying an extracted position of the portion in the fluoroscopic frame of reference using the identified portion in the fluoroscopic image. The method further comprises registering the fluoroscopic frame of reference to the anatomic model frame of reference based on the sensed position of the portion and the extracted position of the portion.

Abstract: A method is performed by a computing system. The method includes receiving image data from an imaging device, and determining, using the image data, a plurality of image-space tools, each image-space tool associated with a tool of a plurality of tools, each tool controlled by a manipulator of a plurality of manipulators. The method further includes determining a first correspondence between a first image-space tool of the plurality of image-space tools and a first tool of the plurality of tools based on a first disambiguation setting associated with the first tool.

Abstract: Provided is an earphone. The earphone may include a core module and a hook-like structure connected to the core module. The core module may be located on a front side of an ear in a wearing state, and at least part of the hook-like structure may be located on a rear side of the ear in the wearing state. The hook-like structure may include an adapter housing connected to the core module, and an accommodation cavity may be pre-formed in the adapter housing. The earphone may further include an electronic component that is subsequently mounted in the accommodating cavity.

Abstract: A method performed by a computing system comprises receiving a fluoroscopic image of a patient anatomy while a portion of a medical instrument is positioned within the patient anatomy. The fluoroscopic image has a fluoroscopic frame of reference. The portion has a sensed position in an anatomic model frame of reference. The method further comprises identifying the portion in the fluoroscopic image and identifying an extracted position of the portion in the fluoroscopic frame of reference using the identified portion in the fluoroscopic image. The method further comprises registering the fluoroscopic frame of reference to the anatomic model frame of reference based on the sensed position of the portion and the extracted position of the portion.

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 an input device movable by an operator and a processing unit. An operator reference frame is defined relative to the operator. The processing unit is configured to present, to the operator, a first image of a first tool captured by an imaging device, receive, from the operator, a first indication that a first axis of the input device is aligned with a corresponding axis of the first tool in the first image, and in response to the first indication, determine a first alignment relationship between the imaging device and the first tool based on a second alignment relationship between the operator reference frame and the input device.

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 applying a 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 and dynamically displaying an image of the deformed three dimensional model of the deformed state of the branched anatomical formation.

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 system comprises a processor and a memory storing computer-readable instructions that, when executed by the processor, cause the system to: define a subregion of a model of an anatomic region, the subregion including a plurality of virtual tissue structures and corresponding to an area surrounding a tip of an image capture probe located within the anatomic region; compare a tissue structure in an image received from the image capture probe to at least a portion of virtual tissue structures of the plurality of virtual tissue structures; based on the comparison, determine a respective similarity measure between the image and each virtual tissue structure; identify a closest matched virtual tissue structure based on the determined similarity measures; and based on identifying the closest matched virtual tissue structure, register the image to the model to determine a virtual position for the image capture probe with respect to the model.

Abstract: A method performed by a computing system comprises receiving shape information for an elongate flexible portion of a medical instrument. The medical instrument includes a reference portion movably coupled to a fixture having a known pose in a surgical reference frame. The fixture includes a constraint structure having a known constraint structure location in the surgical reference frame. The elongate flexible portion is coupled to the reference portion and is sized to pass through the constraint structure. The method further includes receiving reference portion position information in the surgical reference frame; determining an estimated constraint structure location in the surgical reference frame from the reference portion position information and the shape information; determining a correction factor by comparing the estimated constraint structure location to the known constraint structure location; and modifying the shape information based upon the correction factor.

Abstract: A system may comprise a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to record position data for an instrument during an image capture period and determine an instrument position change from the recorded position data. The computer readable instructions, when executed by the processor, may also cause the system to compare the instrument position change to a position change threshold and based on the comparison, determine whether to use image data captured by an imaging system during the image capture period in a registration procedure.

Abstract: The present disclosure provides an earphone comprising a sound production component and an ear hook. In a wearing state, the ear hook is configured to place the sound production component at a position near an ear canal but not blocking the ear canal. An inner contour of the ear hook's projection on a user's sagittal plane includes a first curve having an extremum point in a first direction. The first direction is perpendicular to a long-axis direction of a projection of the sound production component on the sagittal plane. The extremum point is located behind a projection point of an upper vertex of the ear hook on the sagittal plane, and the upper vertex is a highest point of an inner contour of the ear hook along the user's vertical axis. An inclination angle of the long-axis direction relative to a horizontal direction is within a range of 13°-21°.

Abstract: The present disclosure provides a headphone including a sound production component and an ear hook. The ear hook and the sound production component form a first projection on a user's sagittal plane. In a non-wearing state, an inner contour, a first end contour, a second end contour of the first projection, and a tangent segment connecting the first end contour and the second end contour jointly define a first closed curve. A first area of the first closed curve ranges 300 mm2-500 mm2. A portion of the inner contour corresponding to the ear hook includes a first curve. The first curve has an extremum point in a first direction perpendicular to a long axis direction of a projection of the sound production component, the extremum point is located behind a projection point of an upper vertex of the ear hook on the sagittal plane.