Abstract: An aircraft control system and control method are disclosed. The system comprises a remote control apparatus with a first control rod and a flight controller associated with an aircraft. The first control rod is configured to move in a first movement direction to control a motion of the aircraft in a first motion direction when an external force is applied on the first control rod and after a withdrawal of the external force, the first control rod returns to a preset position. The remote control apparatus operates to generate one or more control signals corresponding to the withdrawal of the external force. The flight controller controls the aircraft to maintain a flight state based on said control signals and one or more state signals, which are generated based on a measurement of the flight state by a flight controller associated with the aircraft state measurement sensors carried by the aircraft.

Abstract: A system comprises one or more processors. The system further comprises memory having computer readable instructions stored thereon that, when executed by the one or more processors, cause the system to: obtain a reference tree of nodes and linkages for a reference three dimensional volumetric representation of a branched anatomical formation in a reference state; based on the reference tree, generate a reference three dimensional geometric model; based on measurements from a sensor system, detect deformation of the branched anatomical formation; based on the detected deformation, obtain a deformed tree of nodes and linkages; and generate a three dimensional deformation field that represents the detected deformation of the branched anatomical formation.

Abstract: Methods for using registered real-time images and prior-time anatomic images during an image-guided procedure are provided herein. An exemplary method includes obtaining a three-dimensional image of a patient anatomy and a portion of a medical instrument disposed therein. The three-dimensional image includes image information characterizing a shape of the portion of the medical instrument. A processing device segments the portion of the medical instrument from the three-dimensional image. Shape data is obtained from the portion of the medical instrument while the portion is positioned within the patient anatomy, and the processing device registers the segmented shape of the portion of the medical instrument with the shape data from the portion of the medical instrument.

Abstract: A system may perform operations including receiving data comprising a plurality of image frames sampled from a volume data set of an imaged anatomical region displayable on a monitor. The plurality of image frames may correspond to a plurality of volume data reconstruction images displayed on the monitor in a series of image slices of a scrollable image stack. The operations also include analyzing the plurality of image frames to detect image features that are characteristic of a static view region in each image frame and evaluating the detected image features to determine a relative location of the detected one or more image features with respect to a scrolling view region for each image frame. The operations also include determining an ordered set of the image frames sorted according to a sequence based on relative locations and producing processed video data comprising the ordered set of the image frames.

Abstract: A device comprises an instrument usable to collect location data for one or more passageways. The device further comprises one or more processors coupled to the instrument. The one or more processors are configured to organize a plurality of points within the location data by clustering the plurality of points based on distances between points of the plurality of points. The processor(s) are further configured to create a passageway tree based on the organized points and to identify at least three non-collinear landmark locations within the passageway tree. The processor(s) are further configured to create a seed transformation between one or more of the at least three non-collinear landmark locations and corresponding model locations in model data. The processor(s) are further configured to register, using the seed transformation, the plurality of points to the model data for the one or more passageways.

Abstract: A trans-inductor voltage regulator with fault detection has a plurality of transformers. Each transformer of the plurality of the transformers has a primary winding coupled to a switching circuit, and a secondary winding. Each secondary winding of each transformer of the plurality of transformers are coupled in series with a compensation inductor. The trans-inductor further has a controller operable to detect a) a short condition in a secondary side of each transformer of the plurality of transformers, b) a short condition between a primary side and the secondary side of each transformer of the plurality of transformers; c) an open condition in the primary side of each transformer of the plurality of transformers; and d) an open condition in the secondary side of each transformer of the plurality of transformers.

Abstract: Provided are a nanocrystalline, a preparation method and a composition, an optical film, and a light emitting device. The nanocrystalline comprises an initial nanocrystalline and a sacrificial shell layer coated outside of the initial nanocrystalline. The sacrificial shell layer comprises n sacrificial sub-layers sequentially coated outward from the initial nanocrystalline at the center. The n sacrificial sub-layers may be of the same material or different materials. If the nanocrystalline is etched, at least a portion of the sacrificial shell layer is gradually consumed during the etching process. The following are measured m times during the etching process: the fluorescence emission wavelength, the full width at half maximum, the quantum yield, and the absorbance under excitation of an excitation light of a certain wavelength are measured, wherein 0?MAXPL?MINPL?10 nm, 0?MAXFWHM?MINFWHM?10 nm, 80%?MINQY/MAXQY?100%, and 80%?MINAB/MAXAB?100%, and n and m are integers greater than or equal to 1.

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: An apparatus may configure an illuminator to illuminate a scene with non-white light and control a camera to capture, in a plurality of color channels of the camera, a frame of the scene illuminated with the non-white light. The apparatus may adjust a signal of a color channel of the camera in the frame of the scene based on the non-white light.

