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 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 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 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 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: 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: 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.

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 invention discloses a direct current power supply system for urban rail transit cascaded direct-hanging stations, belonging to the field of power electronic technologies. The power supply system includes a 110 kV high-voltage power grid, a 35 kV medium-voltage power grid, a cascaded H-bridge medium-voltage direct-hanging converter, a 650V-800V common direct current bus, a standby power supply and direct current electric loads. The cascaded H-bridge medium-voltage direct-hanging converter is formed by 3n modules in cascade, and each module is formed by an H-bridge converter and an isolated DC/DC converter connected in series.

Abstract: A method includes receiving seismic data representing a subterranean volume, including a plurality of signals, obtaining a machine learning model trained to predict energy arrivals in the signals using seismic data that does not represent the subterranean volume, predicting energy arrivals in a quality control portion of the plurality of signals of the seismic data using the machine learning model, determining that the predicted energy arrivals for the quality control portion are not accurate, training the machine learning model to predict the energy arrivals using a training data set that represents the subterranean volume, predicting the energy arrivals in the seismic data using the machine learning model that was trained based at least in part on the training data set, and generating a velocity model based on the predicted energy arrivals.

Abstract: An open earphone comprising a sound production component and an ear hook is provided. The ear hook includes a first portion and a second portion. The first portion is hung between an auricle and the head of a user, the second portion extends toward a front outer side of the auricle and connects to the sound production component, and the sound production component is located close to an ear canal but does not block the ear canal opening. The open earphone and the auricle have a first projection and an eighth projection on a sagittal plane, respectively, a centroid of a portion of the first projection corresponding to the sound production component have a first distance to a highest point of the eighth projection in a vertical axis direction, and a ratio of the first distance to a height of the eighth projection is within a range of 0.35-0.

Abstract: Systems and methods for supporting image-guided procedures include a device having an instrument usable to collect location data for one or more passageways and 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 based on a corresponding insertion depth of the instrument when each of the plurality of points is collected, create a passageway tree based on the points, identify at least three non-collinear landmark locations within the passageway tree, create a seed transformation between one or more of the at least three non-collinear landmark locations and corresponding model locations in model data, and register, using the seed transformation, the plurality of points to the model data for the one or more passageways. In some embodiments, the at least three non-collinear landmark locations are based on a main branch point in the passageway tree.