Abstract: Disclosed herein are devices, systems, methods, and computer program products for planning and performing medical procedures. In some embodiments, a system for planning a medical procedure includes a processor and a memory operably coupled to the processor. The memory can store instructions that, when executed by the processor, cause the system to perform operations including: receiving image data of an anatomic region including a plurality of lymph nodes and a target lesion; generating a three-dimensional model of the anatomic region by segmenting the image data; selecting a subset of the lymph nodes to be biopsied during the medical procedure based at least in part on a location of the target lesion in the three-dimensional model; and determining a sequence for navigating a biopsy device to locations of the subset of the lymph nodes during the medical procedure.

Abstract: A medical robotic system includes a viewer, a gaze tracker, and a processor programmed to: draw an area or volume defining shape overlaid on an image based on the tracked gaze point after the user has gazed on the tracked gaze point for a programmed period of time; in response to receiving a user-selected action command, assign a fixed virtual constraint to the area or volume defining shape and constrain movement of a robotic tool; map points of the robotic tool in a tool reference frame to a viewer reference frame; determine a closest object to the tracked gaze point is the robotic tool based at least in part on the mapped points; display an object including text identifying the robotic tool, overlaid on the image, proximate to the robotic tool based on determining the robotic tool is the closest object; and perform an action indicated by the object.

Abstract: A robotic system provides user selectable actions associated with gaze tracking according to user interface types. User initiated correction and/or recalibration of the gaze tracking may be performed during the processing of individual of the user selectable actions.

Abstract: A medical system includes an interventional instrument and a control system including one or more processors. The control system is configured to: receive a pose dataset for a point on the instrument retained in compliant movement with a cyclically moving patient anatomy for a plurality of time parameters during a cyclical anatomical motion; determine a set of pose differentials for the identified point with respect to a reference point at each time parameter; identify a periodic signal for the anatomical motion from the set of pose differentials; generate a command signal indicating an intended movement of the instrument relative to the patient anatomy; adjust the command signal to include an instruction for a cyclical instrument motion based on a phase of the anatomical motion; and cause the intended movement of the instrument relative to the patient anatomy based on the adjusted command signal to compensate for the anatomical motion.

Abstract: A system comprises a first robotic arm adapted to support and move a tool and a second robotic arm adapted to support and move a camera configured to capture an image of a camera field of view. The system further comprises an input device, a display, and a processor. The processor is configured to display a first synthetic image including a first synthetic image of the tool. The first synthetic image of the tool includes a portion of the tool outside of the camera field of view. The processor is also configured to receive a user input at the input device and responsive to the user input, change the display of the first synthetic image to a display of a second synthetic image including a second synthetic image of the tool that is different from the first synthetic image of the tool.

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 method of discharging a battery assembly used to power at least part of an object includes detecting when power to the object is turned off, detecting, with aid of a timer, an amount of time elapsed since the power to the object is turned off, and initiating a controlled self-discharge of the battery assembly when the amount of time exceeds a threshold length of time. The controlled self-discharge of the battery assembly is performed by a self-discharging circuit electrically coupled to the battery assembly.

Abstract: Devices, systems, methods, and computer program products for planning medical procedures are disclosed herein. In some embodiments, a system for planning a medical procedure includes a processor and memory operably coupled to the processor. The memory stores instructions that, when executed by the processor, cause the system to perform operations including receiving a three-dimensional model of an anatomic region of a patient and evaluating whether the three-dimensional model is suitable for use in a registration procedure to be performed in the anatomic region. The evaluating includes: analyzing a span of the three-dimensional model along at least two different directions, determining whether the three-dimensional model includes at least one segmented component corresponding to at least one structure of the anatomic region, and performing a registration between the three-dimensional model and a virtual registration data set.

Abstract: A method and system for hand tracking in a robotic system includes a hand tracking system and a controller coupled to the hand tracking system. The controller is configured to receive, from the hand tracking system, a plurality of locations of a hand; determine if the hand is in a first hand pose based on the plurality of locations; in response to determining that the hand is in the first hand pose, and switch the robotic system to a hand trajectory detection mode. While in the hand trajectory detection mode, the control unit is configured to detect, based on hand tracking information from the hand tracking system, that the hand has performed a first hand trajectory of a plurality of known hand trajectories; and in response to detecting the first hand trajectory, change a mode of operation of the robotic system.

Abstract: A method performed by a computing system comprises receiving a first set of spatial information from an instrument positioned within an anatomic passageway. The first set of spatial information includes a plurality of spatial data records including position information for a distal end of the instrument at a plurality of time periods. The method further comprises ordering the plurality of spatial data records in a time-gathered order. The method further comprises evaluating a spatial relationship between first and second consecutive spatial data records of the plurality of spatial data records. The method further comprises filtering the first set of spatial information based upon the evaluated spatial relationship.

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.